Study of Dynamic Performance and Control Strategy of Variable Stiffness Actuator System Based on Two-Inertial-System

Zemin Yang, Xiaopeng Li (), Jinchi Xu, Renzhen Chen and Hexu Yang
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Zemin Yang: School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
Xiaopeng Li: School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
Jinchi Xu: School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
Renzhen Chen: Key Laboratory of Advanced Measurement and Test Technique for Aviation Propulsion System, Shenyang Aerospace University, Shenyang 110136, China
Hexu Yang: School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China

Mathematics, 2023, vol. 11, issue 5, 1-19

Abstract: The study of position control for variable stiffness actuators is important for improving their energy efficiency and robustness. In this paper, for the previously proposed nonlinear variable stiffness actuator, firstly, a dynamic model of the variable stiffness actuator system is established based on a two-inertia-system theory. Secondly, the effects of friction and gravity factors on the dynamic performance of the system are analyzed. The results of the study show that friction and gravity have obvious effects on the dynamic characteristics of the system in the constant stiffness state, and that these effects are more complex and obvious in the variable stiffness state, which proves the reasonableness and necessity of considering friction and gravity in the dynamics modeling process. Then, in order to improve the dynamic performance of the system and make its positioning performance meet the requirements, the control strategy of the variable stiffness actuator system is studied. The results show that the sliding mode control strategy based on nonlinear disturbance observer and dynamics model is a good solution to the effect of friction and gravity on the system, and can make its position-tracking performance meet the requirements. Finally, the correctness and effectiveness of the control strategy are verified experimentally.

Keywords: variable stiffness actuator; two-inertia-system; dynamic performance; friction; gravity; position control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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