Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm

Abstract This paper introduces a pneumatic finger cylinder servo control system for medical grabbing. First, according to the physical structure of the proportional directional valve and the pneumatic cylinder, the state equation of the gas in the servo system was obtained. The Stribeck friction com...

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Autores principales:	Yeming Zhang, Kaimin Li, Meng Xu, Junlei Liu, Hongwei Yue
Formato:	article
Lenguaje:	EN
Publicado:	SpringerOpen 2021
Materias:	Position control Friction compensation Differential evolution Parameter optimization Ocean engineering TC1501-1800 Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/aacd076ee09e4cf48bf863efd2e9e1fd
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spelling	oai:doaj.org-article:aacd076ee09e4cf48bf863efd2e9e1fd2021-11-21T12:02:36ZMedical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm10.1186/s10033-021-00619-71000-93452192-8258https://doaj.org/article/aacd076ee09e4cf48bf863efd2e9e1fd2021-11-01T00:00:00Zhttps://doi.org/10.1186/s10033-021-00619-7https://doaj.org/toc/1000-9345https://doaj.org/toc/2192-8258Abstract This paper introduces a pneumatic finger cylinder servo control system for medical grabbing. First, according to the physical structure of the proportional directional valve and the pneumatic cylinder, the state equation of the gas in the servo system was obtained. The Stribeck friction compensation model of a pneumatic finger cylinder controlled by a proportional valve was established and the experimental platform built. To allow the system output to better track the change in the input signal, the flow-gain compensation method was adopted. On this basis, a friction compensation control strategy based on a differential evolution algorithm was proposed and applied to the position control system of a pneumatic finger cylinder. Finally, the strategy was compared with the traditional proportional derivative (PD) strategy and that with friction compensation. The experimental results showed that the position accuracy of the finger cylinder position control system can be improved by using the friction compensation strategy based on the differential evolution algorithm to optimize the PD parameters.Yeming ZhangKaimin LiMeng XuJunlei LiuHongwei YueSpringerOpenarticlePosition controlFriction compensationDifferential evolutionParameter optimizationOcean engineeringTC1501-1800Mechanical engineering and machineryTJ1-1570ENChinese Journal of Mechanical Engineering, Vol 34, Iss 1, Pp 1-15 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Position control Friction compensation Differential evolution Parameter optimization Ocean engineering TC1501-1800 Mechanical engineering and machinery TJ1-1570
spellingShingle	Position control Friction compensation Differential evolution Parameter optimization Ocean engineering TC1501-1800 Mechanical engineering and machinery TJ1-1570 Yeming Zhang Kaimin Li Meng Xu Junlei Liu Hongwei Yue Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm
description	Abstract This paper introduces a pneumatic finger cylinder servo control system for medical grabbing. First, according to the physical structure of the proportional directional valve and the pneumatic cylinder, the state equation of the gas in the servo system was obtained. The Stribeck friction compensation model of a pneumatic finger cylinder controlled by a proportional valve was established and the experimental platform built. To allow the system output to better track the change in the input signal, the flow-gain compensation method was adopted. On this basis, a friction compensation control strategy based on a differential evolution algorithm was proposed and applied to the position control system of a pneumatic finger cylinder. Finally, the strategy was compared with the traditional proportional derivative (PD) strategy and that with friction compensation. The experimental results showed that the position accuracy of the finger cylinder position control system can be improved by using the friction compensation strategy based on the differential evolution algorithm to optimize the PD parameters.
format	article
author	Yeming Zhang Kaimin Li Meng Xu Junlei Liu Hongwei Yue
author_facet	Yeming Zhang Kaimin Li Meng Xu Junlei Liu Hongwei Yue
author_sort	Yeming Zhang
title	Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm
title_short	Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm
title_full	Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm
title_fullStr	Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm
title_full_unstemmed	Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm
title_sort	medical grabbing servo system with friction compensation based on the differential evolution algorithm
publisher	SpringerOpen
publishDate	2021
url	https://doaj.org/article/aacd076ee09e4cf48bf863efd2e9e1fd
work_keys_str_mv	AT yemingzhang medicalgrabbingservosystemwithfrictioncompensationbasedonthedifferentialevolutionalgorithm AT kaiminli medicalgrabbingservosystemwithfrictioncompensationbasedonthedifferentialevolutionalgorithm AT mengxu medicalgrabbingservosystemwithfrictioncompensationbasedonthedifferentialevolutionalgorithm AT junleiliu medicalgrabbingservosystemwithfrictioncompensationbasedonthedifferentialevolutionalgorithm AT hongweiyue medicalgrabbingservosystemwithfrictioncompensationbasedonthedifferentialevolutionalgorithm
_version_	1718419322978697216

Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm

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