Load-sensitive impedance control for resilient force balance in variable displacement electrohydrostatic actuators

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-04-15 DOI:10.1016/j.conengprac.2025.106329

Tangwen Yin , Xiaochun Zhang , Dan Huang

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Abstract

Variable displacement electrohydrostatic actuators (VDEHAs) are critical in aerospace and industrial automation due to their high precision, efficiency, and power density. However, achieving resilient force balance remains a significant challenge, impacting control accuracy and stability. This study introduces a novel load-sensitive impedance control (LSIC) framework to address these issues. The proposed approach integrates data-driven mechatronic load cells for vector force feedback with model-free impedance control devices to dynamically adjust mechanical impedance – specifically, inertia, damping, and stiffness – under varying loads. Experimental results demonstrate that the LSIC/VDEHA system significantly minimizes force fluctuations, enhances actuation efficiency, and ensures smooth and stable operation. System-in-the-loop verification on aileron actuation in large flight vehicles highlights the framework’s ability to maintain resilient force balance while reducing hydraulic flow rates and pressures. This innovative method offers a promising solution for advanced mechatronic systems in aerospace, robotics, and automation, enhancing performance, safety, and energy efficiency.

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可变位移电静液执行器弹性力平衡的负载敏感阻抗控制

可变位移静电电液执行器（VDEHAs）由于其高精度、高效率和功率密度高，在航空航天和工业自动化中至关重要。然而，实现弹性力平衡仍然是一个重大挑战，影响控制精度和稳定性。本研究引入了一种新的负载敏感阻抗控制（LSIC）框架来解决这些问题。所提出的方法集成了数据驱动的矢量力反馈机电传感器和无模型阻抗控制装置，以动态调整机械阻抗-特别是惯性，阻尼和刚度-在不同负载下。实验结果表明，LSIC/VDEHA系统显著减小了力波动，提高了驱动效率，保证了系统运行平稳稳定。大型飞行器副翼驱动的系统在环验证强调了该框架在降低液压流量和压力的同时保持弹性力平衡的能力。这种创新的方法为航空航天、机器人和自动化领域的先进机电系统提供了一种有前途的解决方案，提高了性能、安全性和能源效率。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.