DOI QR코드

DOI QR Code

직접 외란 추정을 통한 역구동성 유압 구동 시스템의 임피던스 제어

Impedance Control of Backdrivable Hydraulic Actuation Systems with Explicit Disturbance Estimation

  • 투고 : 2019.10.04
  • 심사 : 2019.11.11
  • 발행 : 2019.11.30

초록

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.

키워드

참고문헌

  1. A. Alleyne and R. Liu, "On the limitations of force tracking control for hydraulic servosystems," Journal of Dynamic Systems, Measurement, and Control, vol. 121, no. 2, pp. 184-190, Jun., 1999. https://doi.org/10.1115/1.2802453
  2. T. Boaventura, C. Semini, J. Buchli, M. Frigerio, M. Focchi, and D. G. Caldwell, "Dynamic torque control of a hydraulic quadruped robot," 2012 IEEE International Conference on Robotics and Automation (ICRA), Minnesota, USA, pp. 1889-1894, 2012.
  3. T. Boaventura, G. A. Medrano-Cerda, C. Semini, J. Buchli, and D. G. Caldwell, "Stability and performance of the compliance controller of the quadruped robot HyQ," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 1458-1464, 2013.
  4. J. Yao, Z. Jiao, B. Yao, Y. Shang, and W. Dong, "Nonlinear adaptive robust force control of hydraulic load simulator," Chinese Journal of Aeronautics, vol. 25, no. 5, pp. 766-775, Oct., 2012. https://doi.org/10.1016/S1000-9361(11)60443-3
  5. J. Koivumaki and J. Mattila, "Stability-guaranteed force-sensorless contact force/motion control of heavy-duty hydraulic manipulators," IEEE Transactions on Robotics, vol. 31, no. 4, pp. 918-935, Aug., 2015. https://doi.org/10.1109/TRO.2015.2441492
  6. J. Koivumaki and J. Mattila, "Stability-guaranteed impedance control of hydraulic robotic manipulators," IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2, pp. 601-612, Apr., 2017. https://doi.org/10.1109/TMECH.2016.2618912
  7. W. Lee, M. J. Kim, and W. K. Chung, "Joint torque servo control of electro-hydrostatic actuators for high torqueto-weight ratio robot control," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, pp. 368-375, 2016.
  8. H. Kaminaga, T. Amari, Y. Niwa, and Y. Nakamura, "Development of knee power assist using backdrivable electrohydrostatic actuator," 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pp. 5517-5524, 2010.
  9. D. W. Robinson and G. A. Pratt, "Force controllable hydroelastic actuator," 2000 IEEE International Conference on Robotics and Automation, San Fransisco, USA, pp. 1321-1327, 2000.
  10. A. H. A. Stienen, E. E. G. Hekman, H. ter Braak, A. M. M. Aalsma, F. C. T. van der Helm, and H. van der Kooij, "Design of a rotational hydroelastic actuator for a powered exoskeleton for upper limb rehabilitation," IEEE Transactions on Biomedical Engineering, vol. 57, no. 3, pp. 728-735, Mar., 2010. https://doi.org/10.1109/TBME.2009.2018628
  11. S. Yoo, J. Lee, J. Choi, G. Chung, and W. K. Chung, "Development of rotary hydro-elastic actuator with robust internal-loop-compensator-based torque control and crossparallel connection spring," Mechatronics, vol. 43, pp. 112-123, May, 2017. https://doi.org/10.1016/j.mechatronics.2017.03.003
  12. S. Yoo, W. Lee, and W. K. Chung, "Intrinsically backdrivable hydraulic servovalve for interactive robot control," 2017 IEEE International Conference on Robotics and Automation(ICRA), Singapore, pp. 51-57, 2017.
  13. K. Ohnishi, M. Shibata, and T. Murakami, "Motion control for advanced mechatronics," IEEE/ASME Transactions on Mechatronics, vol. 1, no. 1, pp. 56-67, Mar., 1996. https://doi.org/10.1109/3516.491410
  14. B. Yao, M. Al-Majed, and M. Tomizuka, "High-performance robust motion control of machine tools: an adaptive robust control approach and comparative experiments," IEEE/ASME Transactions on Mechatronics, vol. 2, no. 2, Jun. pp. 63-76, 1997. https://doi.org/10.1109/3516.588624
  15. H. A. Zhu, G. S. Hong, C. L. Teo, and A. N. Poo, "Internal model control with enhanced robustness," International Journal of Systems Science, vol. 26, no. 2, pp. 277-293, 1995. https://doi.org/10.1080/00207729508929036
  16. B. K. Kim, H.-T. Choi, W. K. Chung, and I. H. Suh, "Analysis and design of robust motion controllers in the unified framework," Journal of Dynamic Systems Measurement and Control, vol. 124, no. 2, pp. 313-320, Jun., 2002. https://doi.org/10.1115/1.1468995
  17. H. Merritt, H. E. Merritt, and H. E. Merritt, Hydraulic Control Systems, John Wiley & Sons, 1967, ch. 7, sec. 3, pp. 194.
  18. M. J. Kim and W. K. Chung, "Disturbance-observer-based pd control of flexible joint robots for asymptotic convergence." IEEE Transactions on Robotics, vol. 31, no. 6, pp. 1508-1516, 2015. https://doi.org/10.1109/TRO.2015.2477957
  19. J.-J. E. Slotine and W. Li, "Composite adaptive control of robot manipulators," Automatica, vol. 25, no. 4, pp. 509-519, Jul., 1989. https://doi.org/10.1016/0005-1098(89)90094-0