Journal of Jilin University(Engineering and Technology Edition) ›› 2024, Vol. 54 ›› Issue (11): 3358-3371.doi: 10.13229/j.cnki.jdxbgxb.20230043

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Research and application of the centralized drive and control system for a hydraulic manipulator

Yu-kun ZHENG1,2(),Ru-yue SUN1,2,Feng-ming LI3,Yi-xiang LIU1,2,Dong-guang LI4,Rui SONG1,2()   

  1. 1.School of Control Science and Engineering，Shandong University，Jinan 250061，China
    2.Engineering Research Center of Intelligent Unmanned System，Ministry of Education，Jinan 250061，China
    3.School of Information and Electrical Engineering，Shandong Jianzhu University，Jinan 250101，China
    4.CITIC HIC KAICHENG Intelligence Equipment Co. ，Ltd. ，Tangshan 063020，China
  • Received:2023-01-14 Online:2024-11-01 Published:2025-04-24
  • Contact: Rui SONG E-mail:zhengyk163@163.com;rsong@sdu.edu.cn

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Abstract:

A real-time control system for a six-degree-of-freedom robotic arm based on a hydraulic drive is designed to meet the needs of heavy-duty operations. A single IPC is used to construct the real-time control system architecture of the hydraulic robotic arm， i.e.， the upper-level task scheduling and the lower-level electro-hydraulic servo drive are completed by a single controller. An improved parabolic-based trapezoidal velocity profile optimization strategy is designed； an inverse kinematic iterative solution method incorporating levenberg-marquardt （LM） and Quasi-Newton methods is proposed； an anti-integration saturation PI controller is introduced to eliminate the effect of integration saturation. The continuous trajectory tracking performance of the robot arm in Cartesian space and the overall performance of the control system are tested by simulation and physical prototype. The experimental results show that the control system is stable and reliable， with strong real-time performance， and meets the engineering control requirements.

Key words: control engineering, hydraulic manipulator, real-time control, iteration, electro-hydraulic servo

CLC Number: 

  • TP242.3

Fig.1

Physical prototype of hydraulic manipulator"

Fig.2

Structure of the control system"

Fig.3

Structure of manipulator"

Table 1

Manipulator description"

关节描述驱动形式范围
1腰部回转旋转油缸[-60°,60°]
2大臂俯仰直线油缸[0°,-180°]
3小臂俯仰直线油缸[-35°,70°]
4小臂旋转旋转油缸[-90°,90°]
5腕部俯仰直线油缸[-50°,70°]
6腕部旋转旋转油缸[-170°,170°]

Fig.4

Control system architecture"

Fig.5

Improved trapezoidal velocity profile and position profile"

Fig.6

Inverse kinematics iterative solution method"

Fig.7

Anti-Windup PI controller"

Fig.8

Centralized control systems"

Fig.9

Physical prototype"

Fig.10

Experimental results of curve programming"

Table 2

Comparison performance"

方法迭代次数/次迭代时间/ms
LM293.30
BFGS323.06
LM+BFGS252.18

Fig.11

Simulation model and 3D trajectory"

Fig.12

End-tracking error"

Fig.13

Joint curve"

Fig.14

Simulation results of the saturation function"

Fig.15

Test results of the no saturation suppression"

Fig.16

Simulation results of the saturation suppression"

Fig.17

Diagram of experimental scene"

Table 3

Control parameters"

关节参数
1kp=110;ki=4500;kc=10
2kp=52;ki=3000;kc=10
3kp=390;ki=6000;kc=10
4kp=500;ki=600;kc=10
5kp=380;ki=5500;kc=10
6kp=300;ki=800;kc=10

Fig.18

End track tracking scenario diagram"

Fig.19

Joint tracking trajectory"

Fig.20

Joint tracking error"

Fig.21

Manipulator trajectory tracking"

Fig.22

End tracking error"

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