DuongTanQuang TV pdf UNIVERSITY OF VERSAILLES SAINT QUENTIN EN YVELINES MASTER THESIS Submitted in partial fulfillment of the requirements for the degree of Master by Research In the major of “Sensors[.]
UNIVERSITY OF VERSAILLES SAINT QUENTIN EN YVELINES MASTER THESIS Submitted in partial fulfillment of the requirements for the degree of: Master by Research In the major of “Sensors, Electronic Systems and Robotics” Name of thesis FORCE CONTROL FOR THE ARM OF HYDROïD ROBOT By DUONG TAN-QUANG Supervisor: Mr Samer ALFAYAD Associate Professor, UVSQ Co-supervisor: Mr Olivier BRUNEAU Associate Professor, UVSQ Versailles, 09/2014 ABSTRACT The main objective of this project is to control force for the arm of HYDROïD robot, in which all its joints are equipped servo valve actuators The highly nonlinear behaviors of the hydraulic system are the most difficult challenge, in implementing the force controller Due to the great powerful of the hydraulic system, the mistake force controller can make the robot very dangerous for users It is therefore that, the main work of this project is on simulation and analysis of the force controller for the hydraulic system with the two simulation software of ADAMS and EASY5 The thesis first reviews the dynamic behaviors of the hydraulic system, i.e servo valve actuator, and then calculates the dynamic model of the HYDROïD manipulator with the Newton – Euler method The nonlinear control theory of PID controller and Backstepping controller is also revised The final results analyze the force control problem with PID controller The effects of each hydraulic parameter on the controller are also analyzed Following is the structure of this thesis: Chapter gives an overview look of the project While chapter reviews the dynamic model, for both hydraulic system and the robot manipulator Then, chapter revises the control theory for the nonlinear system, with PID controller and Backstepping controller The results and analysis of the force control with the PID controller will be shown in the chapter Finally, the conclusion and future works are described in the chapter (i) Acknowledgement I would like to express my great thanks for my advisors, Associate Professor Samer ALFAYAD and Associate Professor Olivier BRUNEAU, for their guidance, patience and support Thank you for allowing me to participate in the HYDROïD project, which gave me a lot of knowledge and great experiences for my future works I would like to thank Associate Professor Eric MONACELLI, Head of the Master program “Capteurs, Systèmes Électroniques et Robotiques” Thank you for giving me a chance to receive a Master scholarship from the Paris Saclay, allowing me to study this Master, helping me in the first days in France both in life and in study and giving me the great instructions for the future works From the LISV, I thank Professor Luc CHASSAGNE, Director of the laboratory, who gave me a chance to my Master thesis here Thank for all staffs and friends in the lab, who give me a friendly relationship I would like to thank Mrs Tuyet TOUCHAIS, for her supports and encouragements Thank you Tayba AHMAD, who gave me the necessary information about the project when I needed it I would like to thank my friends in the class of M2-CSER Thank Meher ZAMOURI, who gave me the French conversations every day although my French skill is not good Thank you so much! Without the help from all of you, I could not finish this Master thesis at all (ii) LIST OF FIGURES Figure 1.1: Force control strategy for the DoF HYDROïD robot Figure 1.2: Fluid bulk modulus Liquids are nearly incompressible (left), except when there is trapped air, as shown on the right Figure 1.3: Typical configuration of the main stage of hydraulic servo valves Figure 1.4: Different valve lapping when the spool is in neutral position Figure 1.5: Flow gain (load flow, QL versus spool stroke, xv) of different center types Figure 1.6: Flapper Nozzle Servo actuator Figure 1.7: Flapper Nozzle Geometry Figure 1.8: Jet Pipe Servo actuator Figure 1.9: Jet Pipe Operation: (a) Jet Pipe Centered; (b) Jet Pipe Rotated to Right Figure 1.10: Hydraulic cylinder: (1) An example (2) The ISO symbol (3) A cutaway illustration of a typical double-acting cylinder 10 Figure 2.1: Piston concentric in cylinder 12 Figure 2.2: A typical three lands – four ports spool valve 13 Figure 2.3: