Research on inertia force compensation of segment erector based on adaptive impedance control

Segment erector belongs to heavy load equipment, due to its rigidity and motion inertia, it will cause large inertial force impact during movement, which seriously affects the assembly accuracy, and service life of segment assembler. To address this issue, the present study employs the translation mechanism as a representative example and introduces a force-based impedance control strategy is proposed to facilitate compliant control of the segment erector within a pipe segment assembly machine. Firstly, the architecture of the segment assembler and the operational principles governing its hydraulic system are presented, the classical impedance control model for hydraulic system is created. And regarding the characteristics inherent to the segment assembly hydraulic system and the uncertainty of the field environment during the assembly, designed a force-based adaptive impedance controller and provided a proof of stability for the adaptive impedance model. Finally, through comparison simulations with traditional control methods, it was proven that this method can significantly improve compensate for the inertial force impact during the motion of the pipe segment assembly machine and has better force/position tracking performance.