Problem
Research questions and friction points this paper is trying to address.
ambient pressure compensation
oil-filled electric joint
parametric uncertainties
unknown disturbances
underwater manipulator
Ambient pressure compensation and robust position control of oil-filled electric joint systems for underwater manipulators
🤖 AI Summary
This work addresses the degraded control performance of underwater electric joints under high-pressure conditions, which arises from seal failure, parametric uncertainties, and unknown disturbances. To tackle these challenges, the study proposes a co-design framework tailored for oil-compensated underwater electric joints. The approach integrates structural optimization to ensure reliable sealing, formulates a dynamics model that explicitly accounts for system uncertainties, and, for the first time, applies μ-synthesis robust control to this class of systems. Experimental results demonstrate that the proposed method not only maintains effective sealing under high-pressure operation but also significantly enhances the robustness and accuracy of joint position control.
📝 Abstract
Electric joint systems are significant elements of an underwater manipulator for its actuation, drive, and control. Working in an underwater environment, the joints suffer huge ambient pressure. To withstand it, the pressure compensation method is usually deployed, whereas the pressurized oil introduces sealing problems as well as parametric uncertainties and unknown disturbances for the dynamic model of the joint. To tackle these issues, this study proposes a design framework for the underwater oil-filled electric joint. The dynamics of the pressure compensation module is analyzed and the structure of the joint is optimized to seal the internal hydraulic oil. An uncertainty dynamic model of the oil-filled joint is established and a robust position controller is designed based on the structured singular value synthesis (mu-synthesis). Experimental results validate the feasibility of the proposed methods.
Innovation
Methods, ideas, or system contributions that make the work stand out.
pressure compensation
oil-filled electric joint
robust position control
mu-synthesis
underwater manipulator
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