Outer loop impedance compensation method and system for valve-controlled cylinder force impedance control system
An impedance control and impedance compensation technology, which is used in the testing of fluid pressure actuation systems, fluid pressure actuation devices, servo motor components, etc., can solve the problems of low control accuracy and anti-interference performance, improve robustness and reduce complexity degree, the effect of good engineering practicability
Active Publication Date: 2020-06-09
YANSHAN UNIV
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[0005] The purpose of the present invention is to provide an outer loop impedance compensation method and system for a valve-controlled cylinder force impedance control system to solve the problem of low control accuracy and low anti-interference performance of the traditional impedance control method in the hydraulic system
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[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0050] The purpose of the present invention is to provide an outer loop impedance compensation method and system for a valve-controlled cylinder force-impedance control system, which can reduce the order of the mathematical model of a highly integrated valve-controlled cylinder force-impedance control system, improve control accuracy and anti-interference performance .
[0051] In order to make the above objects, features and advantages of the present inventio...
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The invention discloses an outer ring impedance compensation method and system for a valve-controlled cylinder mechanical impedance control system. The compensation method comprises the following steps that valve-controlled cylinder mechanical impedance control system outer ring impedance, a valve-controlled cylinder mechanical impedance control system mathematical model and valve-controlled cylinder servo cylinder parameters are obtained; a compensation control strategy is determined according to the outer ring impedance; according to the valve-controlled cylinder servo cylinder parameters, simplification and separation are conducted on the valve-controlled cylinder mechanical impedance control system mathematical model, and a plurality of transfer functions of the valve-controlled cylinder mechanical impedance control system; a compensation controller is determined according to the compensation control strategy and the plurality of transfer functions; and the compensation controller is used for compensating the outer ring impedance of the valve-controlled cylinder mechanical impedance control system, and the compensated outer ring impedance is determined. By adopting the compensation method and system, the control precision of the high-integration valve-controlled cylinder mechanical impedance control system can be improved, the robustness of a traditional mechanical impedance control system is improved, and the method and system has good engineering practicability.
Description
technical field [0001] The invention relates to the field of fluid transmission and control, in particular to an outer ring impedance compensation method and system for a hydraulically driven legged robot aimed at a highly integrated valve-controlled cylinder force impedance control system. Background technique [0002] The valve-controlled cylinder system is one of the most commonly used components in the hydraulic system. It is widely used in aerospace, metallurgy, construction machinery, agricultural machinery, advanced manufacturing and other fields. The highly integrated valve-controlled cylinder is used as a valve with higher power density. The cylinder-controlled structure has incomparable advantages in application objects such as aviation actuators and high-performance legged robots; however, the above application objects are different from traditional civil machinery and equipment, and they should have outstanding control performance to ensure their It can have good...
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IPC IPC(8): F15B13/02F15B13/16F15B19/00
CPCF15B13/02F15B13/16F15B19/007
Inventor 巴凯先俞滨金正国马国梁娄文韬李化顺
Owner YANSHAN UNIV