Mechatronics最新文献_第5页

Proving the stability of cycle navigation using capture sets 利用捕获集证明循环导航的稳定性

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-07-31 DOI: 10.1016/j.mechatronics.2025.103385

Quentin Brateau, Loïck Degorre, Fabrice Le Bars, Luc Jaulin

Navigating Autonomous Underwater Vehicles (AUVs) presents significant challenges due to the absence of traditional localization systems. Cycle navigation emerges as a promising paradigm, enabling reliable navigation using minimal exteroceptive measurements. This approach leverages predefined cyclic trajectories, which are stabilized based on environmental feedback, ensuring frugal and discreet operations without reliance on high computational power or extensive sensor systems. This work aims to prove the stability of the cycle navigation. As cycle navigation is a non-linear system governed by a discrete inclusion condition, conventional methods have trouble to prove its stability. For this reason, this paper focuses on set methods to prove the stability of cycle navigation. The stability is proven by exhibiting a positive invariant set, which is a set stable by application of the evolution function of the system. This ensures that the evolution function will not remove states from the positively invariant set. Then, the characterization of the capture basin is an asset when performing cycle navigation, as it represents the set of initial states for the system which leads to the positive invariant set. Once the system reaches either the capture basin or the positive invariant set, which are generalized as a capture set, it remains captured forever. This approach not only guarantees the stability of the system in the neighborhood of the equilibrium point, but also establishes that it exists an area in which the stability of the cycle navigation will lead to a stable behavior. This work offers a robust, computationally efficient alternative to traditional stability methods, particularly suited for resource-constrained AUVs, because the underwater environment lacks suitable, cheap and easy-to-use localization methods, which forces us finding alternative ways to navigate and explore this particular environment.

由于缺乏传统的定位系统，自主水下航行器（auv）面临着巨大的挑战。循环导航作为一种很有前途的范例出现，使用最小的外感测量实现可靠的导航。这种方法利用预定义的循环轨迹，根据环境反馈稳定，确保节约和谨慎的操作，而不依赖于高计算能力或广泛的传感器系统。本工作旨在证明循环导航的稳定性。由于循环导航是一个由离散包含条件控制的非线性系统，常规方法难以证明其稳定性。因此，本文主要采用集合方法来证明循环导航的稳定性。通过构造一个正不变集来证明系统的稳定性，该正不变集是系统演化函数的稳定集。这确保了进化函数不会从正不变集中移除状态。然后，在执行循环导航时，捕获盆地的特征是一个资产，因为它代表了导致正不变集的系统的初始状态集。一旦系统达到捕获池或正不变集（广义为捕获集），它将永远保持捕获状态。该方法不仅保证了系统在平衡点附近的稳定性，而且证明了系统存在一个区域，在该区域内循环导航的稳定性会导致系统的稳定行为。这项工作为传统的稳定性方法提供了一种强大的、计算效率高的替代方法，特别适用于资源受限的auv，因为水下环境缺乏合适、廉价和易于使用的定位方法，这迫使我们寻找替代方法来导航和探索这种特定环境。

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引用次数: 0

Development of a type of cross-scale piezoelectric screw motor operating in quasi-static and resonant states 一种准静态和谐振型跨尺度压电螺杆电机的研制

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-07-26 DOI: 10.1016/j.mechatronics.2025.103391

Xiaolong Shu , Yifang Zhang , Jianfa Lin , Bingliang Guan , Min Qian , Qiaosheng Pan

In this study, a cross-scale piezoelectric screw motor was proposed, designed, fabricated and tested. The proposed motor can operate in quasi-static and resonant states, and achieves cross-scale motion output through mode conversion. The motor is comprised of a stator and a rotor, with the same internal and external screws. The motor’s motion is achieved by friction between the stator and the rotor. Structure and working principle of the motor are introduced. The vibration modes of the stator in different modes were studied through finite element analysis. The motor's dynamic model was established. Finally, the prototype was fabricated, and the output performance was tested. Experimental results demonstrate a minimum resolution of 12.5 nm and a maximum load capacity of 12 N in quasi-static mode. When operating in resonant state, the motor achieves a maximum speed of 10.4mm/min (32.8 rpm), the maximum load capacity is 30 N and the maximum efficiency is 0.36 % when the prototype is rotated forward. When the motor is reversed, the maximum speed is 20.8 mm/min (65.5 rpm), the load capacity reaches 33 N, and the maximum efficiency is 0.46 %. The proposed piezoelectric motor promotes the development of cross-scale actuators.

