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学者姓名：周时钊
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Abstract ：
The unstructured working environment poses a significant challenge in achieving autonomous operation of hydraulic manipulators, which has led to the widespread use of master-slave operation in practice. However, it is typical for the hydraulic manipulator and the master robot to exhibit different mechanical configurations (i.e., master-slave heterogeneity). This can result in excessive range differences and low similarity between the master and slave workspaces, leading to the hydraulic manipulator being unable to accurately reproduce the actual intentions of the operator. Furthermore, the nonlinear dynamics and end-load disturbance during operation significantly affect the control accuracy of the hydraulic manipulator. To address the aforementioned challenges in master-slave operation, this article proposes a novel control scheme based on transformed workspace adaptive mapping (TWAM). By reconstructing the transformed workspace, the similarity between the master and slaveworkspaces has been improved. Furthermore, the accurate utilization ratio (AUR) of the slave workspace has been expanded through an adaptive command mapping algorithm. Moreover, a model-based controller that takes into account nonlinear dynamics and the end-load disturbance is developed to ensure precise operation in various loaded states. Finally, a series of experiments are conducted, and the results have verified the practical applicability and effectiveness of the designed method.
Keyword ：
Accuracy Accuracy Adaptation models Adaptation models End-load disturbance End-load disturbance heterogeneity mapping heterogeneity mapping Heuristic algorithms Heuristic algorithms hydraulic manipulator hydraulic manipulator Hydraulic systems Hydraulic systems Main-secondary Main-secondary Manipulator dynamics Manipulator dynamics master-slave operation master-slave operation Navigation Navigation nonlinear control nonlinear control Nonlinear dynamical systems Nonlinear dynamical systems Robot kinematics Robot kinematics Robots Robots
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| GB/T 7714 | Zhou, Shizhao , Xia, Yangxiu , Qi, Manzhi et al. Transformed Workspace Adaptive Mapping Based Master-Slave Operation Control for Hydraulic Manipulator [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2025 . |
| MLA | Zhou, Shizhao et al. "Transformed Workspace Adaptive Mapping Based Master-Slave Operation Control for Hydraulic Manipulator" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2025) . |
| APA | Zhou, Shizhao , Xia, Yangxiu , Qi, Manzhi , Mei, Deqing , Chen, Zheng . Transformed Workspace Adaptive Mapping Based Master-Slave Operation Control for Hydraulic Manipulator . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2025 . |
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Abstract ：
压力脉动主动抑制是提升数字液压阀控系统控制精度和可靠性的关键技术.然而,目前主动抑制方法在对压力脉动进行抑制时缺乏对其特性的深入理解,导致抑制效果不理想.因此,设计了压力脉动测试试验台,分析了系统中不同位置压力脉动的变化情况,探索了液压泵、高速开关阀对不同位置压力脉动的影响.结果表明:数字液压阀控系统中压力脉动的主要来自于高速开关阀持续开/关引起的水击现象,并且压力脉动的频率始终与阀的开/关频率保持一致.为设计前馈的压力脉动主动抑制系统提供了新思路,同时也为研发更高效的压力脉动衰减器提供了参考.
Keyword ：
压力脉动 压力脉动 数字液压 数字液压 试验分析 试验分析 高速开关阀 高速开关阀
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| GB/T 7714 | 陈福龙 , 杜恒 , 李雨铮 et al. 数字液压阀控系统中压力脉动试验 [J]. | 液压与气动 , 2024 , 48 (10) : 136-142 . |
| MLA | 陈福龙 et al. "数字液压阀控系统中压力脉动试验" . | 液压与气动 48 . 10 (2024) : 136-142 . |
| APA | 陈福龙 , 杜恒 , 李雨铮 , 周时钊 , 李福气 , 马玉山 . 数字液压阀控系统中压力脉动试验 . | 液压与气动 , 2024 , 48 (10) , 136-142 . |
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