基于力反馈的液压柔顺驱动器补充能量控制

doi:10.3901/JME.2018.06.203

机械工程学报 ›› 2018, Vol. 54 ›› Issue (6): 203-214.doi: 10.3901/JME.2018.06.203

基于力反馈的液压柔顺驱动器补充能量控制

齐海涛^1,2, 刘子龙², 柴汇³

1. 北京航空航天大学工程训练中心北京 100191;
2. 北京航空航天大学机械工程及自动化学院北京 100191;
3. 山东大学机械工程学院济南 250061

收稿日期:2017-04-18 修回日期:2017-10-20 出版日期:2018-03-20 发布日期:2018-03-20
通讯作者: 齐海涛(通信作者),男,1981年出生,博士,讲师,硕士研究生导师。主要研究方向为飞机液压、作动系统、柔顺驱动器及机电液控一体化技术。E-mail:qihaitao@buaa.edu.cn
作者简介:刘子龙,男,1989年出生,硕士。主要研究方向为柔顺驱动器控制技术。E-mail:Lzlbuaa@126.com;柴汇,男,1983年出生,博士,博士后。主要研究方向为机器人技术。E-mail:ch2200@sina.com
基金资助:
国家自然科学基金资助项目（51505016）。

Supplement Energy Control for Hydraulic Compliant Actuator Based on Force Feedback

QI Haitao^1,2, LIU Zilong², CHAI Hui³

1. Engineering Training Center, Beihang University, Beijing 100191;
2. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191;
3. School of Mechanical Engineering, Shandong University, Jinan 250061

Received:2017-04-18 Revised:2017-10-20 Online:2018-03-20 Published:2018-03-20

摘要/Abstract

摘要： 在大型足式机器人的驱动系统中，使用液压柔顺驱动器进行补充能量控制可以极大地提高机器人的续航能力，因此具有很强的实用价值。首先通过扫频的方式分别得到驱动器输出端空载状态位置频率特性曲线和输出端静止状态力频率特性曲线，然后通过MATLAB的ident系统辨识工具箱进行模型辨识得到较准确的驱动器数学模型。基于上述模型采用自抗扰力控制器，实时估计扰动及对其进行有效的补偿，取得了较好的力控制效果，进而通过力控制将液压缸等效为变刚度弹簧。建立液压柔顺驱动器中液压能、驱动器能量和热能三种能量的动态模型，并对简化运动过程中三种能量之间的转换规律进行分析。基于变刚度策略对运动过程进行了补充能量控制，提高了能量使用效率。不同负载质量和不同液压缸刚度情况下的水平方向运动试验结果验证了上述控制策略的有效性。

关键词: 补充能量控制, 柔顺驱动器, 液压伺服控制, 自抗扰控制

Abstract: In the actuation system of large legged robots, the supplementary energy control of hydraulic compliant actuator can greatly improve the robot endurance, which has strong practical value. The displacement frequency characteristic curve without load and force frequency characteristic curve with the fixed output displacement are obtained respectively and firstly by frequency sweep, and then the accurate mathematical model of the actuation system is obtained through the identification toolbox of MATLAB ident. The active disturbance rejection controller is adopted to estimate the perturbation in real-time and compensate the disturbance effectively based on the above mathematical model. A better force control effect is obtained. And then the hydraulic cylinder is equivalent to a variable stiffness spring through the force control. The three energy dynamic models of the hydraulic energy, the energy of the actuator and the heat energy are built for the hydraulic compliant actuator, and the energy conversion law of these three energies is analyzed for the simplified movement. The adjustable stiffness strategy is used to fulfil the supplement energy control during the movement, and the energy efficiency is improved. The experimental results of horizontal motion with different load mass and different stiffness of hydraulic cylinder show the effectiveness of the above control strategy.

Key words: active disturbance rejection control, compliant actuator, hydraulic servo control, supplement energy control

中图分类号:

TH137

齐海涛, 刘子龙, 柴汇. 基于力反馈的液压柔顺驱动器补充能量控制[J]. 机械工程学报, 2018, 54(6): 203-214.

QI Haitao, LIU Zilong, CHAI Hui. Supplement Energy Control for Hydraulic Compliant Actuator Based on Force Feedback[J]. Journal of Mechanical Engineering, 2018, 54(6): 203-214.

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基于力反馈的液压柔顺驱动器补充能量控制

Supplement Energy Control for Hydraulic Compliant Actuator Based on Force Feedback

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