液压与气动2025，Vol.49Issue(2)：1-7,7.DOI:10.11832/j.issn.1000-4858.2025.02.001
水下电动静液作动器的接触力控制
Contact Force Control of Underwater Electro-hydrostatic Actuators
摘要
Abstract
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Key words
electro-hydrostatic actuator/contact force estimation/model compensation control分类
机械工程引用本文复制引用
刘佳佳,杨朝坤,吕立彤,聂勇,陈正,梅德庆..水下电动静液作动器的接触力控制[J].液压与气动,2025,49(2):1-7,7.基金项目
国家重点研发计划(2023YFC2809903) （2023YFC2809903）
