Two-stage energy supply and load hole independent valve control based hydraulic system and control method

Abstract

The invention relates to the technical field of hydraulic equipment, and discloses a two-stage energy supply and load hole independent valve control based hydraulic system. The two-stage energy supplyand load hole independent valve control based hydraulic system adopts a single-pump multi-actuator system which comprises a hydraulic drive unit and a hydraulic oil source, wherein the hydraulic oilsource is provided with a high-voltage energy accumulator and a low-voltage energy accumulator for providing energy to the hydraulic drive unit. The two-stage energy supply and load hole independent valve control technology based hydraulic drive unit is adopted, and a fuzzy sliding mode variable structure control strategy is used, so that the hydraulic drive unit has better control precision and improves system efficiency; the hydraulic two-stage oil source which utilizes the two-stage energy accumulator to supply energy is disclosed, and the hydraulic oil source does not have loss under an ideal condition, can simultaneously provide oil of two kinds of pressure; and under a scene with more drive units, sufficient flow and pressure supply is guaranteed while the oil source part in the hydraulic system supplies energy according to needs, so that system power loss is reduced, and system efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of hydraulic equipment, in particular to a hydraulic system and a control method based on two-stage energy supply and independent valve control of a load port. Background technique [0002] Hydraulic drive is one of the commonly used drive forms for quadruped robots. Compared with electric drive, it has the advantages of large output torque, high power density, and rapid response, and can provide strong power for robot movement. [0003] Quadruped robots mainly work in the wild environment, and it is difficult to replenish energy at any time. Therefore, its endurance has an important impact on the performance of work efficiency. The existing hydraulic system mostly uses a single-pump multi-actuator hydraulic system. Seriously mismatched with the requirements of actuators, the quadruped robot hydraulic system has the characteristics of high-speed light load, low speed heavy load, and high-low speed alternatel...

AI Technical Summary

Problems solved by technology

[0003] Quadruped robots mainly work in the wild environment, and it is difficult to replenish energy at any time. Therefore, its endurance has an important impact on the performance of work efficiency. The existing hydraulic system mostly uses a single-pump multi-actuator hydraulic system. Seriously mismatched with the requirements of actuators, the quadruped robot hydraulic system has the characteristics of high-speed light load, low speed heavy load, and high-low speed alternately. The system can provide oil with various flow and pressure combinations at the same time, while the single-pump multi-actuator hydraulic system belongs to the throttling speed regulation system. In order to take into account the movement needs of multiple actuators and multiple working conditions, the flow, The pressure is matched, so more throttling losses are generated. This problem causes the hydraulic system of the quadruped robot to be inefficient and restricts the improvement of endurance.

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