Tracking and Analysing Error in Feedback Linearized Motion Trajectory of Hydraulic Actuator Based on the Internet of Things

Abstract

In the current era of technology, the Internet of Things (IoT) is gaining more importance as compared to the rest of the technologies because of its tremendous improvement and application in various areas including tracking and error controlling of physical devices. Controlling physical equipment from afar has become necessary in today’s practice. This type of operation needs a robust infrastructure that connects various types of equipment, such as sensors, actuators, plants, and so on, with controllers located in remote locations, either centralized or decentralized, via a communication channel. The variety of platforms makes it difficult to integrate all of these components; nevertheless, the usage of the IoT effectively offers communication across several devices and platforms. However, the drive joints of the traditional hydraulic actuator arm mostly take the form of a combination of a motor and a reducer, resulting in a very small load-to-weight ratio and the power-to-volume ratio of the traditional hydraulic actuator arm. In addition, the load-bearing ratio is one of the important indicators to measure the performance of industrial robots. In response to this problem, this paper studies the combined advantages of hydraulic transmission, a six-degree-of-freedom hydraulic actuator based on a vane-type hydraulic swing cylinder as a joint. According to the performance requirements of the butterfly valve, the hydraulic actuator components, such as hydraulic cylinders, AC servo motors, and hydraulic pumps, have been selected and designed. Furthermore, the calculation and construction of hydraulic pipelines and integrated valve blocks have been accomplished, as has the selection summary of various actuator components. Considering joint flexibility, this research work carries out trajectory planning in joint space, during which it resolves the optimal value of each joint angle under the condition of joint flexibility and obtains a smoother joint motion parameter curve by relying on the layered structure of the IoT framework. The simulation results show that this method can ensure that the acceleration at the start and end time is 0, and it can avoid the vibration of the hydraulic actuator arm at the start and stop.