Research on Feedforward Disturbance Rejection Control for Force-based Impedance Control System of Hydraulic Drive Unit

doi:10.3901/JME.2023.04.295

Abstract

Abstract: Hydraulic drive unit(HDU) is a common joint driver of the hydraulic drive legged robot, which has the characteristics of high integration and high power density. After the top-level planning of the robot, it need to rely on it to complete specific actions, to realize the gait of the robot, such as walking, diagonal trot, running and so on. The external load on the HDU will change greatly with the suspension phase and touchdown phase of the robot, which will seriously affect the system performance. If HDU has high performance force-based impedance control, it can effectively reduce the collision force when the foot end contacts with the ground in the process of motion, and ensure the stability of the robot movement. In order to improve the ability of force-based impedance control system to resist external disturbance, a feedforward disturbance rejection control(FDRC) is studied. Firstly, the force-based impedance control system of HDU and its mathematical model are introduced, and its nonlinear state space expression is derived. Secondly, according to the external disturbance of the system, the equivalent input matrix is derived, the FDRC is designed and the flow coefficient of the servo valve is estimated. Finally, the HDU performance test platform is used to test different working conditions and typical signals. The experimental results show that FDRC can greatly improve the ability of resisting external disturbance of the force-based impedance control system of HDU, and it has good adaptability to operating conditions. This control method can reduce the influence of external disturbance on the hydraulic drive legged robot and improve the adaptability of the robot.

Key words: hydraulic drive legged robot, hydraulic drive unit, force-based impedance control, feedforward disturbance rejection control(FDRC)

CLC Number:

TH137

ZHU Qixin, YU Bin, WANG Chunyu, BA Kaixian, KONG Xiangdong. Research on Feedforward Disturbance Rejection Control for Force-based Impedance Control System of Hydraulic Drive Unit[J]. Journal of Mechanical Engineering, 2023, 59(4): 295-307.

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