IDEAS home Printed from https://ideas.repec.org/a/gam/jeners/v14y2021i16p4900-d612221.html
   My bibliography  Save this article

Adaptive Impedance Control of a Novel Automated Umbilical System for Propellant Loading

Author

Listed:
  • Han Tao

    (State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China)

  • Dacheng Cong

    (State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China)

Abstract

In this paper, an automated umbilical system based on a 6-dof (degree of freedom) hydraulic parallel mechanism is proposed to automate the rocket propellant loading process. The mechanical structure, vision acquisition algorithm, and control algorithm used in the system are described in detail in the paper. To address the fluid nonlinearity problem of the hydraulic drive system, nonlinear compensation and three-state feedback control are used in the paper to enhance the performance of the hydraulic system. For the problem of force tracking during the docking process between the umbilical system and the rocket, an adaptive impedance control algorithm based on the online environmental parameter estimation is proposed in the paper, which effectively reduces the contact force during the docking process. The dynamic tracking and docking experiments indicate that this automated umbilical system features rapid reaction speed, high measurement precision, and good flexibility, which can be used to realize the auto-mating and following task for the propellant loading robot in a hazardous environment.

Suggested Citation

  • Han Tao & Dacheng Cong, 2021. "Adaptive Impedance Control of a Novel Automated Umbilical System for Propellant Loading," Energies, MDPI, vol. 14(16), pages 1-27, August.
  • Handle: RePEc:gam:jeners:v:14:y:2021:i:16:p:4900-:d:612221
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/1996-1073/14/16/4900/pdf
    Download Restriction: no

    File URL: https://www.mdpi.com/1996-1073/14/16/4900/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Chenyang Zhang, 2020. "PD Plus Dynamic Pressure Feedback Control for a Direct Drive Stewart Manipulator," Energies, MDPI, vol. 13(5), pages 1-13, March.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Chenyang Zhang & Hongzhou Jiang, 2021. "Experimental Study of the Direct Drive Hydraulic System with the Torque Mode," Energies, MDPI, vol. 14(4), pages 1-12, February.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jeners:v:14:y:2021:i:16:p:4900-:d:612221. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.