1kHz实时控制下，确保重型液压机械臂全程不越限
Full-Dynamics Real-Time Nonlinear Model Predictive Control of Heavy-Duty Hydraulic Manipulator for Trajectory Tracking Tasks
- 用多打靶法+传感器反馈实现全动态非线性预测控制
- 实测在1kHz下关节与末端均严格遵守力/速/位限制
- 适合需要高安全性的大型液压系统实时控制场景
重型液压机械臂（HHMs）因体积大、功率高且动力学高度非线性，运行时面临严格的物理与安全约束。确保关节与末端执行器轨迹始终符合执行器的能力极限（如力、速度、位置限制），对安全可靠运行至关重要，但现有实时控制框架对此关注不足。本文提出一种非线性模型预测控制（NMPC）框架，可在1 kHz实时控制频率下，保证整个非线性动力学过程中的约束满足。该方法结合多打靶策略与实时传感器反馈，并由基于虚拟分解控制（VDC）的鲁棒底层控制器支持，实现精确关节跟踪。在全尺寸液压机械臂上的实验验证表明，该框架不仅在关节层面强制执行执行器约束，还在笛卡尔空间中确保末端执行器的运动合规。结果证明该方法可在严格遵守安全关键限制的前提下，实现高精度轨迹跟踪，为大规模液压系统的实时控制树立了新基准。
原文摘要 · Abstract (English)
Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring that both joint-level and end-effector trajectories remain compliant with actuator capabilities, such as force, velocity, and position limits, is essential for safe and reliable operation, yet remains largely underexplored in real-time control frameworks. This paper presents a nonlinear model predictive control (NMPC) framework designed to guarantee constraint satisfaction throughout the full nonlinear dynamics of HHMs, while running at a real-time control frequency of 1 kHz. The proposed method combines a multiple-shooting strategy with real-time sensor feedback, and is supported by a robust low-level controller based on virtual decomposition control (VDC) for precise joint tracking. Experimental validation on a full-scale hydraulic manipulator shows that the NMPC framework not only enforces actuator constraints at the joint level, but also ensures constraint-compliant motion in Cartesian space for the end-effector. These results demonstrate the method's capability to deliver high-accuracy trajectory tracking while strictly respecting safety-critical limits, setting a new benchmark for real-time control in large-scale hydraulic systems.
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