CN109210037B - One kind being directed to the location-based impedance adjustment of hydraulic drive unit and system - Google Patents
One kind being directed to the location-based impedance adjustment of hydraulic drive unit and system Download PDFInfo
- Publication number
- CN109210037B CN109210037B CN201811226564.1A CN201811226564A CN109210037B CN 109210037 B CN109210037 B CN 109210037B CN 201811226564 A CN201811226564 A CN 201811226564A CN 109210037 B CN109210037 B CN 109210037B
- Authority
- CN
- China
- Prior art keywords
- controller
- dynamic
- servo valve
- dynamic rate
- rigidity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Feedback Control In General (AREA)
Abstract
The present invention discloses a kind of for the location-based impedance adjustment of hydraulic drive unit and system.The described method includes: obtaining traditional location-based impedance control dynamic rate forms information；The composition information is analyzed, the rigidity composition of position control inner ring is obtained；It is formed according to the rigidity, the submissive composite controller of design dynamic；According to the information of the submissive composite controller of the dynamic, inner ring feedforward compensation controller is designed；Obtain the Compound Control Strategy of the submissive composite controller of the dynamic and the inner ring feedforward compensation controller；Location-based impedance is controlled according to the Compound Control Strategy.Location-based impedance control precision can be significantly improved using method or system of the invention.
Description
Technical field
The present invention relates to Fluid Transmission and Control fields, location-based for hydraulic drive unit more particularly to one kind
Impedance adjustment and system.
Background technique
Legged type robot has unknown, non-structure environment suitable well relative to wheeled, crawler type and ball shape robot
Should be able to power, can leaping over obstacles, in the circumstances not known of field execute task when have unique advantage, have become machine in recent years
The hot spot of people's industry research.Nowadays, the joint drive of the legged type robot of hydraulic driving generally uses a kind of complex value
Cylinder structure is controlled, which is also referred to as hydraulic drive unit.Joint drive using hydraulic drive unit as legged type robot
Device outside the high-performance benefits for bringing hydraulic system, while also bringing being total to for the hydraulic systems such as strong nonlinearity, parameter time varying
Property problem, this increases the control difficulty of robot further.
Under the action of dynamic flexibility refers to that control system is interfered outside, the complexity of change in location, measurement index
For dynamic rate, the i.e. ratio of control system power variable quantity and location variation, the dynamic rate is bigger (more leveling off to infinite)
Then the dynamic flexibility of system is poorer, conversely, then the dynamic flexibility of system is better for dynamic rate smaller (more leveling off to zero).Needle
For position control system, dynamic rate just refers to the ratio of system interference external force and output position, and the ratio the big, says
For bright system when being interfered external force, output position variable quantity is smaller, therefore its dynamic flexibility is poorer, especially when position is controlled
When system dynamic rate processed tends to infinity, then illustrate no matter how perturbed force changes, and system output position is entirely unaffected by,
The system has brilliant dynamic flexibility, and defining the position control system at this time is ideal position control system.
Dynamic Shared control is widely used among the control method in legged type robot leg joint, and control purpose is
Make robot foot end in the biggish load of the rigidity such as contact ground, can have certain dynamic flexibility, to effectively reduce
Rigid shock to guarantee that robot airframe structure and subsidiary electrical equipment are not damaged, and then guarantees the entirety of robot
Motion control performance.Dynamic flexibility is shown as under the action of system interferes outside, and the output of system is in desired dynamic change,
Wherein impedance control is a kind of common second order dynamic Shared control, and control principle is that system is equivalent to ideal rigid
It spends, second order mass-spring-damper system of damping and quality coefficient, this kind of control method is widely used to motor-driven
In legged type robot field, in recent years, as the legged type robot of hydraulic-driven is increasingly becoming research hotspot, impedance adjustment
It has been also employed in this kind of robot.
The dynamic Shared control based on impedance principle, basic realization principle are used on the legged type robot of hydraulic-driven
It is all to add dynamic Shared control outer ring using hydraulic control system as control inner ring, it is logical when outer interference effect arrives system
Crossing control outer ring makes the input signal for controlling inner ring change, so that system be made to have ideal dynamic flexibility.
Ideally, location-based impedance control inner loop control mode uses position closed loop, due to intrinsic position
Closed loop characteristic, the ideal dynamic rate that endocyclic position control system has itself tend to infinity, i.e. position control accuracy very
The influence of high and interference-free power, so that making inner loop control precision not influences impedance outer loop control precision.But under actual conditions, by
In the perturbed force of hydraulic drive unit position control system and the reasons such as uncertainty of environment, perturbed force and load characteristic can be right
Position control accuracy has an impact, intrinsic with hydraulic system especially when dynamic change occurs for perturbed force and load characteristic
Non-linear, parameter time varying and strong coupling collective effect will generate dynamic effects to position control accuracy, and show hydraulic drive
The dynamic flexibility that moving cell position control inner ring itself has is not zero.At this point, hydraulic drive unit position control inner ring essence
Degree reduces, to affect the whole Shared control precision of legged type robot.