Schematic of electrohydraulic system with the load 16 Figure 2.4: Coordinate frames of DoF HYDROïD arm 18 Figure 2.5: Serial n revolute axis manipulator Figure 2.6: Analytical schematic of serial links Figure 3.1: PID controller schematic Figure 3.2: Laplace transform schematic of PID controller Figure 3.3: The open loop step response of most process control system Figure 4.1: Hydraulic system 19 21 23 24 25 32 Figure 4.2: Configuration of servo valve actuator on EASY5 33 Figure 4.3: Closed loop model with PID controller 34 Figure 4.4: Electric circuit for Voltage to Current transformation 35 Figure 4.5: Backstepping controller schematic 36 Figure 4.6: The C-code component 37 Figure 4.7: X2D sub-model 37 Figure 4.8: X3D sub-model 38 Figure 4.9: Vol_control sub-model 38 Figure 4.10: The positive motion direction of piston is retract 39 Figure 4.11: The positive motion direction of piston is extend 39 Figure 4.12: Closed loop model for Spring force control 40 Figure 4.13: Comparing the effect of Kp from 0.25 to 0.45 40 Figure 4.14: Comparing the effects of P, PD, PI, PID controllers 41 Figure 4.15: Applying P controller of step signal for steep signal 41 Figure 4.16: Applying P controller of step signal for sinusoidal signal 41 Figure 4.17: P controller (with KP=4.4) for the sinusoidal signal of spring force and position 42 Figure 4.18: Comparing P controller (KP=4.4) with different omega 43 Figure 4.19: Closed loop model for Net pressure force control 44 44 Figure 4.20: Comparing P controller for ! and " Figure 4.21: P controller with different external force 45 Figure 4.22: P controller with signals having different magnitudes 45 Figure 4.23: Closed loop model for # control 46 Figure 4.24: Comparing $ and # with the step signal $ =20 (N) 46 (iii) Figure 4.25: Analyse the effect of deadband in the actuator Figure 4.26: P controller for the $ signal -0.24sin(2t), with (a): KP=4; (b): KP=10 Figure 4.27: Modified closed loop model for # control Figure 4.28: P controller (KP=200) for the sinusoidal position signal (1sin (2t) cm) Figure 4.29: P controller (KP=200) for the sinusoidal force signal (-0.24sin (2t)) Figure 4.30: Comparing the piston position and force tracking Figure 31: The effect of Coulomb friction on the controller quality, with (a): Ff=10N; (b): Ff=100 N Figure 4.32: Comparing different Viscous Damping Coefficient Figure 4.33: Comparing different fluid temperature Figure 4.34: Comparing different overlap Figure 4.35: Comparing different leakage coefficient on valve Figure 4.36: Comparing different laminar leakage coefficient across piston (cm3/1e6) Figure 4.37: Comparing different damping ratio on valve Figure 4.38: Comparing different natural frequency on valve Figure 4.39: Comparing different bubble pressures on each chamber Figure 4.40: Comparing different vapor pressures on fluid Figure 4.41: Comparing different Fluid Figure 4.42: Simulation of one piston – cylinder on Adams Figure 4.43: (a) Comparing the applied force on piston and the spring force; (b) the acceleration force; (c) the displacement of the piston or the mass Figure 4.44: The DoF Robot arm model built on Adams Figure B.1: Define the force, system elements and data elements on ADAMS Figure B.2: Control Plant Export on ADAMS Figure B.3: Adding the Adams Mechanism component on EASY5 Figure B.4: Configuration of ADAMS Mechanism Figure B.5: Configuration of Servo valve Figure B.6: Configuration of the actuator / chambers Figure B.7: Configuration of spring Figure B.8: Choosing the version of Actuator (iii) 47 47 48 48 49 49 50 51 52 53 53 54 54 55 56 56 57 57 58 59 70 70 71 71 72 73 73 74 Contents Abstract (i) Acknowledgement (ii) List of figures (iii) Introduction 1.1 Overview 1.2 Problem statement 1.3 Analytical tools 1.4 Fundamental of hydraulic system Dynamic model 11 2.1 Servo valve actuator dynamic 11 2.2 Inverse kinematic model of DoF HYDROïD arm 18 2.3 Inverse dynamic model of DoF HYDROïD arm 21 Force controller 23 3.1 PID controller 23 3.2 Backstepping controller 25 Results 32 4.1 Simulation and analysis of force controller 32 4.2 Simulation of the dynamic model of the robot manipulator 59 Discussions 60 5.1 Conclusion 60 5.2 Future works 61 Appendix A: Maple code for the kinematic and dynamic model of the HYDROïD arm 62 Appendix B: Some problems and solutions in the use of ADAMS and EASY5 2013 69 Bibliography 75