本研究提出、设计、制作并测试了一种跨尺度压电螺旋电机。该电机可以在准静态和谐振状态下工作，并通过模式转换实现跨尺度运动输出。电机由定子和转子组成，内部和外部有相同的螺钉。电动机的运动是通过定子和转子之间的摩擦来实现的。介绍了电机的结构和工作原理。通过有限元分析，研究了定子在不同模态下的振动模态。建立了电机的动力学模型。最后制作了样机，并对输出性能进行了测试。实验结果表明，在准静态模式下，最小分辨率为12.5 nm，最大负载能力为12 N。在谐振状态下运行时，样机向前旋转时，电机最大转速为10.4mm/min (32.8 rpm)，最大负载能力为30 N，最大效率为0.36%。电机倒转时，最高转速20.8 mm/min (65.5 rpm)，负载能力达到33 N，最高效率为0.46%。提出的压电电机促进了跨尺度作动器的发展。

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引用次数: 0

Efficient avoidance of ellipsoidal obstacles with model predictive control for mobile robots and vehicles 基于模型预测控制的移动机器人和车辆椭球体障碍物有效避障

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-07-21 DOI: 10.1016/j.mechatronics.2025.103386

Mario Rosenfelder , Hendrik Carius , Markus Herrmann-Wicklmayr , Peter Eberhard , Kathrin Flaßkamp , Henrik Ebel

In real-world applications of mobile robots, collision avoidance is of critical importance. Typically, global motion planning in constrained environments is addressed through high-level control schemes. However, additionally integrating local collision avoidance into robot motion control offers significant advantages. For instance, it reduces the reliance on heuristics, conservatism, and complexity from additional hyperparameters that can arise from a two-stage approach separating local collision avoidance and control. Moreover, using model predictive control (MPC), a robot’s full potential can be harnessed by considering jointly local collision avoidance, the robot’s dynamics including dynamic constraints (like nonholonomic constraints), and actuation constraints. In this context, the present paper focuses on local obstacle avoidance for wheeled mobile robots, where both the robot’s and obstacles’ occupied volumes are modeled as ellipsoids of arbitrary orientation. To this end, a computationally efficient overlap test, which works for arbitrary ellipsoids, is conducted and novelly integrated into the MPC framework. We propose a particularly efficient implementation tailored to robots moving in the plane. The functionality of the proposed obstacle-avoiding MPC is demonstrated for two exemplary types of kinematics by means of simulations. A hardware experiment using a real-world wheeled mobile robot shows transferability to reality and real-time applicability. Moreover, numerical experiments show that, due to the approach’s general nature, it can be directly applied to dynamic situations like moving obstacles. The general computational approach to ellipsoidal obstacle avoidance can also be applied to other robotic systems and vehicles as well as three-dimensional scenarios.

在移动机器人的实际应用中，避碰是至关重要的。通常，约束环境中的全局运动规划是通过高级控制方案解决的。然而，将局部避碰集成到机器人运动控制中具有显著的优势。例如，它减少了对启发式、保守性和额外超参数的依赖，这些超参数可能来自分离局部冲突避免和控制的两阶段方法。此外，利用模型预测控制（MPC），通过联合考虑局部避碰、机器人动力学包括动力学约束（如非完整约束）和驱动约束，可以充分利用机器人的潜力。在这种情况下，本文主要研究轮式移动机器人的局部避障问题，其中机器人和障碍物的占用体积都被建模为任意方向的椭球体。为此，进行了一种计算效率高的、适用于任意椭球体的重叠测试，并将其新颖地集成到MPC框架中。我们提出了一种特别有效的实现，专门针对在平面上移动的机器人。通过仿真验证了所提出的避障MPC的两种典型运动学类型的功能。利用实际轮式移动机器人进行硬件实验，验证了其可移植性和实时性。此外，数值实验表明，由于该方法的通用性，可以直接应用于移动障碍物等动态情况。椭球避障的一般计算方法也可以应用于其他机器人系统和车辆以及三维场景。

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引用次数: 0

Novel design of GFRP beam spring rocker-arm suspension for 6-wheeled mobile robots 6轮移动机器人GFRP梁弹簧摇臂悬架的新设计

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-07-16 DOI: 10.1016/j.mechatronics.2025.103388