On the other hand, traditional location-based impedance control system is when by different types of perturbed force, impedance control
All there is biggish position deviation and phase angular displacement between the physical location and desired locations of system.For legged type robot high-precision
For control requires, the deficiency of control performance possessed by traditional location-based impedance control is not obviously able to satisfy its control
Required precision.
In conclusion being directed to hydraulic drive unit there is an urgent need to a kind of improvement in hydraulic drive unit control technology
Location-based impedance adjustment and system.
Summary of the invention
The object of the present invention is to provide one kind to be directed to the location-based impedance adjustment of hydraulic drive unit and system, energy
Enough significantly improve location-based impedance control precision.
To achieve the above object, the present invention provides following schemes:
One kind being directed to the location-based impedance adjustment of hydraulic drive unit, which comprises
Obtain traditional location-based impedance control dynamic rate composition information；
The composition information is analyzed, the rigidity composition of position control inner ring is obtained；
It is formed according to the rigidity, the submissive composite controller of design dynamic；
According to the information of the submissive composite controller of the dynamic, inner ring feedforward compensation controller is designed；
Obtain the Compound Control Strategy of the submissive composite controller of the dynamic and the inner ring feedforward compensation controller；
Location-based impedance is controlled according to the Compound Control Strategy.
Optionally, described that the composition information is analyzed, the rigidity composition of position control inner ring is obtained, it is specific to wrap
It includes:
The composition information is analyzed, is obtained caused by the intrinsic link of system by the of outer interference position to power output
Second dynamic rate information of one dynamic rate information and the equivalent generation of system position closed-loop control；
According to the first dynamic rate information and the second dynamic rate information, the rigidity of position control inner ring is determined
Composition；The rigidity composition includes intrinsic dynamic rate and equivalent dynamic rate.
Optionally, described to be formed according to the rigidity, the submissive composite controller of design dynamic specifically includes:
According to the intrinsic dynamic rate, feedforward compensation controller is designed
VtFor oil cylinder total measurement (volume)；KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XV
For valve core of servo valve displacement；KdFor equivalent flow coefficient；Ps is system charge oil pressure；P0 is system oil return pressure；CipFor servo
The internal leakage coefficient of cylinder；L is servo the cylinder piston total kilometres；ApFor the effective piston area of servoBcylinder；βeFor effective volume springform
Amount；S is the Laplace transformation factor.
According to the equivalent dynamic rate, adaptive feedforward compensating controller is designed
Wherein, KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XVFor servo valve
Spool displacement；psFor system charge oil pressure；p0For system oil return pressure；UeFor input voltage；KPIFor PI controller gain, KcFor
Pressure gain, KqFor flow gain, s is the Laplace transformation factor.
Optionally, the information according to the submissive composite controller of the dynamic designs inner ring feedforward compensation controller, tool
Body includes:
According to the information of the submissive composite controller of the dynamic, inner ring feedforward compensation controller G is designedfp(s)；
Wherein, VtFor oil cylinder total measurement (volume)；KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve resistance
Buddhist nun's ratio；XVFor valve core of servo valve displacement；KdFor equivalent flow coefficient；ρ is the density of hydraulic oil；psFor system charge oil pressure；p0For
System oil return pressure；CipFor the internal leakage coefficient of servoBcylinder；ApFor the effective piston area of servoBcylinder；βeFor effective volume springform
Amount；mtBe conversion to gross mass in servo the cylinder piston, including load, piston, displacement sensor, force snesor, connecting pipe and
The reduced mass of servoBcylinder inner fluid and other moving parts；K is load stiffness；BpIt is for load and the damped coefficient of servoBcylinder, s
The Laplace transformation factor.
One kind being directed to the location-based impedance control system of hydraulic drive unit, the system comprises:
First obtains module, forms information for obtaining traditional location-based impedance control dynamic rate；
Rigidity forms determining module and obtains the rigidity group of position control inner ring for analyzing the composition information
At；
First controller setup module, for being formed according to the rigidity, the submissive composite controller of design dynamic；
Second controller setup module designs inner ring feedforward for the information according to the submissive composite controller of the dynamic
Compensating controller；
Second obtains module, for obtaining the submissive composite controller of the dynamic and the inner ring feedforward compensation controller
Compound Control Strategy；
Impedance control module, for controlling location-based impedance according to the Compound Control Strategy.
