Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

A Study on the Dynamic Performance of Hydroviscous Driyes

Gives a dynamic mathematical model of a typical type of multiple discs hydroviscous drive device which has been proved to be correct through tests.Utilizing the method of root-locus analysis the dynamic performance of this device is studied according to the model.Theoretical analysis and test re- suits show that the dynamic performance of the object of study can be greatly improved by speed negative feedback.

Intense ke V IAP generation by orthogonally polarized multicycle midinfrared two-color laser fields

We theoretically investigate the attosecond pulse generation in an orthogonal multicycle midinfrared two-color laser field. It is demonstrated that multiple continuum-like humps, which consist of about twenty orders of harmonics and an intensity of about one order higher than the adjacent normal harmonics, are generated when longer wavelength driving fields are used. By filtering these humps, intense isolated attosecond pulses（IAPs） are directly generated without any phase compensation. Our proposal provides a simple technique to generate intense IAPs with various central photon energies covering the multi-ke V spectral regime by using multicycle midinfrared driving pulses with high pump energy in the experiment.