Adaptive Robust Motion Control of Hydraulic Actuation Systems Considering Nonlinearity of Bulk Modulus

doi:10.3901/JME.260205

Abstract

Abstract: There is a strong relationship between the bulk modulus and the working pressure in hydraulic systems. However, in almost all existing model-based control, such a relationship is not included, leading to negative impacts on model compensation effectiveness and motion tracking performance. The challenge is to select a mathematically reasonable model expression that balances accuracy in model description with feasibility in control design. To address this issue, this study first analyzes the mechanism of bulk modulus and proposes a parameterized fractional form model considering the feasibility of model compensation and parameter adaptation. Taking a hydraulic cylinder-driven rotary joint as an example, a parameterized dynamics model of the overall system is established. Subsequently, within the adaptive robust control framework, model-based motion control design is conducted using backstepping control. Particularly, through the design of an X-swapping mechanism, effective model compensation of the bulk modulus and online adaptation of key parameters are achieved. The theoretical analysis of the closed-loop system performance is also conducted. Finally, comparative experiments are carried out. Contrasted with mainstream control methods that treat the bulk modulus as a lumped parameter, the proposed approach demonstrates further enhancement in motion control performance.

Key words: electro-hydraulic control, adaptive control, bulk modulus

CLC Number:

TH137

Lü Litong, XIA Yangxiu, QI Manzhi, CHEN Zheng, ZHANG Lianpeng, WANG Ruichen. Adaptive Robust Motion Control of Hydraulic Actuation Systems Considering Nonlinearity of Bulk Modulus[J]. Journal of Mechanical Engineering, 2025, 62(6): 419-430.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260205

http://www.cjmenet.com.cn/EN/Y2025/V62/I6/419

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