Water hydraulic drive underwater robot robust control of PWM
|School||Huazhong University of Science and Technology|
|Keywords||Water hydraulic Manipulator PWM control Robust Control|
Paper, a high speed using PWM Solenoid Valve and inhibit the effects of water hydraulic cylinder friction robust controller to control water hydraulic cylinder to drive the two joints with three degrees of freedom robotic arm . This article is designed based on the study arm structure, construction manipulator kinematics and dynamics model , the water hydraulic drive system power - flow characteristics associated with the robot dynamics , resulting in the overall water hydraulic manipulator dynamic model . For water hydraulic manipulator system nonlinearities and uncertainties , the paper mainly consider the hydraulic cylinder to reduce water friction on the manipulator control method to control the impact of research . PWM control solenoid switch valve to reduce water hydraulic system adverse effects of non-linear signal transfer ; research and design a robust controller for compensation bounded unknown parameters , thereby inhibiting the friction characteristics uncertainties . Paper for water hydraulic cylinder friction characteristics experiment of the movement of the water hydraulic cylinder friction range of values , and as parameters into the controller for robust control experiments . Experimental results show that the controller can complete the manipulator motion control, but due to digital switching homemade water hydraulic valve needs to be improved frequency response , limiting the control of the controller performance.