Optionally, the rigidity forms determining module, specifically includes:
Analytical unit obtains caused by the intrinsic link of system for analyzing the composition information by outer interference position
Set the second dynamic rate information to the first dynamic rate information of power output and the equivalent generation of system position closed-loop control；
Rigidity forms determination unit, is used for according to the first dynamic rate information and the second dynamic rate information,
Determine the rigidity composition of position control inner ring；The rigidity composition includes intrinsic dynamic rate and equivalent dynamic rate.
Optionally, the first controller setup module, specifically includes:
First feedforward compensation controller design cell, for designing Front feedback control according to the intrinsic dynamic rate
Device
VtFor oil cylinder total measurement (volume)；KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XV
For valve core of servo valve displacement；KdFor equivalent flow coefficient；psFor system charge oil pressure；p0For system oil return pressure；CipFor servoBcylinder
Internal leakage coefficient；L is servo the cylinder piston total kilometres；ApFor the effective piston area of servoBcylinder；βeFor effective volume elasticity modulus；s
For the Laplace transformation factor.
Adaptive feedforward compensating controller design cell, for designing adaptive feedforward according to the equivalent dynamic rate
Compensating controller
Wherein, KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XVFor servo valve
Spool displacement；psFor system charge oil pressure；p0For system oil return pressure；UeFor input voltage；KPIFor PI controller gain, KcFor
Pressure gain, KqFor flow gain, s is the Laplace transformation factor.
Optionally, the second controller setup module, specifically includes:
Second feedforward compensation controller unit designs inner ring for the information according to the submissive composite controller of the dynamic
Feedforward compensation controller Gfp(s)；
Wherein, VtFor oil cylinder total measurement (volume)；KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve resistance
Buddhist nun's ratio；XVFor valve core of servo valve displacement；KdFor equivalent flow coefficient；ρ is the density of hydraulic oil；psFor system charge oil pressure；p0For
System oil return pressure；CipFor the internal leakage coefficient of servoBcylinder；ApFor the effective piston area of servoBcylinder；βeFor effective volume springform
Amount；mtBe conversion to gross mass in servo the cylinder piston, including load, piston, displacement sensor, force snesor, connecting pipe and
The reduced mass of servoBcylinder inner fluid and other moving parts；K is load stiffness；BpIt is for load and the damped coefficient of servoBcylinder, s
The Laplace transformation factor.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: the present invention provides a kind of needle
To the location-based impedance adjustment of hydraulic drive unit, sufficient formula is improved by the submissive combined compensation controller of design dynamic
The interference free performance of robot hydraulic drive unit position control system, substantially increase that position control inner ring has is dynamic
State rigidity.The present invention can optimize location-based impedance control inner and outer ring dynamic flexibility, greatly improve based on position
Impedance control control precision.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is that the embodiment of the present invention is directed to the location-based impedance adjustment flow chart of hydraulic drive unit；
Fig. 2 is that position-force control of the present invention transmits block diagram；
Fig. 3 is the traditional location-based impedance control system simplified pinciple figure of the present invention；
Fig. 4 is the location-based impedance control strategy that the present invention improves；
Fig. 5 is that hydraulic drive unit position control system of the present invention compensates control principle drawing；
Fig. 6 is the submissive schematic diagram of hydraulic drive unit position control system dynamic of the present invention；
Fig. 7 is the simplified control block diagram of input terminal voltage deviation-load flow of the present invention；
Fig. 8 is the hydraulic drive unit position control system control principle drawing that the compound submissive compensation of dynamic is added in the present invention；
Fig. 9 is that the present invention ignores the position control inner ring after influence of the perturbed force to position control inner ring；
Figure 10 is that present invention introduces the position control inner ring after feedforward compensation controller；
Figure 11 is the location-based impedance control schematic diagram that hydraulic drive unit of the present invention improves；
Figure 12 is that the embodiment of the present invention is directed to the location-based impedance control system structure chart of hydraulic drive unit.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide one kind to be directed to the location-based impedance adjustment of hydraulic drive unit and system, energy
Enough significantly improve location-based impedance control precision.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is that the embodiment of the present invention is directed to the location-based impedance adjustment flow chart of hydraulic drive unit.Such as Fig. 1 institute
Show, one kind being directed to the location-based impedance adjustment of hydraulic drive unit, which comprises
Step 101: obtaining traditional location-based impedance control dynamic rate composition information；
Step 102: the composition information being analyzed, the rigidity composition of position control inner ring is obtained；
Step 103: being formed according to the rigidity, the submissive composite controller of design dynamic；
Step 104: according to the information of the submissive composite controller of the dynamic, designing inner ring feedforward compensation controller；
Step 105: obtaining the complex controll of the submissive composite controller of the dynamic and the inner ring feedforward compensation controller
Strategy；
Step 106: location-based impedance is controlled according to the Compound Control Strategy.