Gunwoo An, Jaeyoung Kang

Six-wheeled mobile robots (6-WMRs) equipped with rocker-bogie suspension systems are widely used for planetary exploration and search-and-rescue tasks due to their excellent terrain adaptability. However, conventional rocker-bogie-based systems present critical limitations, including tire slip caused by the absence of steering mechanisms, lack of camber control, and increased structural complexity from added components. To overcome these issues, this study introduces the GFRP Beam Spring Rocker-arm Suspension (GBSRS), which integrates a rocker-arm structure with a Glass Fiber Reinforced Polymer (GFRP) beam spring. An independent steering system based on Ackermann geometry is applied to minimize tire slip, while the torsional and vertical compliance of the GFRP beam enables passive camber variation and vibration damping without the use of additional actuators or complex linkages. A 7-degree-of-freedom (7-DOF) vibration model is developed to simulate dynamic behavior, and a bend-twist coupling analysis is conducted to calculate beam deformation and camber response. The design is further optimized by applying Derringer’s desirability function to key parameters such as beam thickness, damper position, and camber adjuster angle. Simulation and experimental results—including tests over single obstacles and rough terrain—demonstrate that the GBSRS reduces RMS acceleration by up to 16.3% and peak acceleration by up to 40.6% compared to conventional solid-arm systems. These results confirm that the GBSRS effectively improves vibration isolation and camber adaptability while maintaining structural simplicity, offering a practical suspension solution for 6-WMRs in challenging environments.

采用摇臂-转向架悬挂系统的六轮移动机器人由于具有良好的地形适应性，被广泛应用于行星探测和搜救任务中。然而，传统的摇臂转向架系统存在严重的局限性，包括由于缺乏转向机构而导致的轮胎打滑，缺乏弧度控制，以及增加组件增加的结构复杂性。为了克服这些问题，本研究引入了GFRP梁弹簧摇臂悬架（GBSRS），该悬架将摇臂结构与玻璃纤维增强聚合物（GFRP）梁弹簧集成在一起。基于Ackermann几何结构的独立转向系统可以最大限度地减少轮胎打滑，而GFRP梁的扭转和垂直顺应性可以实现被动弧度变化和振动阻尼，而无需使用额外的执行器或复杂的连接。建立了7自由度（7-DOF）振动模型，模拟了梁的动力特性，并进行了弯扭耦合分析，计算了梁的变形和弯曲响应。通过应用Derringer期望函数对梁厚度、阻尼器位置和弧度调节器角度等关键参数进行优化设计。仿真和实验结果（包括在单一障碍物和崎岖地形上的测试）表明，与传统的固体臂系统相比，GBSRS的均方根加速度可降低16.3%，峰值加速度可降低40.6%。这些结果证实，GBSRS在保持结构简单的同时，有效地提高了隔振性和弧度适应性，为6- wmr在具有挑战性的环境中提供了一种实用的悬架解决方案。

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引用次数: 0

Digital human model and training task planning-based adaptive assist-as-needed control for upper limb exoskeleton 基于数字人体模型和训练任务规划的上肢外骨骼自适应辅助控制

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-07-12 DOI: 10.1016/j.mechatronics.2025.103381

Jiazhen Xu, Haoping Wang, Yang Tian

To address the challenges of diminished motivation and increased fatigue observed in participants during active rehabilitation training, this study proposes a digital human model-based adaptive assist-as-needed (DHM-AAAN) control for an upper limb exoskeleton. This control framework consists of two main sub-controller loops: an outer sub-controller loop that determines the necessary assistive force, and an inner sub-controller loop which enables the exoskeleton to accurately replicate target movements while applying the assistive force derived from the outer sub-controller loop. Within the outer sub-controller loop, a strategy known as the digital human model and task performance evaluation (DHM-TPE) is employed to evaluate participants’ mobility capabilities and overall condition. Based on the assessment results, parameters such as radius, frequency, and assistive force are dynamically adjusted for multi-period trajectory tracking tasks through the implementation of an adaptive frequency oscillator (AFO) algorithm integrated with a digital human model. In the inner sub-controller loop, a barrier Lyapunov function-based hybrid force/position control with shifting error constraints (BLF-HCS) controller is introduced. This controller utilizes radial basis function neural networks (RBFNN) and error offset functions initialized with random values. The BLF constrains the exoskeleton’s tracking error, considering potential deviations from the desired initial position during the early phases of movement. To validate the effectiveness of the proposed controller, this study presents joint simulation results of the rehabilitation training cycle for circular task trajectories, experimental results from individual participants, and the average results from 6 participants.

