Control Framework of Force-Position Integrated Electric Cylinder and Its application in Motion Simulator

This paper proposes a new-type multi-stage servo electric cylinder with an integrated force-position control framework and applies it on multi-degree-of-freedom motion simulators. First, the overall design concept is explained, including mechanical structure, communication and electrical system architecture. Secondly, system model is figured out under parameter identification. Force-position composite active compliance controller fused with sliding mode robust observer is designed to realize high-precision tracking performance. Then, an improved somatosensory restoration wash-out controller is designed to realize driving dynamic restoration in the limited workspace of motion simulator. Finally, experiments are carried out to verify the effectiveness and feasibility of proposed algorithm.