Comparison of Advanced Control Schemes Implemented on Hydraulic Actuated Robot Manipulator
Authors
Nielsen, kristian Holm ; Schmidt, Lasse
Term
2. term
Education
Publication year
2008
Abstract
This thesis investigates and compares advanced control schemes for an electro-hydraulic robot manipulator operated as a position servo. A nonlinear model of the complete system and a complementary linear model are developed to support controller design, analysis, and simulation. Based on these models, a suite of classical linear controllers (e.g., P, PI, lead/lag and state-space pole assignment) and selected nonlinear approaches (including adaptive and learning strategies) is established. Extensions such as velocity feedforward with passive and active gain are also considered. Representative motion trajectories are planned under physical limits and power constraints, and the associated pressure and flow demands are derived. Selected controllers are implemented on the physical robot, and performance is evaluated using consistent criteria: tracking accuracy, the number of required transducers, and robustness to disturbances. The work culminates in a comparative assessment that outlines the trade-offs among controller types for electro-hydraulic position control.
Dette speciale undersøger og sammenligner avancerede reguleringsmetoder til en elektrohydraulisk robotmanipulator anvendt som positionsservo. Der udvikles en ikke-lineær model af det samlede system samt en komplementær lineær model til design, analyse og simulering af regulatorer. På basis af disse modeller etableres et sæt klassiske lineære regulatorer (fx P, PI, lead/lag og tilstandsrum med pletildeling) samt udvalgte ikke-lineære tilgange (herunder adaptive og lærende strategier). Der indgår også udvidelser som hastigheds-feedforward med passiv og aktiv forstærkning. Repræsentative bevægelsesbaner planlægges under fysiske grænser og effektbegrænsninger, og tilhørende tryk- og flowkrav bestemmes. Udvalgte regulatorer implementeres på den fysiske robot, og ydeevnen vurderes efter ensartede kriterier: sporingsnøjagtighed, antal nødvendige transducere samt robusthed over for forstyrrelser. Arbejdet munder ud i en sammenlignende vurdering, der tydeliggør kompromiser mellem regulatortyper til elektrohydraulisk positionsstyring.
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