为了解决在主动康复训练中观察到的参与者动力下降和疲劳增加的挑战，本研究提出了一种基于数字人体模型的上肢外骨骼自适应辅助（DHM-AAAN）控制。该控制框架由两个主要的子控制器环组成：一个外部子控制器环决定必要的辅助力，一个内部子控制器环使外骨骼能够准确地复制目标运动，同时应用来自外部子控制器环的辅助力。在外部子控制器回路中，采用数字人体模型和任务绩效评估（DHM-TPE）策略来评估参与者的移动能力和整体状况。基于评估结果，通过实现与数字人体模型相结合的自适应频率振荡器（AFO）算法，对多周期轨迹跟踪任务的半径、频率和辅助力等参数进行动态调整。在子控制器内环中，引入了一种基于barrier Lyapunov函数的带移位误差约束的混合力/位置控制（BLF-HCS）控制器。该控制器采用径向基函数神经网络（RBFNN）和随机初始化误差补偿函数。考虑到在运动的早期阶段与期望初始位置的潜在偏差，BLF限制了外骨骼的跟踪误差。为了验证所提出控制器的有效性，本研究给出了圆形任务轨迹的康复训练周期联合仿真结果、个体参与者的实验结果以及6名参与者的平均结果。

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引用次数: 0

Corrigendum to “A real-time lane change trajectory planning approach for autonomous vehicles utilizing tire force prediction” [Mechatronics 109 (2025) 103351] “基于轮胎力预测的自动驾驶车辆实时变道轨迹规划方法”[机电一体化]109(2025)103351]更正

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-07-12 DOI: 10.1016/j.mechatronics.2025.103383

Lin Li , Serdar Coskun , Youming Fan , Caiguang Yu , Fengqi Zhang

引用次数: 0

3D coordinate sensing with nonsmooth friction dynamical discontinuities compensation in laser scanning system 激光扫描系统中非光滑摩擦动态不连续补偿的三维坐标传感

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-07-10 DOI: 10.1016/j.mechatronics.2025.103382

Oleg Sergiyenko , José A. Núñez-López , Vera Tyrsa , Rubén Alaniz-Plata , Oscar M. Pérez-Landeros , César Selpúlveda-Valdez , Wendy Flores-Fuentes , Julio C. Rodríguez-Quiñonez , Fabian N. Murrieta-Rico , Vladimir Kartashov , Marina Kolendovska

This study aimed to address the issue of laser ray spatial positioning to mitigate discontinuities in the dynamics caused by nonsmooth friction effects by the direct application of control theory with improved friction compensation. Analyzing physical phenomena on micro-relieved surfaces through SEM methods, the obtained data about surface characteristics helps synthesize a corresponding control law for the laser positioner and conduct its stability analysis. This work considers a patented laser scanning system incorporating a laser positioning mechanism with inherent friction. SEM micrograph analysis of the friction zone was conducted to compare microscopic imperfections of steel surfaces, which helped infer the dynamics of an internal variable ‘z’ in the friction model and determine a reference value for control synthesis. A nonlinear control algorithm was proposed to compensate for friction to enhance positioning accuracy. The global asymptotic stability of the system was proven using Lyapunov’s direct method and Barbalat’s lemma. Experimental implementation on an STM32 board demonstrated a significant reduction in the uncertainty associated with sensing 3D coordinates using the friction-compensated laser scanning system.

本研究旨在通过直接应用控制理论和改进的摩擦补偿，解决激光射线空间定位问题，以减轻非光滑摩擦效应引起的动力学不连续。通过扫描电子显微镜（SEM）方法对微浮雕表面的物理现象进行分析，得到的表面特性数据有助于综合相应的激光定位器控制规律并进行稳定性分析。这项工作考虑了一种专利激光扫描系统，该系统结合了具有固有摩擦的激光定位机构。对摩擦区进行了SEM显微图分析，以比较钢表面的微观缺陷，这有助于推断摩擦模型中内部变量“z”的动力学，并确定控制综合的参考值。为了提高定位精度，提出了一种补偿摩擦的非线性控制算法。利用Lyapunov的直接方法和Barbalat引理证明了系统的全局渐近稳定性。在STM32板上的实验实现表明，使用摩擦补偿激光扫描系统可以显著降低与传感3D坐标相关的不确定性。

