Servo Control Method of Gasoline Engine Speed ​​in Legged Robot Hydraulic System

Abstract

The invention provides a servo control method for the gasoline engine speed in a hydraulic system of a legged robot. The servo control method comprises the following steps: (1) calculating the engine speed error e and the engine speed error change rate ec; (2), after the fuzzy logic calculation of e and ec, outputting the proportionality coefficient increment delta kp and the integral coefficient increment delta ki; (3) calculating the proportionality coefficient and the integral coefficient according to the following formulas correspondingly: kp = kp0 + delta kp and ki = ki0 + delta ki; (4) calculating the accelerator opening degree according to the following formula: S1 = S1_old + kp*ec + ki*e; (5) calculating the accelerator opening degree change caused by the hydraulic oil flow rate change according to the following formula: S2 = kQ*detal Q; and (6) calculating the final accelerator opening degree Sf = S1 + S2, wherein the rotation of a steering engine is controlled through the accelerator opening degree in the PWM form, the air inlet volume is controlled by controlling the opening degree of an engine throttle valve through an accelerator cable, and finally the engine speed is controlled. The servo control method provided by the invention has the advantages that the feedforward control is adopted, so that the stable engine speed can be guaranteed well under the circumstance that the flow rate changes suddenly; parameters are modified online by adoption of fuzzy self-tuning, so that the different control requirements can be met; and accordingly, the hydraulic system can have the good dynamic property and static property.

Description

technical field [0001] The invention relates to a gasoline engine rotation speed servo control method for a hydraulic leg-foot robot, belonging to the technical field of gasoline engine-driven hydraulic system control. Background technique [0002] In the driving mode of legged robots, it is necessary to ensure the high dynamics and load capacity of the robot, so the power source of its onboard hydraulic system should have a high energy density. Although electric drive has advantages such as low noise, its disadvantages such as poor battery life and slow battery charging affect its application in the field of legged robots. Gasoline engines have higher efficiency, smaller volume and lower weight, which facilitates the realization of robot energy. The system is airborne, so the hydraulic system driven by the engine is an ideal solution for the legged robot drive system. The power of the hydraulic system of the robot is provided by the gasoline engine, which drives the variab...

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Problems solved by technology

[0005] The controller of the above system controls the start and stop of the engine and the connection or disconnection of the oil port of the reversing valve of the hydraulic system through signals. The working condition of the monitoring system, but after the flow demand of the robot system increases, a higher-power engine needs to be replaced. The original control method cannot meet the speed control of a high-power engine; and the speed measurement is complicated, and the output shaft of the engine needs to be modified. , increasing the difficulty of assembly

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