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

Chinese Journal of Mechanical Engineering, May 2018

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.

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

Chinese Journal of Mechanical Engineering December 2018, 31:43 | Cite as Parameters Sensitivity Characteristics of Highly Integrated Valve-Controlled Cylinder Force Control System AuthorsAuthors and affiliations Kai-Xian BaBin YuXiang-Dong KongChun-He LiQi-Xin ZhuHua-Long ZhaoLing-Jian Kong Open Access Original Article First Online: 11 May 2018 Received: 29 April 2016 Accepted: 15 April 2018 525 Downloads Part of the following topical collections:Intelligent Manufacturing Technology Abstract 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. KeywordsHighly integrated valve-controlled cylinder system Force control system Matrix sensitivity analysis Orthogonal test design Sensitivity index  1 Introduction The valve-controlled cylinder system is the most commonly used component in the hydraulic system and is widely used in many fields such as aerospace, metallurgy, engineering machinery, agricultural machinery and advanced manufacturing. The highly integrated valve-controlled cylinder (HIVC) which has the high power density is used with unique advantages in the aerospace load simulator and the high performance legged robot which are different from the traditional civil equipment and require higher entire performance to ensure better adaptability under the complex environment. Therefore, the lighter weight and the faster response are required for the HIVC, which makes the structure optimization and the compensation control method of the HIVC have practical significance [1, 2, 3, 4, 5]. The control methods of the HIVC include the position control and the force control, and the position control compared with the force control is more mature, yet the force control is widely applied to the heavy industry, the aerospace load simulator and the advanced manufacturing. But the quantitative performance analysis and the system optimization method of the force control are less, and how to improve the force control performance effectively should be analyzed further. The force control is relied on the compressibility of the oil and is achieved through controlling the oil volume of the closed oil cavity, and ensuring the stability of the control component with small valve opening increases the force control difficulty and makes the effect of each system parameter on the force control system performance more sensitive. There are many parameters in the hydraulic system including structure parameters, working parameters and control parameters whose uncertainty caused by the manufacturing error, the testing error, the material aging, the non-ideal working condition and the online working parameters fluctuating makes the real working performance no complete accordance to the ideal working performance, which is involved with what effect degree of the parameter change has on the force control performance. Therefore, it is needed to research which parameter has greater effects on the force control performance and should be optimized and compensated and which parameter has smaller effects and can be ignored in the compensation control and structure optimization. The sensitivity analysis theory just can be applied to research the parameters change effects on the hydraulic system dynamic characteristics, and the sensitivity analysis results of the HIVC can be used to improve the system working performance, which would provide a novel idea for analyzing the system performance quantitatively and optimizing the comp (...truncated)


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Kai-Xian Ba, Bin Yu, Xiang-Dong Kong, Chun-He Li, Qi-Xin Zhu, Hua-Long Zhao, Ling-Jian Kong. Parameters Sensitivity Characteristics of Highly Integrated Valve-Controlled Cylinder Force Control System, Chinese Journal of Mechanical Engineering, 2018, pp. 43, Volume 31, Issue 1, DOI: 10.1186/s10033-018-0231-8