Algorithm for Adaptive Control of the Electrohydraulic Drive Multi-Stage Manipulators
The article presents the construction of an algorithm for adaptive control of a separate link of an electro-hydraulic manipulator, including a method for improving the dynamic qualities of links of electrohydraulic manipulators by means of adaptive control with static compensation for the nonlinearity of a bearing distributor. The substantiation of the proposed approach to the control of individual links of an electrohydraulic manipulator is given. The results of the study of the system on a model sample of an electrohydraulic manipuator link are presented. The study was conducted using MatLab Simulink Desktop Real-Time Connected lO Mode with a multifunctional Advantech PCI 1711U analog I/O board, followed by testing algorithms on a hardware platform based on the STM32G474RETx microcontroller.
Authors
- В. Е. Кузнецов (ORCID: https://orcid.org/0009-0000-0704-1583)
- Andrey N. Lukichev (ORCID: https://orcid.org/0000-0002-6413-4804)
- P. A. Loshitskiy
- Truts Alexander
- Denis M. Filatov (ORCID: https://orcid.org/0009-0002-5160-419X)
Publication Details
- Journal
- LETI Transactions on Electrical Engineering & Computer Science
- Published
- 2025-01-01
- DOI
- https://doi.org/10.32603/2071-8985-2025-18-4-80-89
- Primary Topic
- Advanced Data Processing Techniques
- Type
- article
- Field-Weighted Citation Impact
- 0.00