非对称式双排量水下电静液作动器运动控制研究OA

Underwater actuators are key drive units for deep-sea equipment.The energy efficiency of underwater actuators directly affects the endurance and operating costs of deep-sea equipment.Asymmetric underwater electro-hydrostatic actuators show great potential in deep-sea equipment due to their high power density,large output force,and compact structure.A dual-displacement design improves energy efficiency under wide-range load variations.However,displacement switching may cause pressure fluctuation and reduce motion control performance.To address this problem,this paper proposes a nonlinear deterministic robust control method for an asymmetric dual-displacement underwater electro-hydrostatic actuator.The method employs a two-layer control structure.The outer layer switches pump displacement according to load identification.The inner loop regulates motor speed in a closed loop.The pump operates in the large-displacement mode during the high-speed and low-pressure stage,whereas it switches to the small-displacement mode during the high-pressure and low-speed stage to reduce energy consumption.Based on the system model,a nonlinear robust feedback motion controller is designed to improve energy efficiency and maintain accurate trajectory tracking.Simulation results show that the proposed method achieves higher trajectory tracking accuracy than conventional proportional-integral control under cyclic high low-pressure operating conditions.