Design of a dynamics-based hydraulic controller for lifting manipulator wrist and its stability analysis

Area of Science:

• Robotics and Control Systems
• Hydraulic Engineering
• Mechatronics

Background:

• Industry 4.0 demands higher performance from hydraulic controllers in mechanical hand wrists.
• Traditional methods face challenges with response delay and accuracy limitations.

Purpose of the Study:

• To develop an advanced hydraulic control system for mechanical hand wrists.
• To overcome limitations of traditional control methods by integrating dynamic models and intelligent algorithms.

Main Methods:

• Proposed a hydraulic control system based on an embedded dynamic model.
• Integrated multiple intelligent algorithms for closed-loop optimization.
• Conducted experimental verification of the proposed controller.

Main Results:

• The proposed SHD controller achieved a maximum trajectory tracking error of 0.28mm.
• Fault detection accuracy reached 98.3% with an energy conversion efficiency of 98.1%.
• Demonstrated superior performance in accuracy, stability, and response speed compared to advanced controllers.

Conclusions:

• The dynamic model-based hydraulic control offers an efficient solution for precise and intelligent control.
• The system is well-suited for complex lifting operations in hydraulic systems.
• This approach significantly advances the capabilities of mechanical hand wrist control.