Electro-hydraulic joint load sensitive adaptive fuzzy sliding mode control method

Abstract

The invention relates to an electro-hydraulic joint load sensitive adaptive fuzzy sliding mode control method. According to the load sensitive control principle, the load sensitive control strategy isestablished for an electro-hydraulic joint hydraulic system, and an electro-hydraulic joint load sensitive control system is built; a dynamic equation of a robot electro-hydraulic joint hydraulic system is established through employing the modern control theory, based on the dynamic equation, the adaptive fuzzy sliding mode variable structure control algorithm is designed. The method is advantaged in that an electro-hydraulic joint load changes, pressure compensation of the controller has good timeliness and high precision, load sensitive characteristics of the electro-hydraulic joint hydraulic system are realized, moreover, the adaptive fuzzy sliding mode variable structure controller has relatively ideal control effects such as system response characteristics, robustness, adaptability to interference and elimination of the chattering phenomenon.

Description

technical field [0001] The invention relates to an electro-hydraulic joint, and is especially suitable for the load-sensing control of an electro-hydraulic joint hydraulic system composed of ordinary solenoid valves. The load-sensing characteristic of the hydraulic system is realized by using a control algorithm instead of a traditional mechanical load-sensing proportional multi-way valve. Background technique [0002] As an extremely important part of a hydraulic robot, the joint is the execution carrier for the robot to achieve a series of actions and interact with the outside world. The overall performance of the hydraulic robot is closely related to the structure and performance of the hydraulic joint. Therefore, all countries attach great importance to high-performance electric Research and development of liquid joints. Therefore, the development of high-performance electro-hydraulic joints with high control precision, good stability, and fast response speed and related...

AI Technical Summary

Problems solved by technology

At present, the load-sensing characteristics of load-sensing valve-controlled hydraulic systems are generally realized by mechanical load-sensing proportional multi-way valves. The traditional mechanical load-sensing proportional multi-way valves have some inevitable disadvantages when applied to electro-hydraulic joints: valve body Compared with the electro-hydraulic joint, it is relatively large, so that the movement of the joint is limited; the internal structure of the mechanical load-sensing proportional multi-way valve is complicated, the preparation is difficult, and the preparation cost is high; the physical properties of the oil such as compressibility, oil The influence of viscosity, oil temperature, liquid flow characteristics, etc. on the load-sensitive proportional multi-way valve leads to large errors and slow response speed during the working process; the inner spring of the valve will produce certain fatigue damage during the long-term working process , which seriously affects the pressure and flow compensation accuracy of the load-sensitive proportional multi-way valve

[0004] In the research of electro-hydraulic joint control, although scholars at home and abroad have proposed many control strategies, these methods either fail to solve the high-frequency chattering problem of complex systems well, or reduce the robustness of the system when weakening chattering , or it is too complex to be applied to engineering practice, and there is a lack of research on the use of control algorithms to realize the load-sensing characteristics of electro-hydraulic joints

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