Step 102, it specifically includes:
The composition information is analyzed, is obtained caused by the intrinsic link of system by the of outer interference position to power output
Second dynamic rate information of one dynamic rate information and the equivalent generation of system position closed-loop control；
According to the first dynamic rate information and the second dynamic rate information, the rigidity of position control inner ring is determined
Composition；The rigidity composition includes intrinsic dynamic rate and equivalent dynamic rate.
Step 103, it specifically includes:
According to the intrinsic dynamic rate, feedforward compensation controller is designed
VtFor oil cylinder total measurement (volume)；KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XV
For valve core of servo valve displacement；KdFor equivalent flow coefficient；psFor system charge oil pressure；p0For system oil return pressure；CipFor servoBcylinder
Internal leakage coefficient；L is servo the cylinder piston total kilometres；ApFor the effective piston area of servoBcylinder；βeFor effective volume elasticity modulus；s
For the Laplace transformation factor.
According to the equivalent dynamic rate, adaptive feedforward compensating controller is designed
Wherein, KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XVFor servo valve
Spool displacement；psFor system charge oil pressure；p0For system oil return pressure；UeFor input voltage；KPIFor PI controller gain, KcFor
Pressure gain, KqFor flow gain, s is the Laplace transformation factor.
Step 104, it specifically includes:
According to the information of the submissive composite controller of the dynamic, inner ring feedforward compensation controller G is designedfp(s)；
Wherein, VtFor oil cylinder total measurement (volume)；KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve resistance
Buddhist nun's ratio；XVFor valve core of servo valve displacement；KdFor equivalent flow coefficient；ρ is the density of hydraulic oil；psFor system charge oil pressure；p0For
System oil return pressure；CipFor the internal leakage coefficient of servoBcylinder；ApFor the effective piston area of servoBcylinder；βeFor effective volume springform
Amount；mtBe conversion to gross mass in servo the cylinder piston, including load, piston, displacement sensor, force snesor, connecting pipe and
The reduced mass of servoBcylinder inner fluid and other moving parts；K is load stiffness；BpIt is for load and the damped coefficient of servoBcylinder, s
The Laplace transformation factor.
Traditional location-based impedance control dynamic rate composition is analyzed:
Firstly, starting with from traditional location-based impedance control principle, Fig. 2 is that position-force control transmits block diagram, will
It is reduced to schematic diagram such as Fig. 3, and analyzes it.Fig. 3 is the simplification of the position impedance control system of hydraulic drive unit
Schematic diagram, in this case, outer load force FLCan only X be exported to position control inner ringpGenerate 1. direction influence, position along figure
There are a high-order dynamic rigidity in control inner ringIt can be expressed as follows:
In formula, V1=Vg1+ApL0+Apxp,V2=Vg2+ApL0-Apxp；
For the intrinsic dynamic rate of hydraulic drive unit position control system,Molecule and denominator all contain high-order dynamic
Link, that is to say, that with outer load force FLIt is dynamic different, X can be exported to systempGenerate Different Effects.Particularly, when ignoring
After all molecules and denominator high-order dynamic link, it is found thatSteady-state value be equal to load stiffness K.It needs exist for more
Illustrate, for hydraulic drive unit position control system, which is usually unidirectional existing, i.e. load force FLOne
As be hinder hydraulic drive unit movement, therefore work as load force FLWith output displacement XpWhen in the same direction, load stiffness K is generally zero.
2. there are another high-order dynamic rigidity in direction along figure for position controlIt can be expressed as follows:
In formula, claimFor the equivalent dynamic rate as caused by system closed-loop control, it can be seen thatWith reversed
Dynamic flexibility.Due to XrIt is input signal and unrelated with the value of outer load force, it can be seen thatWithIt acts on simultaneously
Output displacement Xp, i.e. output position caused by the two dynamic rates changes and influences each other and correspond to identical output displacement Xp,
Therefore, the two dynamic rates are parallel relationship in position control system.
Ideal dynamic flexibility is not had using the hydraulic drive unit of traditional location-based impedance control,
There are gaps apart from ideal situation for control effect.Two aspects can be generated to system when perturbed force acts on hydraulic drive unit
Influence, firstly, the dynamic flexibility of position control system inner ring is not ideal situation, therefore position inner ring will receive outer perturbed force
Influence；Secondly, can make position control inner ring that can generate a new input when perturbed force acts on impedance control outer ring, this
Also the principle of Active Compliance Control is exactly realized.At this point, the main reason for influencing impedance control performance, is position control inner ring
Control precision, therefore inner ring how can be made to realize that accurate position control is to improve impedance control performance under different operating conditions
Key.Based on above-mentioned consideration, control strategy as shown in Figure 4 is proposed in the present invention, it is traditional based on power to improve
Impedance control dynamic flexibility composition, to improve its control performance.
