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

Han Tao and Dacheng Cong
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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

Energies, 2021, vol. 14, issue 16, 1-27

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.

Keywords: umbilical system; propellant loading; hydraulic servo; force control; parallel manipulator (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
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