TY - GEN
T1 - Control Framework of Force-Position Integrated Electric Cylinder and Its application in Motion Simulator
AU - Jiang, Shuo
AU - Wang, Junzheng
AU - Wang, Shoukun
AU - Shen, Wei
N1 - Publisher Copyright:
© 2022 ACA.
PY - 2022
Y1 - 2022
N2 - This paper proposes a new-type multi-stage servo electric cylinder with an integrated force-position control framework and applies it on multi-degree-of-freedom motion simulators. First, the overall design concept is explained, including mechanical structure, communication and electrical system architecture. Secondly, system model is figured out under parameter identification. Force-position composite active compliance controller fused with sliding mode robust observer is designed to realize high-precision tracking performance. Then, an improved somatosensory restoration wash-out controller is designed to realize driving dynamic restoration in the limited workspace of motion simulator. Finally, experiments are carried out to verify the effectiveness and feasibility of proposed algorithm.
AB - This paper proposes a new-type multi-stage servo electric cylinder with an integrated force-position control framework and applies it on multi-degree-of-freedom motion simulators. First, the overall design concept is explained, including mechanical structure, communication and electrical system architecture. Secondly, system model is figured out under parameter identification. Force-position composite active compliance controller fused with sliding mode robust observer is designed to realize high-precision tracking performance. Then, an improved somatosensory restoration wash-out controller is designed to realize driving dynamic restoration in the limited workspace of motion simulator. Finally, experiments are carried out to verify the effectiveness and feasibility of proposed algorithm.
KW - force-position compound control
KW - integrated electric cylinder
KW - motion simulator
KW - somatosensory restoration
UR - https://www.scopus.com/pages/publications/85135604284
U2 - 10.23919/ASCC56756.2022.9828354
DO - 10.23919/ASCC56756.2022.9828354
M3 - Conference contribution
AN - SCOPUS:85135604284
T3 - ASCC 2022 - 2022 13th Asian Control Conference, Proceedings
SP - 2493
EP - 2498
BT - ASCC 2022 - 2022 13th Asian Control Conference, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th Asian Control Conference, ASCC 2022
Y2 - 4 May 2022 through 7 May 2022
ER -