论文标题
液压执行器的杂交位置/力控制
Hybrid Position/Force Control for Hydraulic Actuators
论文作者
论文摘要
在本文中，针对液压执行器介绍了两种控制模式之间的自主切换的新型混合位置/力控制。设计了带有进料，全州反馈的混合位置/力控制结构，包括整体控制误差，Deadzone的预汇报以及控制值的低通滤波。控制器的收益是通过局部线性化和极力控制的局部线性化和杆位获得的。基于磁滞的自主切换集成到封闭的控制循环中，而多个基于Lyapunov函数的方法用于整个混合控制系统的稳定性分析。实验评估显示在带有标准工业液压缸的开发测试设置上，以及对于不同的运动和负载曲线。
In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including integral control error, pre-compensator of the deadzone, and low-pass filtering of the control value is designed. Controller gains are obtained via local linearization and pole placement accomplished separately for the position and force control. A hysteresis-based autonomous switching is integrated into the closed control loop, while multiple Lyapunov function based approach is applied for stability analysis of the entire hybrid control system. Experimental evaluation is shown on the developed test setup with the standard industrial hydraulic cylinders, and that for different motion and load profiles.
