Robot Hydraulic Power Source Pressure-Flow Matching Control
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Solution Overview
Problem
Existing hydraulic power sources for robots suffer from energy loss due to excessive output pressure and flow, which is not matched to the actual demands of the robot, especially during changes in robot load, leading to reduced endurance and motion performance.
Innovation Solution
A pressure and flow matching control method is developed for the hydraulic power source of a robot, which involves establishing a mathematical model of key components, constructing trajectory planning and kinematic models, and using feedforward compensation and closed-loop control to ensure real-time matching of pressure and flow with the robot's demands.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the hydraulic power source outputs maximum pressure and flow to ensure adequate supply during robot movement, then the load-bearing and mobility performance is improved, but severe energy loss and waste occur, reducing robot endurance
Solution Approach 1:
The hydraulic power source transitions from static maximum output to dynamic adaptive output. The system continuously adjusts pressure and flow based on real-time robot state feedback, matching output to actual demand. This resolves the contradiction by making the system reliable when needed while minimizing energy waste during normal operation.
Solution Approach 2:
A closed-loop feedback control system is implemented where the robot's state (position, velocity, acceleration, load) is continuously monitored and fed back to the hydraulic controller. This feedback enables the system to adjust pressure and flow in real-time, ensuring adequate supply for load-bearing while preventing excessive energy consumption during steady-state operation.
2Measurement precision
If constant pressure variable displacement pump or constant power hydraulic pump is used to improve control accuracy, then steady-state energy waste is reduced, but dynamic pressure and flow mismatch due to load changes is not solved
Solution Approach 1:
The system replaces traditional mechanical hydraulic control (constant pressure or constant power pumps) with an intelligent control system that uses sensors, processors, and algorithms. This substitution enables both high control accuracy and dynamic adaptability to load changes, resolving the contradiction between precision and versatility.
Solution Approach 2:
The system dynamically changes hydraulic parameters (pressure, flow, pump displacement) based on real-time robot state. Unlike fixed-parameter pumps, the system continuously adjusts parameters to match actual demand, achieving both accurate control and adaptability to varying loads through parameter optimization.
3Loss of energy
If PID, adaptive control, fuzzy control, or feedforward compensation is used to improve control accuracy, then steady-state energy waste is reduced, but the difficulty and challenge of control increase due to nonlinear and time-varying characteristics
Solution Approach 1:
The control system is segmented into modular functional blocks: trajectory planning, kinematic analysis, dynamic analysis, state estimation, and hydraulic control. Each module handles a specific aspect of the control task, making the overall complex system more manageable and easier to implement while achieving energy efficiency through coordinated operation of these segments.
Data Source
AI summary
The present disclosure relates to a pressure and flow matching control method of a hydraulic power source for a robot, which includes S1: establishing a mathematical model of key components of the hydraulic power source; S2: constructing a trajectory planning model and kinematic model of the robot based on the mathematical model of the key components of the hydraulic power source; S3: improving a response speed by feedforward compensation and establishing a flow closed-loop control link of the hydraulic power source for the robot; S4: establishing a conversion relationship from the pressure to the flow and achieving the pressure and flow matching control of the hydraulic power source for the robot. The present disclosure completes the trajectory planning and kinematic analysis for the robot, establishes a conversion relationship between the pressure characteristics and the flow characteristics, and achieve the pressure and flow matching control of the hydraulic power source.