For the influence that perturbed force generates position control inner ring, a kind of submissive composite controller of dynamic is designed:
1) control design case is compensated for intrinsic dynamic rate:
The controller assumes that position control system is zero deflection system in design, at this time system dynamic rate
It is fully compensatedThe dynamic rate of position control system can be made to tend to be infinitely great.It can be obtained by derivation:
After the controller is added in impedance control system in position, F can be generated at Fig. 5 interior joint 1L' compensation FL, to make
System output displacement XpIt does not change.It can be seen that the equivalent controller dynamic rate generated due to the controller in Fig. 6Produce a reversed dynamic flexibility, dynamic rate direction and dynamic rateOn the contrary, therefore existingWith Zsp
Under parallel connection effect, overall dynamics rigidity shows as infinity, ensure that FLSystem endocyclic position control precision is hardly produced
It is raw to influence, on this basis with ideal dynamic rate ZDSeries connection, to improve impedance control precision.
2) control design case is compensated for equivalent dynamic rate:
Due to ignoring first derivative element, which can not be fully compensated outer load force to the shadow of system output displacement
It rings.Under actual conditions, the reason of cannot being fully compensated there is also second, that is, the controllerIt is based on System Computer
Reason modeling designs, and the model and real system can more or less have deviation, and individual coefficient in controller (if any
Imitate bulk modulus βe, the internal leakage coefficient C of servoBcylinderip, system charge oil pressure psEtc.) containing time-varying characteristics, this is directly
It will affect practical compensation effect.
Therefore in feedforward compensation controllerOn the basis of, an adaptive feedforward compensating controller is devised againIts purpose is to compensate direction in Fig. 5 2. on dynamic rate, eliminate input terminal voltage deviation further to change
Kind inner loop control precision.
The pressure-flow nonlinear equation of servo valve is
Containing there are two state vectors in above formulaAnd xv, carrying out first order Taylor expansion to above formula can obtain
Design controllerTo compensate load flow QLReduction, input terminal voltage deviation-load flow simplify control
Block diagram processed is as shown in Figure 7.
Equivalent dynamic rate compensation control is designed accordingly
In formula, KadaptFor voltage compensation adaptation coefficient, the setting of the coefficient is with reference to adaptive interaction basic theory.Root
Load flow Q is cut down at node 2 due to compensating at servo valve input voltage according to above formulaLVariation.In fact,
The feedforward compensation controller at this timeProduce equivalent controller dynamic rateTo compensate equivalent dynamic rate
Compensation control principle drawing at this time in hydraulic drive unit position control system is as shown in Figure 8.
The design of position inner ring Front feedback control:
The feedforward controller for designing a kind of position inner ring input signal introduces the feedforward compensation and output signal of input signal
Feedback closed loop control control object is controlled together, velocity error is greatly reduced with acceleration error, greatly
Output is eliminated to the tracing deviation of input signal, to further improve the dynamic flexibility of position control inner ring.
On the basis of Fig. 8, ignore influence of the perturbed force to position control inner ring, then position control inner ring system can indicate
For Fig. 9, system transter is at this time
Feedforward compensation controller is introduced, position control inner ring is as shown in Figure 10, wherein Gfp(s) for before position control inner ring
Compensating controller transmission function is presented, by deriving:
As addition controller G in systemfp(s), control inner ring in position produces dynamic rate compensating controller ZfpTo eliminate position
Set control inner ring tracking error ep.In order to further increase controller Gcp(s) and Gfp(s) robustness, on the basis of them,
A kind of parameter self-tuning PID controller is devised, on-line tuning system forward channel gain is used for.In conjunction with proposed control
Method processed, the then location-based impedance control schematic diagram that hydraulic drive unit improves are as shown in figure 11.
In conjunction with Gcp(s) and Gfp(s) location-based impedance control inner and outer ring can be optimized by being formed by Compound Control Strategy
Dynamic flexibility greatly improves location-based impedance control precision, so as to form a kind of the location-based of improvement
Impedance adjustment, the research achievement can be used as the hydraulic system active compliance control of hydraulic-driven humanoid robot mass motion control
Method processed.
The present invention provides one kind and is directed to the location-based impedance adjustment of hydraulic drive unit, submissive by design dynamic
Combined compensation controller improves the interference free performance of legged type robot hydraulic drive unit position control system, greatly increases
The dynamic rate that position control inner ring has.It is submissive that the present invention can optimize location-based impedance control inner and outer ring dynamic
Property, greatly improve location-based impedance control control precision.
