Full Text:   <281>

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CLC number: TP271.3

On-line Access: 2019-10-08

Received: 2018-03-14

Revision Accepted: 2018-05-25

Crosschecked: 2019-09-04

Cited: 0

Clicked: 692

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Jin-hui Fang

http://orcid.org/0000-0003-4371-2609

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Frontiers of Information Technology & Electronic Engineering  2019 Vol.20 No.9 P.1221-1233

http://doi.org/10.1631/FITEE.1800155


Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer


Author(s):  Ming-jie Li, Jian-hua Wei, Jin-hui Fang, Wen-zhuo Shi, Kai Guo

Affiliation(s):  State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   jhfang@zju.edu.cn

Key Words:  Fuzzy control, Impedance control, Disturbance observer, Parameter uncertainties, Electro-hydraulic actuator


Ming-jie Li, Jian-hua Wei, Jin-hui Fang, Wen-zhuo Shi, Kai Guo. Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(9): 1221-1233.

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doi="10.1631/FITEE.1800155"
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Abstract: 
In this paper, we deal with both velocity control and force control of a single-rod electro-hydraulic actuator subject to external disturbances and parameter uncertainties. In some implementations, both velocity control and force control are required. impedance control and an extended disturbance observer are combined to solve this issue. impedance control is applied to regulate the dynamic relationship between the velocity and output force of the actuator, which can help avoid impact and keep a proper contact force on the environment or workpieces. Parameters of impedance rules are regulated by a fuzzy algorithm. An extended disturbance observer is employed to account for external disturbances and parameter uncertainties to achieve an accurate velocity tracking. A detailed model of load force dynamics is presented for the development of the extended disturbance observer. The stability of the whole system is analyzed. Experimental results demonstrate that the proposed control strategy has not only a high velocity tracking performance, but also a good force adjustment performance, and that it should be widely applied in construction and assembly.

基于扩展干扰观测器的电液执行器的模糊阻抗控制

摘要:在本文中,我们同时处理遭受外干扰及参数不确定影响的单出杆电液执行器的速度控制和力控制。在某些应用中,速度控制和力控制两者都有要求。阻抗控制和扩展干扰观测器的结合可以解决该问题。阻抗控制可调节执行器的速度和输出力之间的动态关系,有助于执行器与作用环境或者工件间避免冲击和保持合适的接触力。阻抗规则参数可由模糊算法调节。扩展干扰观测器被用于补偿外部干扰和参数不确定性,实现精确的速度跟踪。为扩展干扰器的开发,提出精确的负载力动力学模型。分析了系统稳定性。实验数据表明所提控制算法具有高精度速度跟踪性能,同时具有良好的力调节能力,在工程机械和装配中具有较大应用前景。

关键词:模糊控制;阻抗控制;干扰观测器;参数不确定性;电液执行器

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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