水下电动静液作动器的接触力控制  

Contact Force Control of Underwater Electro-hydrostatic Actuators

作　　者：刘佳佳 杨朝坤 吕立彤 聂勇[3] 陈正[1,3] 梅德庆[1,3] LIU Jiajia;YANG Chaokun;LYU Litong;NIE Yong;CHEN Zheng;MEI Deqing(Ocean College,Zhejiang University,Zhoushan,Zhejiang 316021;School of Mechanical Engineering,Shijiazhuang Tiedao University,Shijiazhuang,Hebei 050043;The State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou,Zhejiang 310027)

机构地区：[1]浙江大学海洋学院,浙江舟山316021 [2]石家庄铁道大学机械工程学院,河北石家庄050043 [3]浙江大学流体动力基础件与机电系统国家重点实验室,浙江杭州310027

出　　处：《液压与气动》2025年第2期1-7,共7页Chinese Hydraulics & Pneumatics

基　　金：国家重点研发计划(2023YFC2809903)。

摘　　要：水下作业时,电动静液作动器的接触力传感器难以安装,直接力反馈控制器难以设计。因此,基于力估计和模型补偿提出一种应用于水下电动静液作动器的接触力控制方案。通过建立液压缸压力-流量模型,设计流量模型前馈补偿方案,并基于油腔压力传感器实现水下电动静液作动器的压力精准控制;通过建立摩擦模型,基于扩张观测器设计摩擦力补偿方案,实现接触力的估计和控制。最后利用液压试验台,验证了接触力估计和控制的性能,试验表明力估计和控的精度为2%FS。与使用压力传感器进行接触力控制相比,其控制性能更优越。During underwater operations,it is difficult to install contact force sensors for electro-hydrostatic actuator and design direct force feedback controllers.Therefore,a contact force control scheme for underwater electro-hydrostatic actuator is proposed based on force estimation and model compensation.We establish a hydraulic cylinder pressure flow model,design a flow model feedforward compensation scheme,and achieve precise pressure control of underwater electro-hydrostatic actuator based on oil chamber pressure sensors.We establish a friction model and design a friction compensation scheme based on an extended observer to estimate and control the contact force.Finally,the performance of contact force estimation and control was verified using a hydraulic test bench.The tests showed that the accuracy of force estimation and control was 2%FS,which is superior to using pressure sensors for contact force control in terms of control performance.

关 键 词：电动静液作动器 接触力估计 模型补偿控制 

分 类 号：TH137[机械工程—机械制造及自动化]