Active flexible control method for hydraulic drive unit of foot-type robot

A drive unit, active and flexible technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of reduced impact resistance, damage, and difficulty in achieving high-precision stiffness control of robots.

CN106078750AActive Publication Date: 2016-11-09江苏亚力亚气动液压成套设备有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2016-11-09

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Abstract

The invention relates to an active flexible control method for a hydraulic drive unit of a foot-type robot. A method for reducing the displacement of a valve core of a servo valve is adopted, so as to reduce the output flow and furthermore the damp control effect is achieved. A method of combining rigidity feedback control and load feedforward control is adopted to achieve high-precision rigidity control of the hydraulic drive unit; the damp control of the hydraulic drive unit is combined with the high-precision rigidity control of the hydraulic drive unit to achieve active flexible control of the hydraulic drive unit of the foot-type robot. The method has the following advantages that the active flexible control can be achieved by the control method, the adverse effect on the robot foot-state control due to the instantaneous stall of the hydraulic drive unit of each joint hydraulic drive unit caused by instantaneous power loss of the foot can be avoided and the high-precision rigidity control can be achieved under different load conditions.
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Description

technical field

[0001] The invention relates to the field of legged robot control, in particular to an active compliance control method for a hydraulic drive unit of a legged robot. Background technique

[0002] The high-performance quadruped bionic robot with legged organisms as the bionic object has military and civilian potential in complex environments, and has become a hot spot in the field of robotics research. The hydraulically driven high-performance quadruped bionic robot BigDog successfully developed by Boston Company is in the forefront of the world with its superior motion performance. Due to the difficulty of controlling the drive unit, although the country is actively developing, there is still a big gap between the motion performance of the sample and the American BigDog.

[0003] The nonlinearity of the hydraulic drive unit of the hydraulically driven legged robot and the complexity of adapting to the environment have increased the difficulty of controlling ...

Examples

Embodiment Construction

[0045] The present invention will be further described below in conjunction with accompanying drawing:

[0046] Such as figure 1 As shown, when the hydraulic drive unit receives a load force, the active compliance control outer loop will produce a corresponding position deviation, which will affect the input position to form a new expected position signal, and the expected position signal enters the position control inner loop to form a new Output the position to make the position control system have active compliance characteristics.

[0047] Such as figure 2 As shown, the inherent stiffness of the hydraulic system is the hydraulic stiffness, and the control of the system stiffness is equivalent to connecting a target stiffness in series on the basis of the hydraulic stiffness. When applying the traditional active compliance control method, due to the inherent characteristics of the hydraulic drive unit, its hydraulic stiffness is not infinite, and the external load force ...