CN106870181B - Leg legged type robot hydraulic system petrol engine rotation speed servo control method - Google Patents
Leg legged type robot hydraulic system petrol engine rotation speed servo control method Download PDFInfo
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- CN106870181B CN106870181B CN201710199182.3A CN201710199182A CN106870181B CN 106870181 B CN106870181 B CN 106870181B CN 201710199182 A CN201710199182 A CN 201710199182A CN 106870181 B CN106870181 B CN 106870181B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/002—Electric control of rotation speed controlling air supply
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/007—Electric control of rotation speed controlling fuel supply
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0002—Controlling intake air
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0097—Electrical control of supply of combustible mixture or its constituents using means for generating speed signals
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D41/1404—Fuzzy logic control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1409—Introducing closed-loop corrections characterised by the control or regulation method using at least a proportional, integral or derivative controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/141—Introducing closed-loop corrections characterised by the control or regulation method using a feed-forward control element
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Feedback Control In General (AREA)
Abstract
A kind of leg legged type robot hydraulic system petrol engine rotation speed servo control method, (1) calculates the change rate ec of engine speed error e and speed error；(2) after e and ec is calculated by fuzzy logic, export ratio coefficient increment △ kpWith integral coefficient increment △ ki；(3) proportionality coefficient kp=kp0+△kp, integral coefficient ki=ki0+△ki；(4) accelerator open degree S is calculated1=S1_old+kp*ec+ki*e；(5) variation of accelerator open degree caused by being changed by hydraulic fluid flow rate is S2=kQ*△Q；(6) final accelerator open degree Sf=S1+S2, accelerator open degree rotates with the form control steering engine of PWM, controls air inflow by the aperture of throttle line traffic control engine air throttle, finally control engine speed.The present invention uses feedforward control, can guarantee stabilization of speed well in the case where flow mutation；Online modification is carried out to parameter using Fuzzy self- turning, meets different control requirements, makes system that there is good dynamic and static properties.
Description
Technical field
The present invention relates to a kind of petrol engine rotation speed servo control methods for hydraulic leg legged type robot, belong to vapour
The control technology field of oil machine drive hydraulic system principle.
Background technique
In the driving method of leg legged type robot, need to guarantee the high dynamic and load capacity of robot, therefore its
The power source of airborne hydraulic systems should have very high energy density.Although electric drive has the advantages that noise is small, but it is continued a journey
Ability is poor, battery charges, and the disadvantages of slow, influences it in the application in leg legged type robot field, more efficient, the body of petrol engine
The smaller and weight of product is lower, is easy to implement airborneization of robot energy resource system, therefore hydraulic system driven by the engine is
The ideal solution of leg legged type robot drive system.The power of robot hydraulic system is provided by petrol engine,
Petrol engine drives Variable plunger pump rotation, converts mechanical energy to the pressure energy of liquid.Robot will steadily work, and
It asks hydraulic system to provide stable power, needs to adjust petrol engine revolving speed, tie up Variable plunger pump under corresponding operating condition
Keep steady fixed revolving speed.
Engine control in constant speed of vehicle cruise system and excavator using most commonly seen.But it is patrolled for automobile constant speed
The equal volume of engine in boat is larger, is not suitable for hydraulic-driven leg legged type robot, and to the driving of automobile also different from
The driving of hydraulic system；Engine in excavator for drive hydraulic system principle is diesel engine and leg legged type robot
Used petrol engine, and the operating condition of excavator and the operating condition of leg legged type robot are also not quite similar.Therefore, for being used for
The petrol engine of driving leg legged type robot hydraulic system, it is necessary to design the new controller of one kind and control method control hair
Motivation revolving speed.
" petrol engine driving leg legged type robot hydraulic system is used disclosed in Chinese patent literature 201310264575X
Control system and control method ", including controller and the oil surface potential connected to the controller for reading hydraulic system pasta
Meter, the temperature sensor for reading hydraulic system hydraulic fluid temperature, the pressure sensor for reading hydraulic system oil pressure signal, controller
It is communicated by CAN interface with master system.
The controller of above system controls the oil of engine started with flame-out and hydraulic system reversal valve by signal
Mouth is switched on or switched off, and controller adjusts throttle opening by steering engine, realizes the constant of engine speed, and can pass through biography
The working condition of sensor real-time monitoring system, but after the flow demand of robot system increases, need replacing more high-power
Engine, control method originally be not able to satisfy high-power engine revolving speed control；And the complexity that tests the speed, it needs to starting
The output shaft of machine is transformed, and increases assembly difficulty.