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引用次数: 0

Construction of hierarchical health indicators for explainable monitoring in multi-component mechatronic systems 多部件机电系统可解释监测的分层健康指标构建

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-07-10 DOI: 10.1016/j.mechatronics.2025.103379

Duc-An Nguyen , Diego Dominguez , Khanh T.P. Nguyen , Marcos Orchard , Kamal Medjaher

The development of explainable health indicators (HIs) for multi-component mechatronic systems is vital for monitoring their performance, ensuring their reliability, and optimizing their operational efficiency across a wide range of industries. These indicators play a pivotal role in detecting and diagnosing faults, assessing system health, and guiding maintenance decisions. However, achieving explainability in HIs poses significant challenges, including the selection of the most relevant sensors, the accurate modeling of degradation trends influenced by maintenance activities, and the integration of component dynamics into a system-level representation. To address these challenges, we propose a novel methodology for constructing hierarchical HIs — a two-level structure where component-level degradation signals are first modeled individually, then systematically aggregated to form a comprehensive system-level health representation. The proposed approach, named TRSAE, incorporates an automated sensor selection process to identify the most important sensors, reducing redundancy while improving interpretability. Furthermore, maintenance and downtime effects are explicitly integrated into the modeling process to ensure a more realistic and reliable assessment of system health. By tackling these challenges, our methodology improves transparency in system behavior, strengthens diagnostic capabilities, and builds trust in predictive maintenance decisions. The proposed methodology is validated through a case study in an iron mining system, an environment characterized by extreme operating conditions and continuous heavy loads that accelerate the degradation of critical components. The case study demonstrates how hierarchical HIs can capture complex degradation dynamics, optimize sensor usage, and improve remaining useful life (RUL) predictions, offering actionable insights for proactive maintenance planning and reliable system operation.

多组件机电一体化系统的可解释健康指标（HIs）的发展对于监测其性能、确保其可靠性和优化其在广泛行业中的运行效率至关重要。这些指标在检测和诊断故障、评估系统健康状况以及指导维护决策方面发挥着关键作用。然而，在HIs中实现可解释性提出了重大挑战，包括选择最相关的传感器，受维护活动影响的退化趋势的准确建模，以及将组件动态集成到系统级表示中。为了解决这些挑战，我们提出了一种构建分层HIs的新方法——一个两级结构，其中组件级退化信号首先单独建模，然后系统地聚合以形成一个全面的系统级健康表示。该方法被命名为TRSAE，采用自动传感器选择过程来识别最重要的传感器，减少冗余，同时提高可解释性。此外，维护和停机影响被明确地集成到建模过程中，以确保对系统健康状况进行更现实和可靠的评估。通过应对这些挑战，我们的方法提高了系统行为的透明度，增强了诊断能力，并建立了对预测性维护决策的信任。提出的方法通过一个铁开采系统的案例研究得到验证，该系统的环境特点是极端的操作条件和持续的重载，加速了关键部件的退化。案例研究展示了分层HIs如何捕获复杂的退化动态，优化传感器使用，提高剩余使用寿命（RUL）预测，为主动维护计划和可靠的系统运行提供可操作的见解。

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引用次数: 0

Kinematic optimal design and rehabilitation performance evaluation of an upper-limb bilateral end-effector mechanism 上肢双侧末端执行器机构运动学优化设计及康复性能评价

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-07-08 DOI: 10.1016/j.mechatronics.2025.103380

Mingjie Dong , Shuaibang Wang , Shiping Zuo , Zugan Du , Wenjie Liu , Jianfeng Li

Limb disabilities caused by stroke can severely impact activities of daily living (ADLs), and upper limb rehabilitation training plays a crucial role in promoting the recovery of motor functions. Currently, the studies of upper limb rehabilitation robots have several drawbacks, such as bulkiness, high costs, and the lack of integrated rehabilitation performance evaluation. This study, building on the previously proposed upper limb end-effector bilateral rehabilitation robotic system (EBReRS), derives its forward and inverse kinematics, calculates the Jacobian matrix, plots singularity analysis and performance atlases, and optimizes link dimensions to enhance operational performance, enabling it to carry out rehabilitation tasks more effectively. Based on surface electromyography (sEMG) signals, muscle activation levels were obtained. Utilizing the evaluation data, customized muscle training was introduced by establishing a mapping between muscles and training modes. Experimental results indicate that correct mode mapping during training can enhance muscle activation levels by a factor of 1 to 5. In the future, EBReRS is expected to be utilized for more widespread home rehabilitation, and the proposed rehabilitation evaluation strategy has the potential to be applied to other rehabilitation robots.

