Parameters Sensitivity Characteristics of Highly Integrated Valve-Controlled Cylinder Force Control System

Nowadays, a highly integrated valve-controlled cylinder (HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high-performance robot control, the hydraulic force system still has problems, such as strong nonlinearity, and time-varying parameters. This...

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Bibliographic Details
Published in:Chinese journal of mechanical engineering 2018-12, Vol.31 (1), Article 43
Main Authors: Ba, Kai-Xian, Yu, Bin, Kong, Xiang-Dong, Li, Chun-He, Zhu, Qi-Xin, Zhao, Hua-Long, Kong, Ling-Jian
Format: Article
Language:English
Subjects:
Control systems
Control valves
Cylinders
Electrical Machines and Networks
Electronics and Microelectronics
Engineering
Engineering Thermodynamics
Error analysis
Heat and Mass Transfer
Instrumentation
Intelligent Manufacturing Technology
Machines
Manufacturing
Matrix methods
Mechanical Engineering
Original Article
Parameter sensitivity
Performance indices
Power Electronics
Processes
Robot control
Sensitivity analysis
Sine waves
Theoretical and Applied Mechanics
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Summary:Nowadays, a highly integrated valve-controlled cylinder (HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high-performance robot control, the hydraulic force system still has problems, such as strong nonlinearity, and time-varying parameters. This makes HIVC force control very difficult and complex. How to improve the control performance of the HIVC force control system and find the influence rule of the system parameters on the control performance is very significant. Firstly, the mathematical model of HIVC force control system is established. Then the mathematical expression for parameter sensitivity matrix is obtained by applying matrix sensitivity analysis (PSM). Then, aimed at the sinusoidal response under (three factors and three levels) working conditions, the simulation and the experiment are conducted. While the error between the simulation and experiment can’t be avoided. Therefore, combined with the range analysis, the error in the two performance indexes of sinusoidal response under the whole working condition is analyzed. Besides, the sensitivity variation pattern for each system parameter under the whole working condition is figured out. Then the two sensitivity indexes for the three system parameters, which are supply pressure, proportional gain and initial displacement of piston, are proved experimentally. The proposed method significantly reveals the sensitivity characteristics of HIVC force control system, which can make the contribution to improve the control performance.
ISSN:1000-9345
2192-8258
DOI:10.1186/s10033-018-0231-8