Summary of the invention
The present invention provides one kind to solve deficiency existing for existing robot hydraulic system petrol engine control technology
Make system that there is the leg legged type robot hydraulic system petrol engine rotation speed servo control method of good dynamic and static properties.
Leg legged type robot hydraulic system petrol engine rotation speed servo control method of the present invention, using with feedforward control
PI method (ratio and integral), wherein ratio and integral coefficient pass through fuzzy logic adjust automatically, the specific steps are as follows:
(1) according to motor set rotary speed vrefWith actual engine speed vfed, calculate speed error e and speed error
Change rate ec, wherein e=vfed-vref, ec=(vfed-vref)/T, T are the control period 0.02 second；
(2) after the change rate ec of above-mentioned speed error e and speed error is calculated by fuzzy logic, export ratio coefficient
Increment △ kpWith integral coefficient increment △ ki；
(3) finally, proportionality coefficient kp=kp0+△kp, integral coefficient ki=ki0+△ki；
(4) accelerator open degree S is calculated using increment type PI algorithm1, S1=S1_old+kp*ec+ki* e, wherein S1_oldIt is upper one
Execute the accelerator open degree in the period；
(5) the hydraulic fluid flow rate variation △ Q in robot kinematics is compensated by feedforward control, by hydraulic fluid flow rate
The variation of accelerator open degree caused by changing is S2=kQ* △ Q, wherein kQ=27.7min/L；
(6) final accelerator open degree Sf=S1+S2, accelerator open degree is with the form control steering engine rotation of PWM (pulse width modulation)
Turn, air inflow is controlled by the aperture of throttle line traffic control engine air throttle, finally controls engine speed.
The measurement of the actual engine speed, which uses, directly uses engine ignition voltage signal U1The mode of measurement, by
R1And R2The resistance pressure-dividing network being composed in series carries out decompression processing, by the voltage U after processing2=U1*R2/(R1+R2)；It
Direct current signal is converted a signal into using the characteristic that photoelectrical coupler unidirectionally passes through afterwards；Finally by comparator and comparison voltage ratio
After relatively, output amplitude is the square-wave waveform of 5V, captures the square-wave waveform and calculates actual engine speed vfed, vfed=
60*f, wherein f is square wave frequency.
The fuzzy logic, which calculates, uses fuzzy supervisory controller, and detailed process is as follows:
Fuzzy supervisory controller is made of fuzzy device, indistinct logic computer, fuzzy reasoning table and defuzzifier, and input is to turn
The change rate ec of fast error e and speed error, fuzzy device using subordinating degree function by e and ec be converted to fuzzy variable NB, NS,
The subordinating degree function expression formula of ZO, PS and PB, e and ec are as follows, and wherein x is e or ec, n=150 in the subordinating degree function of e, ec's
N=60 in subordinating degree function:
Indistinct logic computer utilizes △ k laterpFuzzy reasoning table and △ kiFuzzy reasoning table will input fuzzy set mapping
To output fuzzy set；Wherein:
△kpFuzzy reasoning table it is as follows:
△kiFuzzy reasoning table it is as follows:
Last defuzzifier is calculated export ratio coefficient and is increased using the be averaged method of ambiguity solution of subordinating degree function and center
Measure △ kpWith integral coefficient increment △ ki；△kpWith △ kiSubordinating degree function expression formula it is as follows, wherein y be △ kpOr △ ki, △
kpSubordinating degree function in n=1, △ kiSubordinating degree function in n=0.1:
The present invention can be more convenient accurate real-time detection engine speed, in turn by the tachometer circuit after improving
The output revolving speed for controlling petrol engine makes the stabilization of speed for maintaining Variable plunger pump on the corresponding revolving speed of different operating conditions, is
Hydraulic system under different conditions provides stable energy output；Revolving speed control is using the PI for having feedforward control
(Proportional-Integral, proportional, integral) method, wherein ratio and integral coefficient pass through fuzzy logic adjust automatically,
The on-line tuning that coefficient may be implemented makes system have good dynamic and static properties；Feedforward control can transport robot
Flow mutation during row compensates, and reduces engine speed fluctuations, guarantees that Variable plunger pump can be stable for system
Flow is provided.
The present invention has the characteristics that several lower:
1. the tachometer circuit used tests the speed conveniently, reduces Automatic manual transmission difficulty；
2. using the control method based on feedforward, it can guarantee stabilization of speed well in the case where flow mutation；
3. the method using Fuzzy self- turning carries out online modification to PI controller parameter, meet different control requirements,
Make control system that there is good dynamic and static properties.
Detailed description of the invention
Fig. 1 is the engine tachometer circuit schematic diagram used in the present invention.
Fig. 2 is control method functional block diagram of the invention.