脑卒中所致肢体残疾严重影响日常生活活动，而上肢康复训练对促进运动功能的恢复起着至关重要的作用。目前，上肢康复机器人的研究存在体积大、成本高、缺乏综合康复性能评价等问题。本研究在前人提出的上肢末端执行器双侧康复机器人系统（EBReRS）的基础上，推导其正逆运动学，计算雅可比矩阵，绘制奇异分析和性能图集，优化连杆尺寸，提高其操作性能，使其能够更有效地执行康复任务。根据表面肌电图（sEMG）信号，获得肌肉的激活水平。利用评估数据，建立肌肉与训练模式之间的映射关系，引入定制化肌肉训练。实验结果表明，在训练过程中正确的模式映射可以将肌肉激活水平提高1到5倍。在未来，EBReRS有望应用于更广泛的家庭康复，并且所提出的康复评估策略具有应用于其他康复机器人的潜力。

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引用次数: 0

Fast switching and dynamic characteristics preservation of water hydraulic high-speed on-off valve using pressure-adaptive multistage voltage and sliding mode control 基于压力自适应多级电压滑模控制的水力高速开关阀的快速开关和动态特性保持

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-07-05 DOI: 10.1016/j.mechatronics.2025.103384

Xing Yang, Boyang Zhang, Defa Wu, Yinshui Liu

Water hydraulic high-speed on-off valves (WHSVs) are crucial for managing fluid flow in water hydraulic manipulator systems. As the ambient pressure changes, the dynamic characteristics of WHSVs are affected, which reduces the overall control accuracy of the manipulator. To simultaneously achieve rapid switching and maintain consistent dynamic behavior of WHSVs under variable ambient pressure, a pressure-adaptive multistage voltage and sliding mode control (PMVS) algorithm is proposed. A sliding mode controller is utilized to precisely regulate the coil current at the pre-opening and holding current levels, significantly shortening the switching time of the WHSV. By optimizing the controller’s operation time and modifying the duty cycle of the excitation voltage, the switching time remains stable across different pressures. Based on the structure of the designed WHSV group, an innovative method combining a pressure sensor and a vibration sensor is proposed to capture the dynamic characteristics of the WHSV. Experimental validation demonstrates that the PMVS method efficiently controls the switching delay and regulates the excitation voltage. Dynamic characteristic tests of WHSVs under different pressures are conducted. The results show that PMVS effectively reduces the switching time of WHSVs. Comparative tests reveal that WHSVs driven by PMVS achieve an 86.3 % reduction in opening time and an 87.5 % reduction in closing time compared to conventional pulse width modulation (CPWM). Furthermore, PMVS ensures consistent dynamic characteristics within an ambient pressure range of 0 to 20 MPa, with an opening time deviation of 7.94 % and a closing time deviation of 3.03 %. The PMVS algorithm enables the WHSV to rapidly switch and preserve dynamic characteristics under variable ambient pressures.

水液压高速开关阀（WHSVs）是水液压机械手系统中控制流体流动的关键部件。随着环境压力的变化，其动态特性会受到影响，从而降低了机械手的整体控制精度。为了在变环境压力下同时实现快速开关和保持稳定的动态行为，提出了一种压力自适应多级电压滑模控制（PMVS）算法。利用滑模控制器精确调节预开和保持电流水平的线圈电流，大大缩短了WHSV的开关时间。通过优化控制器的工作时间和修改励磁电压的占空比，使开关时间在不同压力下保持稳定。基于所设计的WHSV组的结构，提出了一种结合压力传感器和振动传感器的创新方法来捕获WHSV的动态特性。实验验证表明，该方法能有效地控制开关延迟和调节励磁电压。进行了不同压力条件下的水轮机动态特性试验。结果表明，PMVS有效地缩短了wsvs的切换时间。对比试验表明，与传统脉宽调制（CPWM）相比，PMVS驱动的WHSVs实现了86.3%的打开时间减少和87.5%的关闭时间减少。在0 ~ 20 MPa的环境压力范围内，PMVS的动态特性保持一致，开启时间偏差为7.94%，关闭时间偏差为3.03%。PMVS算法使WHSV能够在可变环境压力下快速切换并保持动态特性。

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引用次数: 0