This paper deals with coordination control of a 3 DOF lifting system with human power amplification, taking passivity control into account to ensure safety interactions between human and object. A scissor mechanism based lifting system is designed to achieve compactness while an accumulator-pump/motor-cylinder architecture is employed to save electric energy from DC motor and recover potential energy during load descending. Dynamics of mechanical systems as well as electrohydraulic drive unit is modeled mathematically. Control system is designed with equivalent master/slave coordination control strategy to address the issue existing in human assistive operation and the controller for the DC motor is designed with back-stepping algorithm. By applying the idea of the shape and locked systems, the control objective is achieved successfully and the system passivity condition is satisfied consequently by introducing a fictitious flywheel virtually connected with the controller to perform energy storage. Simulation results show that the proposed coordination control strategy for multi-objects is applicable to implement the position and attitude control of the lifting system and the coordination control issue can be dealt with successfully even in the presence of sudden load disturbance.
|Original language||English (US)|
|Title of host publication||Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||7|
|State||Published - Sep 27 2016|
|Event||12th World Congress on Intelligent Control and Automation, WCICA 2016 - Guilin, China|
Duration: Jun 12 2016 → Jun 15 2016
|Name||Proceedings of the World Congress on Intelligent Control and Automation (WCICA)|
|Other||12th World Congress on Intelligent Control and Automation, WCICA 2016|
|Period||6/12/16 → 6/15/16|
Bibliographical noteFunding Information:
This work was supported by National Natural Science Foundation of China under Grant 51305328, China Postdoctoral Science Foundation under Grant 2013M532031, Fundamental Research Funds for the Central Universities and National Key Technology R&D Program under Grant 2014BAF02B01.
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