Fig. 3 is e and ec triangle subordinating degree function schematic diagram.
Fig. 4 is △ kpWith △ kiTriangle subordinating degree function schematic diagram.
Specific embodiment
Leg legged type robot hydraulic system petrol engine rotation speed servo control method of the present invention, the tachometer circuit of use is such as
Shown in Fig. 1, by the way of directly using engine ignition signal measurement engine speed.Since initial signal peak-to-peak value is about
100V, it is therefore desirable to by R1And R2The resistance pressure-dividing network being composed in series carries out decompression processing, by the voltage U after processing2=
U1*R2/(R1+R2)；Pass through photoelectrical coupler later, converts a signal into direct current signal using the characteristic that it unidirectionally passes through；Finally
By comparator LM393 compared with comparison voltage after, output amplitude be 5V square-wave waveform, captured by single-chip microcontroller trapping module
And revolving speed is calculated, calculation formula vfed=60*f, wherein f is the square wave frequency that single-chip microcontroller captures that square wave obtains.
Engine speed, i.e., Variable plunger pump revolving speed control using have feedforward control PI method, wherein ratio and
Integral coefficient passes through fuzzy logic adjust automatically.
Referring to fig. 2, the specific step of leg legged type robot hydraulic system petrol engine rotation speed servo control method of the present invention
It is rapid as follows:
1) according to motor set rotary speed vrefThe actual engine speed v measured with tachometer circuit shown in Fig. 1fed, calculate
The change rate ec of speed error e and speed error out, wherein ec=vfed-vref, ec=(vfed-vref)/T, T are the control period
0.02s (second)；
2) after the change rate ec of above-mentioned speed error e and speed error is calculated by fuzzy supervisory controller, ratio is exported
Example coefficient increment △ kpWith integral coefficient increment △ ki；
3) final PI controller (pi controller) parameter are as follows: proportionality coefficient kp=kp0+△kp, integral coefficient ki
=ki0+△ki；
4)S1For by the calculated accelerator open degree of PI controller, when calculating, uses increment type PI algorithm, wherein S1=
S1_old+kp*ec+ki* e, wherein S1_oldIt executes in the period for upper one by the calculated accelerator open degree of PI controller；
5) the changes in flow rate △ Q in robot kinematics is compensated by feedforward controller, as caused by changes in flow rate
Accelerator open degree variation is S2=kQ* △ Q, wherein kQ=27.7min/L；
6) final accelerator open degree Sf=S1+S2, accelerator open degree rotates with the form control steering engine of PWM, passes through throttle line traffic control
The aperture of engine air throttle controls air inflow, finally controls engine speed.
Wherein, the specific of fuzzy control is expressed as follows:
Fuzzy supervisory controller is made of fuzzy device, indistinct logic computer, fuzzy reasoning table and defuzzifier, and input is to turn
E and ec are converted to mould using triangle subordinating degree function shown in Fig. 3 by the change rate ec of fast error e and speed error, fuzzy device
Paste variable NB, NS, ZO, PS and PB；The subordinating degree function expression formula of e and ec is as follows, and wherein x is e or ec, the subordinating degree function of e
N=60 in the subordinating degree function of middle n=150, ec:
Indistinct logic computer utilizes △ k laterpFuzzy reasoning table and △ kiFuzzy reasoning table will input fuzzy set mapping
To output fuzzy set；Wherein, △ kpFuzzy reasoning table it is as follows:
△kiFuzzy reasoning table it is as follows:
Last defuzzifier using triangle subordinating degree function shown in Fig. 4 and center be averaged ambiguity solution method calculate it is defeated
Proportionality coefficient increment △ k outpWith integral coefficient increment △ ki。△kpWith △ kiSubordinating degree function expression formula it is as follows, wherein y is
△kpOr △ ki, △ kpSubordinating degree function in n=1, △ kiSubordinating degree function in n=0.1:
Parameter is as follows in Fig. 3 and Fig. 4: Ωe=150rpm, Ωec=60rpm/s, kp0=180, ki0=15, △ kp,max=
3, △ ki,max=0.3.