Figure 12 is that the embodiment of the present invention is directed to the location-based impedance control system structure chart of hydraulic drive unit.Such as Figure 12
Shown, one kind being directed to the location-based impedance control system of hydraulic drive unit, the system comprises:
First obtains module 201, forms information for obtaining traditional location-based impedance control dynamic rate；
Rigidity forms determining module 202 and obtains the rigidity of position control inner ring for analyzing the composition information
Composition；
First controller setup module 203, for being formed according to the rigidity, the submissive composite controller of design dynamic；
Second controller setup module 204, for the information according to the submissive composite controller of the dynamic, before designing inner ring
Present compensating controller；
Second obtains module 205, for obtaining the submissive composite controller of the dynamic and the inner ring Front feedback control
The Compound Control Strategy of device；
Impedance control module 206, for controlling location-based impedance according to the Compound Control Strategy.
The rigidity forms determining module 202, specifically includes:
Analytical unit obtains caused by the intrinsic link of system for analyzing the composition information by outer interference position
Set the second dynamic rate information to the first dynamic rate information of power output and the equivalent generation of system position closed-loop control；
Rigidity forms determination unit, is used for according to the first dynamic rate information and the second dynamic rate information,
Determine the rigidity composition of position control inner ring；The rigidity composition includes intrinsic dynamic rate and equivalent dynamic rate.
The first controller setup module 203, specifically includes:
First feedforward compensation controller design cell, for designing Front feedback control according to the intrinsic dynamic rate
Device
VtFor oil cylinder total measurement (volume)；KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XV
For valve core of servo valve displacement；KdFor equivalent flow coefficient；psFor system charge oil pressure；p0For system oil return pressure；CipFor servoBcylinder
Internal leakage coefficient；L is servo the cylinder piston total kilometres；ApFor the effective piston area of servoBcylinder；βeFor effective volume elasticity modulus；s
For the Laplace transformation factor.
Adaptive feedforward compensating controller design cell, for designing adaptive feedforward according to the equivalent dynamic rate
Compensating controller
Wherein, KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XVFor servo valve
Spool displacement；psFor system charge oil pressure；p0For system oil return pressure；UeFor input voltage；KPIFor PI controller gain, KcFor
Pressure gain, KqFor flow gain, s is the Laplace transformation factor.
The second controller setup module 204, specifically includes:
Second feedforward compensation controller unit designs inner ring for the information according to the submissive composite controller of the dynamic
Feedforward compensation controller Gfp(s)；
Wherein, VtFor oil cylinder total measurement (volume)；KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve resistance
Buddhist nun's ratio；XVFor valve core of servo valve displacement；KdFor equivalent flow coefficient；ρ is the density of hydraulic oil；psFor system charge oil pressure；p0For
System oil return pressure；CipFor the internal leakage coefficient of servoBcylinder；ApFor the effective piston area of servoBcylinder；βeFor effective volume springform
Amount；mtBe conversion to gross mass in servo the cylinder piston, including load, piston, displacement sensor, force snesor, connecting pipe and
The reduced mass of servoBcylinder inner fluid and other moving parts；K is load stiffness；BpIt is for load and the damped coefficient of servoBcylinder, s
The Laplace transformation factor.
VtFor oil cylinder total measurement (volume)；KXTo be displaced sensor gain；KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ
For servo valve damping ratio；XVFor valve core of servo valve displacement；KdFor equivalent flow coefficient；W is area gradient；ρ is the close of hydraulic oil
Degree；psFor system charge oil pressure；p1For the left chamber pressure of servoBcylinder；p2For the right chamber pressure of servoBcylinder；p0For system oil return pressure
Power；CipFor the internal leakage coefficient of servoBcylinder；CepFor the coefficient of leakage that leaks of servoBcylinder；Vg1It is connect for servo valve with servoBcylinder oil inlet
Channel volume；L is servo the cylinder piston total kilometres；L0For hydraulic drive unit servoBcylinder piston-initial-position；ApIt is effective for servoBcylinder
Piston area；βeFor effective volume elasticity modulus；mtFor conversion to gross mass in servo the cylinder piston, including load, piston, displacement
Sensor, force snesor, connecting pipe and servoBcylinder inner fluid and other moving parts reduced mass；FrFor input power；KFFor power
Sensor force gain；KPIDFor PID controller gain；KPFor proportional gain；KIFor integral gain；KDFor the differential gain；K is load
Rigidity；BpFor load and the damped coefficient of servoBcylinder；FLFor the interference of outer load force；XpFor servoBcylinder piston displacement；FfFor load and
The coulomb friction of servoBcylinder；UrFor input voltage；UeFor input voltage；UgFor controller output voltage；Q1For servoBcylinder left chamber
Flow；Q2For servoBcylinder right chamber flow.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (4)
1. one kind is directed to the location-based impedance adjustment of hydraulic drive unit, which is characterized in that the described method includes:
Obtain traditional location-based impedance control dynamic rate composition information；
The composition information is analyzed, the rigidity composition of position control inner ring is obtained, specifically includes:
The composition information is analyzed, obtains being moved caused by the intrinsic link of system by the first of outer interference position to power output
Second dynamic rate information of state rigidity information and the equivalent generation of system position closed-loop control；
According to the first dynamic rate information and the second dynamic rate information, the rigidity group of position control inner ring is determined
At；The rigidity composition includes intrinsic dynamic rate and equivalent dynamic rate；
It is formed according to the rigidity, the submissive composite controller of design dynamic；
According to the information of the submissive composite controller of the dynamic, inner ring feedforward compensation controller is designed；
Obtain the Compound Control Strategy of the submissive composite controller of the dynamic and the inner ring feedforward compensation controller；
Location-based impedance is controlled according to the Compound Control Strategy.
