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. 2023 Apr 19;23(8):4092.
doi: 10.3390/s23084092.

Research on Synchronous Control of Active Disturbance Rejection Position of Multiple Hydraulic Cylinders of Digging-Anchor-Support Robot

Tianbing Ma  1   2 , Xiangxiang Guo  1   2 , Guoyong Su  1   2 , Haishun Deng  2 , Ting Yang  1
Affiliations

Research on Synchronous Control of Active Disturbance Rejection Position of Multiple Hydraulic Cylinders of Digging-Anchor-Support Robot

Tianbing Ma et al. Sensors (Basel). .

Abstract

In order to solve the problems of nonlinearity, uncertainty and coupling of multi-hydraulic cylinder group platform of a digging-anchor-support robot, as well as the lack of synchronization control accuracy of hydraulic synchronous motors, an improved Automatic Disturbance Rejection Controller-Improved Particle Swarm Optimization (ADRC-IPSO) position synchronization control method is proposed. The mathematical model of a multi-hydraulic cylinder group platform of a digging-anchor-support robot is established, the compression factor is used to replace the inertia weight, and the traditional Particle Swarm Optimization (PSO) algorithm is improved by using the genetic algorithm theory to improve the optimization range and convergence rate of the algorithm, and the parameters of the Active Disturbance Rejection Controller (ADRC) were adjusted online. The simulation results verify the effectiveness of the improved ADRC-IPSO control method. The experimental results show that, compared with the traditional ADRC, ADRC-PSO and PID controller, the improved ADRC-IPSO has better position tracking performance and shorter adjusting time, and its step signal synchronization error is controlled within 5.0 mm, and the adjusting time is less than 2.55 s, indicating that the designed controller has better synchronization control effect.

Keywords: ADRC; PSO; digging-anchor-support robot; multiple hydraulic cylinders; position synchronization.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Simplified model of multiple hydraulic cylinder groups.
Figure 2
Figure 2
Distribution of contact points between four hydraulic cylinders and load.
Figure 3
Figure 3
Structure of active disturbance rejection controller.
Figure 4
Figure 4
Improved particle swarm algorithm flow chart.
Figure 5
Figure 5
AMESim Physical Simulation Model for Multi Hydraulic Cylinder Group System.
Figure 6
Figure 6
Displacement tracking curve of each cylinder under PID control algorithm when step signal is given.
Figure 7
Figure 7
Displacement tracking curve of each cylinder under ADRC control algorithm when step signal is given.
Figure 8
Figure 8
Displacement tracking curve of each cylinder under ADRC-PSO control algorithm when step signal is given.
Figure 9
Figure 9
Displacement tracking curve of each cylinder under ADRC-IPSO control algorithm when step signal is given.
Figure 10
Figure 10
Synchronization error of each cylinder under PID control algorithm when step signal is given.
Figure 11
Figure 11
Synchronization error of each cylinder under ADRC control algorithm when step signal is given.
Figure 12
Figure 12
Synchronization error of each cylinder under ADRC-PSO control algorithm when step signal is given.
Figure 13
Figure 13
Synchronization error of each cylinder under ADRC-IPSO control algorithm when step signal is given.
Figure 14
Figure 14
Displacement tracking curve of each cylinder calculated by the PID control when a sinusoidal signal is given.
Figure 15
Figure 15
Displacement tracking curve of each cylinder calculated by the ADRC control when a sinusoidal signal is given.
Figure 16
Figure 16
Displacement tracking curve of each cylinder calculated by the ADRC-PSO control when a sinusoidal signal is given.
Figure 17
Figure 17
Displacement tracking curve of each cylinder calculated by ADRC-IPSO control when a sinusoidal signal is given.
Figure 18
Figure 18
Synchronization error of each cylinder under the PID control algorithm when a sinusoidal signal is given.
Figure 19
Figure 19
Synchronization error of each cylinder under the ADRC control algorithm when a sinusoidal signal is given.
Figure 20
Figure 20
Synchronization error of each cylinder under the ADRC-PSO control algorithm when a sinusoidal signal is given.
Figure 21
Figure 21
Synchronization error of each cylinder under the ADRC-IPSO control algorithm when a sinusoidal signal is given.
Figure 22
Figure 22
Electric control system and operation platform for multi-hydraulic cylinder group equipment of the digging-anchor-support robot.
Figure 23
Figure 23
The experimental flow of active disturbance rejection control for multiple hydraulic cylinders of the digging-anchor-support robot.
Figure 24
Figure 24
The physical platform of the multi-hydraulic cylinder group of the digging-anchor-support robot.
Figure 25
Figure 25
Displacement tracking curve of each cylinder under the PID control algorithm.
Figure 26
Figure 26
Displacement tracking curve of each cylinder under the ADRC control algorithm.
Figure 27
Figure 27
Displacement tracking curve of each cylinder under the ADRC-IPSO control algorithm.
Figure 28
Figure 28
Synchronization error of each cylinder under the PID control algorithm.
Figure 29
Figure 29
Synchronization error of each cylinder under the ADRC control algorithm.
Figure 30
Figure 30
Synchronization error of each cylinder under the ADRC-IPSO control algorithm.
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