Claims (2)
1. a kind of leg legged type robot hydraulic system petrol engine rotation speed servo control method, characterized in that including walking as follows
It is rapid:
(1) according to motor set rotary speed vrefWith actual engine speed vfed, calculate the change of speed error e and speed error
Rate ec, wherein e=vfed-vref, ec=(vfed-vref)/T, T are the control period 0.02 second；
(2) after the change rate ec of above-mentioned speed error e and speed error is calculated by fuzzy logic, export ratio coefficient increment
△kpWith integral coefficient increment △ ki；
(3) finally, proportionality coefficient kp=kp0+△kp, integral coefficient ki=ki0+△ki；
(4) accelerator open degree S is calculated using increment type PI algorithm1, S1=S1_old+kp*ec+ki* e, wherein S1_oldIt is executed for upper one
Accelerator open degree in period；
(5) the hydraulic fluid flow rate variation △ Q in robot kinematics is compensated by feedforward control, is changed by hydraulic fluid flow rate
Caused accelerator open degree variation is S2=kQ* △ Q, wherein kQ=27.7min/L；
(6) final accelerator open degree Sf=S1+S2, accelerator open degree is with the form control steering engine rotation of PWM, by controlling air inflow, most
Control engine speed eventually；
The fuzzy logic, which calculates, uses fuzzy supervisory controller, and detailed process is as follows:
Fuzzy supervisory controller is made of fuzzy device, indistinct logic computer, fuzzy reasoning table and defuzzifier, and input is that revolving speed misses
E and ec are converted to fuzzy variable NB, NS, ZO, PS using subordinating degree function by the change rate ec of poor e and speed error, fuzzy device
And the subordinating degree function expression formula of PB, e and ec are as follows, wherein x is e or ec, and n=150 in the subordinating degree function of e, ec's is subordinate to
Spend n=60 in function:
Indistinct logic computer utilizes △ k laterpFuzzy reasoning table and △ kiFuzzy reasoning table will input fuzzy set be mapped to it is defeated
Fuzzy set out；Wherein:
△kpFuzzy reasoning table it is as follows:
△kiFuzzy reasoning table it is as follows:
Last defuzzifier calculates export ratio coefficient increment △ k using the be averaged method of ambiguity solution of subordinating degree function and centerp
With integral coefficient increment △ ki；△kpWith △ kiSubordinating degree function expression formula it is as follows, wherein y be △ kpOr △ ki, △ kpPerson in servitude
N=1, △ k in category degree functioniSubordinating degree function in n=0.1:
2. leg legged type robot hydraulic system petrol engine rotation speed servo control method according to claim 1, special
Sign, which is that the measurement of the actual engine speed uses, directly uses engine ignition voltage signal U1The mode of measurement, by R1With
R2The resistance pressure-dividing network being composed in series carries out decompression processing, by the voltage U after processing2=U1*R2/(R1+R2)；It is sharp later
Direct current signal is converted a signal into the characteristic that photoelectrical coupler unidirectionally passes through；Finally by comparator and comparison voltage ratio compared with
Afterwards, output amplitude is the square-wave waveform of 5V, captures the square-wave waveform and calculates actual engine speed vfed, vfed=60*f,
Wherein f is square wave frequency.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107605608B (en) * | 2017-08-30 | 2019-07-30 | 山东大学 | Petrol engine method for controlling number of revolution for hydraulic-driven leg legged type robot |
| CN108757192B (en) * | 2018-04-11 | 2020-09-01 | 杭州电子科技大学 | Diesel engine electronic control speed regulation and test method based on fuzzy variable structure |
| CN108723098B (en) * | 2018-05-09 | 2020-01-07 | 北京科技大学 | Position synchronous control method for hydraulic servo systems on two sides of rolling mill |
| CN113119943A (en) * | 2019-12-26 | 2021-07-16 | 北京宝沃汽车股份有限公司 | Vehicle control method and system and vehicle |
| CN115324758B (en) * | 2022-08-16 | 2024-02-13 | 中联重科股份有限公司 | Excavator power control method |
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| JP2004116351A (en) * | 2002-09-25 | 2004-04-15 | Fuji Heavy Ind Ltd | Optimization system for control parameter |
| CN102493519A (en) * | 2011-11-22 | 2012-06-13 | 广西柳工机械股份有限公司 | Control system and control method for automatic gear shifting of loader |
| CN103291474A (en) * | 2013-06-27 | 2013-09-11 | 山东大学 | Control system and method for gasoline engine driving leg-foot-type robot hydraulic system |
| CN104420495A (en) * | 2013-09-11 | 2015-03-18 | 吴坚 | Hydraulic energy-saving fuzzy control system for excavators |
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Patent Citations (4)
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|---|---|---|---|---|
| JP2004116351A (en) * | 2002-09-25 | 2004-04-15 | Fuji Heavy Ind Ltd | Optimization system for control parameter |
| CN102493519A (en) * | 2011-11-22 | 2012-06-13 | 广西柳工机械股份有限公司 | Control system and control method for automatic gear shifting of loader |
| CN103291474A (en) * | 2013-06-27 | 2013-09-11 | 山东大学 | Control system and method for gasoline engine driving leg-foot-type robot hydraulic system |
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