2. according to claim 1 be directed to the location-based impedance adjustment of hydraulic drive unit, which is characterized in that institute
It states and is formed according to the rigidity, the submissive composite controller of design dynamic specifically includes:
According to the intrinsic dynamic rate, feedforward compensation controller is designed
VtFor oil cylinder total measurement (volume)；KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XVTo watch
Take valve core displacement；KdFor equivalent flow coefficient；psFor system charge oil pressure；p0For system oil return pressure；CipFor in servoBcylinder
Leadage coefficient；L is servo the cylinder piston total kilometres；ApFor the effective piston area of servoBcylinder；βeFor effective volume elasticity modulus；S is to draw
Family name's transformation factor.
According to the equivalent dynamic rate, adaptive feedforward compensating controller is designed
Wherein, KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XVFor valve core of servo valve position
It moves；psFor system charge oil pressure；p0For system oil return pressure；UeFor input voltage；KPIFor PI controller gain, KcFor pressure increasing
Benefit, KqFor flow gain, s is the Laplace transformation factor.
3. one kind is directed to the location-based impedance control system of hydraulic drive unit, which is characterized in that the system comprises:
First obtains module, forms information for obtaining traditional location-based impedance control dynamic rate；
Rigidity forms determining module, for analyzing the composition information, obtains the rigidity composition of position control inner ring, tool
Body includes:
Analytical unit obtains caused by the intrinsic link of system by outer interference position extremely for analyzing the composition information
First dynamic rate information of power output and the second dynamic rate information of the equivalent generation of system position closed-loop control；
Rigidity forms determination unit, for determining according to the first dynamic rate information and the second dynamic rate information
The rigidity of position control inner ring forms；The rigidity composition includes intrinsic dynamic rate and equivalent dynamic rate；
First controller setup module, for being formed according to the rigidity, the submissive composite controller of design dynamic；
Second controller setup module designs inner ring feedforward compensation for the information according to the submissive composite controller of the dynamic
Controller；
Second obtains module, for obtaining the compound of the submissive composite controller of the dynamic and the inner ring feedforward compensation controller
Control strategy；
Impedance control module, for controlling location-based impedance according to the Compound Control Strategy.
4. according to claim 3 be directed to the location-based impedance control system of hydraulic drive unit, which is characterized in that institute
The first controller setup module is stated, is specifically included:
First feedforward compensation controller design cell, for designing feedforward compensation controller according to the intrinsic dynamic rate
VtFor oil cylinder total measurement (volume)；KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XVTo watch
Take valve core displacement；KdFor equivalent flow coefficient；psFor system charge oil pressure；p0For system oil return pressure；CipFor in servoBcylinder
Leadage coefficient；L is servo the cylinder piston total kilometres；ApFor the effective piston area of servoBcylinder；βeFor effective volume elasticity modulus；S is to draw
Family name's transformation factor.
