摘要
针对液压四足机器人作动器伺服精度较差问题,分别推导电液伺服作动器在摆动相、刚性支撑相和弹性支撑相的等效模型,分析各作动器模型特点,提出比例内环自适应幅相控制外环的复合控制策略,应用比例控制器保证位置内环的稳定性,采用自适应幅相控制器进行幅值和相位补偿。通过机器人单腿测试平台进行控制策略验证,实验结果表明:所提控制策略可使系统幅值衰减小于2%,相位滞后小于4°,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 the operation,the electro-hydraulic servo actuator equivalent model with swing phase,rigid stance phase and elastic stance phase was derived respectively.The model characteristic was analyzed,and the compound control strategy including proportional inner loop and adaptive phase and amplitude controller outer loop was proposed.The stability of position inner loop was guaranteed by the proportional controller,and the amplitude attenuation and phase lag of tracking signal was compensated by the adaptive phase and amplitude controller.The composite control strategy was verified by the robot single leg test platform.Experimental results showed that the maximum amplitude attenuation and phase lag was less than 2% and 4° respectively,and the efficiency of the proposed control strategy was verified.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2015年第3期584-591,共8页
Chinese Journal of Scientific Instrument
基金
国际合作(2012DFR70840)资助项目
关键词
液压四足机器人
电液位置伺服
幅相控制
自适应控制
hydraulic quadruped robot
electro-hydraulic position servo
phase and amplitude control
adaptive control
