Algorithm for adaptive control of the electrohydraulic drive multi-stage manipulators

The article presents the construction of an algorithm for adaptive control of a separate link of an electro-hydraulic manipulator, including a method for improving the dynamic qualities of links of electrohydraulic manipulators by means of adaptive control with static compensation for the nonlinearity of a bearing distributor. The substantiation of the proposed approach to the control of individual links of an electrohydraulic manipulator is given. The results of the study of the system on a model sample of an electrohydraulic manipulator link are presented. The study was conducted using MatLab Simulink Desktop Real-Time Connected lO Mode with a multifunctional Advantech PCI 1711U analog I/O board, followed by testing algorithms on a hardware platform based on the STM32G474RETx microcontroller.

Authors: A. N. Lukichev, V. E. Kuznetsov, D. M. Filatov, A. A. Truts, P. A. Loshitskiy

Direction: Informatics, Computer Technologies And Control

Keywords: electrohydraulic drive, hydraulic manipulator, adaptive control, reference model

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