Adaptive feedforward compensating controller design cell, for designing adaptive feedforward compensation according to the equivalent dynamic rate
Controller
Wherein, KaxvFor servo valve gain；ω is the intrinsic frequency of servo valve；ζ is servo valve damping ratio；XVFor valve core of servo valve position
It moves；psFor system charge oil pressure；p0For system oil return pressure；UeFor input voltage；KPIFor PI controller gain, KcFor pressure increasing
Benefit, KqFor flow gain, s is the Laplace transformation factor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811226564.1A CN109210037B (en) | 2018-10-22 | 2018-10-22 | One kind being directed to the location-based impedance adjustment of hydraulic drive unit and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811226564.1A CN109210037B (en) | 2018-10-22 | 2018-10-22 | One kind being directed to the location-based impedance adjustment of hydraulic drive unit and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109210037A CN109210037A (en) | 2019-01-15 |
| CN109210037B true CN109210037B (en) | 2019-08-09 |
Family
ID=64981088
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811226564.1A Active CN109210037B (en) | 2018-10-22 | 2018-10-22 | One kind being directed to the location-based impedance adjustment of hydraulic drive unit and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109210037B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110030233B (en) * | 2019-04-09 | 2020-04-14 | 燕山大学 | Compound control method and system for hydraulic drive unit position control system |
| CN110308648B (en) * | 2019-07-11 | 2020-07-14 | 燕山大学 | Position-based impedance control system variable impedance characteristic compensation control method and system |
| CN110398895A (en) * | 2019-07-26 | 2019-11-01 | 燕山大学 | A kind of location-based Active Compliance Control method and system |
| CN112180761A (en) * | 2020-09-29 | 2021-01-05 | 燕山大学 | Impedance control simulation platform for leg of foot robot based on position and construction method |
| CN112372637B (en) * | 2020-10-27 | 2022-05-06 | 东方红卫星移动通信有限公司 | Adaptive impedance compliance control method, module and system for low-orbit satellite space manipulator |
| CN112297009B (en) * | 2020-10-29 | 2022-04-05 | 燕山大学 | Impedance new configuration generation method and system for three-degree-of-freedom leg of robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003002897A1 (en) * | 2001-06-26 | 2003-01-09 | Cafe Engineering | Spring valve implemented flow control valves |
| CN106313096A (en) * | 2016-06-22 | 2017-01-11 | 台州学院 | Precision hydraulically-driven joint for robot based on closed-loop control |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7454909B2 (en) * | 2005-02-08 | 2008-11-25 | Massachusetts Institute Of Technology | Impedance shaping element for a control system |
-
2018
- 2018-10-22 CN CN201811226564.1A patent/CN109210037B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003002897A1 (en) * | 2001-06-26 | 2003-01-09 | Cafe Engineering | Spring valve implemented flow control valves |
| CN106313096A (en) * | 2016-06-22 | 2017-01-11 | 台州学院 | Precision hydraulically-driven joint for robot based on closed-loop control |
Non-Patent Citations (1)
| Title |
|---|
| 液压驱动单元位置控制系统前馈补偿控制研究;俞滨、巴凯先、王东坤等;《机械工程学报》;20181020;第159-170页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109210037A (en) | 2019-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109210037B (en) | One kind being directed to the location-based impedance adjustment of hydraulic drive unit and system | |
| Feng et al. | Identification and compensation of non-linear friction for a electro-hydraulic system | |
| CN106078750B (en) | A kind of legged type robot hydraulic drive unit Active Compliance Control method | |
| CN104111607B (en) | A kind of control method of the electric machine position servo system considering input delay | |
| CN110030233B (en) | Compound control method and system for hydraulic drive unit position control system | |
| CN107882795B (en) | A kind of submissive compensating control method of highly integrated property valve-controlled cylinder force control dynamic | |
| CN111300423B (en) | Robot joint torque control system and load compensation method thereof | |
| Li et al. | Precision motion control of an independent metering hydraulic system with nonlinear flow modeling and compensation | |
| Ba et al. | The dynamic compliance and its compensation control research of the highly integrated valve-controlled cylinder position control system | |
| CN110398895A (en) | A kind of location-based Active Compliance Control method and system | |
| Kong et al. | Force control compensation method with variable load stiffness and damping of the hydraulic drive unit force control system | |
| Dai et al. | Adaptive force tracking control of electrohydraulic systems with low load using the modified LuGre friction model | |
| Cai et al. | High precision position control of electro-hydrostatic actuators in the presence of parametric uncertainties and uncertain nonlinearities | |
| CN105068426A (en) | Electro-hydraulic position servo system continuous sliding mode control method based on interference compensation | |
| CN112180732B (en) | Hydraulic drive unit sliding mode controlled foot type robot driving method and system | |
| Niu et al. | Neural network-based finite-time command-filtered adaptive backstepping control of electro-hydraulic servo system with a three-stage valve | |
| Ba et al. | Fuzzy terminal sliding mode control with compound reaching law and time delay estimation for HDU of legged robot | |
| CN110308648B (en) | Position-based impedance control system variable impedance characteristic compensation control method and system | |
| CN110273876A (en) | For the impedance-compensated method and system of outer ring of valve-controlled cylinder mechanical impedance control system | |
| CN110561427A (en) | Series elastic driver compliance control system and method based on compensation | |
| Nie et al. | Tracking error constraint-based adaptive dynamic surface control of electro-hydraulic manipulator system | |
| Plummer | Feedback linearization for acceleration control of electrohydraulic actuators | |
| CN111781836B (en) | Self-adaptive asymptotic control method for hydraulic pressure preset performance | |
| Zou | Observer based sliding mode control for hydraulic driven barrel servo system with unknown dynamics | |
| Liu et al. | Flow match and precision motion control of asymmetric electro-hydrostatic actuators with complex external force in four-quadrants |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |