基于最小控制综合算法的液压机器人作动器控制

Hydraulic Robot Actuator Control Based on Minimal Control Synthesis Algorithm

为提高液压四足机器人在运行过程中作动器伺服精度,推导电液伺服作动器等效模型,分析作动器负载特点,提出流量补偿器最小控制综合复合控制策略,给出复合控制策略的工作原理。分别采用流量补偿器和比例位置内环抑制外干扰力和惯性负载变化对系统性能影响,应用最小控制综合控制器对偏差进一步修正,进而实现系统的高精度位置控制。通过MATLAB&AMESim联合仿真与半物理实验台对比实验说明仿真模型的正确性,在联合仿真环境下进行电液伺服作动器的变惯性负载和随机干扰力的仿真实验。仿真及实验结果表明:所提控制策略可使系统幅值衰减小于10%,相位滞后小于10°,验证了此方法的有效性。

In order to improve the servo accuracy of hydraulic quadruped robot electro-hydraulic servo actuators during operation,the equivalent model of electro-hydraulic servo actuators was derived and the load characteristic was analyzed,the compound control strategy including flow compensation and minimal control synthesis was proposed,and the principle of compound control strategy was given.The effect of the external disturbance force and inertia loads on the performance of actuator was inhibited by the flow compensation and the proportion closed-loop,respectively,the accuracy was further improved by the minimal control synthesis controller.The correctness of the co-simulation of MATLAB & AMESim model was verified by experiment.On the condition of inertia load variation and random interference force,the electro-hydraulic position servo experiment was simulated in co-simulation environment,and the simulation results showed that the parameters variation of actuator was inhibited effectively by the compound control strategy,the maximum amplitude attenuation and phase lag was less than 10% and 10°,respectively,and the efficiency of the proposed control strategy was verified.