Abstract
In hydraulic robots, single-rod electro-hydraulic actuator is widely employed for fast response, small size-to-power ratio, large output force and compact size. The differences of open loop gains and other parameters make the dynamic characteristics of two moving directions asymmetric in symmetric valve controlled asymmetric cylinder system. To ensure robots moving smoothly and improve control precision, a novel pressure compensation based symmetric control scheme is proposed. Pressure feedback algorithm is mathematically proved feasible. Therefore, a displacement and pressure signals fused fuzzy PID controller is designed. Simulation results verify the feasibility and validity for compensating the asymmetric problems.
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