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学者姓名：周时钊
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Abstract ：
Model-based control methods have been acknowledged as powerful solutions for hydraulic manipulators through compensating nonlinear dynamics. Hydraulic oil, as the working medium for energy transfer, significantly affects the system's rigidity and control performance. In most studies, the effective bulk modulus of oil is either treated as a constant or estimated as an unknown parameter. However, it is closely related to working pressure and can vary several times under different pressures. Although several theoretical models for the effective bulk modulus exist, their complexity and dependence on specific measurement equipment limit models' application in hydraulic manipulator control. In this study, a control-oriented model for the effective bulk modulus is developed, balancing the feasibility of control design and the accuracy of the model description. A model-based controller is then synthesized for a multi-degree-of-freedom hydraulic manipulator. Through an especially designed X-swapping scheme, the primary parameters of the manipulator, including those in the bulk modulus model, can be updated online without additional hardware dependencies. Theoretical analysis and experiment results demonstrate that the method improves the dynamic performance of hydraulic manipulators under varying pressures. Notably, this represents the first instance where a hydraulic manipulator controller accounts for the nonlinear characteristics of the effective bulk modulus.
Keyword ：
Adaptation models Adaptation models Atmospheric modeling Atmospheric modeling Effective bulk modulus Effective bulk modulus Friction Friction hydraulic manipulator hydraulic manipulator Hydraulic systems Hydraulic systems Manipulator dynamics Manipulator dynamics motion control motion control Oils Oils parameter estimation parameter estimation Rigidity Rigidity Temperature measurement Temperature measurement Valves Valves Vectors Vectors X-swapping X-swapping
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| GB/T 7714 | Xia, Yangxiu , Liu, Jiajia , Lyu, Litong et al. Control-Oriented Modeling of Effective Bulk Modulus and Online Compensation for Hydraulic Manipulator Motion Control [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
| MLA | Xia, Yangxiu et al. "Control-Oriented Modeling of Effective Bulk Modulus and Online Compensation for Hydraulic Manipulator Motion Control" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2025) . |
| APA | Xia, Yangxiu , Liu, Jiajia , Lyu, Litong , Qi, Manzhi , Zhou, Shizhao , Chen, Zheng . Control-Oriented Modeling of Effective Bulk Modulus and Online Compensation for Hydraulic Manipulator Motion Control . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
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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 , 72 (8) : 8240-8250 . |
| MLA | Zhou, Shizhao et al. "Transformed Workspace Adaptive Mapping Based Master-Slave Operation Control for Hydraulic Manipulator" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 72 . 8 (2025) : 8240-8250 . |
| 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 , 72 (8) , 8240-8250 . |
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Abstract ：
The growing demand for energy efficiency, environmental protection in the heavy transportation sector, particularly in large-scale projects, highlights the importance of improving steering systems for vehicles. A pump- controlled electro-hydraulic steering system is proposed, offering significant advantages in energy efficiency under high power. However, it leading to soft speed-load characteristics, reduced circuit stiffness, and compromised performance. To address challenges, an improved back-pressure-controllable BPC-PC-EHSS is introduced, the dynamic and power flow models are established. But it increases power loss, conflicting with the energy-saving objectives. Therefore, back-pressure parameter identification that balances both high performance and low energy-consumption is crucial. The energy-saving boundary is analyzed using the hydraulic conductivity factor, a parallel-input multilayer neural network (PIM-NN) is designed for nonlinear system back-pressure identification. Experimental results show that the proposed system significantly improves steering performance and energy-efficiency with minimal change in pump peak pressure and reduced pressure-vibrations. Specifically, under 6 tons load the error is 1 degrees,which is improved by 55.6 % compared to the non- identification. Compared with valve-controlled and pump-valve systems under same-typical-conditions, significant energy-saving advantages and steering economy are demonstrated. Additionally, the real-world driving hardware environment is reconstructed, it is validated that the total steering input energy is reduced by 76.19 % on the experimental road.
Keyword ：
Electro-hydraulic steering system Electro-hydraulic steering system Energy-efficient parameter identification Energy-efficient parameter identification Heavy-duty multi-axle wheeled vehicle Heavy-duty multi-axle wheeled vehicle Multi-layer neural network Multi-layer neural network Realistic driving simulation Realistic driving simulation Variable-speed pump control Variable-speed pump control
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| GB/T 7714 | Xu, Jun , Du, Heng , Zhou, Shizhao et al. Energy-efficient design and power flow analysis of electro-hydraulic steering systems for heavy-duty wheeled vehicles via parameter identification [J]. | ENERGY , 2025 , 322 . |
| MLA | Xu, Jun et al. "Energy-efficient design and power flow analysis of electro-hydraulic steering systems for heavy-duty wheeled vehicles via parameter identification" . | ENERGY 322 (2025) . |
| APA | Xu, Jun , Du, Heng , Zhou, Shizhao , Wei, Lingtao , Chen, Peiyang , Zheng, Yulan . Energy-efficient design and power flow analysis of electro-hydraulic steering systems for heavy-duty wheeled vehicles via parameter identification . | ENERGY , 2025 , 322 . |
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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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