TY - GEN
T1 - Research on high precision control of joint position servo system for hydraulic quadruped robot
AU - Zhihua, Chen
AU - Shoukun, Wang
AU - Kang, Xu
AU - Junzheng, Wang
AU - Jiangbo, Zhao
AU - Shanshuai, Niu
N1 - Publisher Copyright:
© 2019 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2019/7
Y1 - 2019/7
N2 - Electro-hydraulic servo valve-controlled cylinder(EHSVCC) is a highly integrated and high-performance electro-hydraulic servo driving unit(EHSDU), which is the basic driving unit of the leg joint for hydraulic quadruped robot. The robot impedance control mostly adopts control methods based on position inner loop and impedance outer loop, the high precision control of position inner loop is the key to improve impedance control. Therefore, it is of great significance to study a high precision position control method. Firstly, the electro-hydraulic servo drive unit of the foot robot is taken as the research object. The model of the nonlinear system is established, and the feedback linearization of the system is carried out. Secondly, in order to improve the tracking performance and anti-jamming ability of the position inner loop input/output a sliding mode variable structure robust controller(SMVSRC) with switching function, variable structure control rate and improved boundary layer function is designed. Finally, the electro-hydraulic servo drive unit(EHSDU) and the hydraulic foot robot test platform are tested, the influence of the two control algorithms on the position response and tracking error for EHSDU is analyzed and compared under the control of sinusoidal signals with different amplitudes and frequencies and diagonal gait signals. The experimental results show that the improved SMVSRC algorithm is feasible and effective, which provides a theoretical basis for the later study of impedance control based on position inner loop.
AB - Electro-hydraulic servo valve-controlled cylinder(EHSVCC) is a highly integrated and high-performance electro-hydraulic servo driving unit(EHSDU), which is the basic driving unit of the leg joint for hydraulic quadruped robot. The robot impedance control mostly adopts control methods based on position inner loop and impedance outer loop, the high precision control of position inner loop is the key to improve impedance control. Therefore, it is of great significance to study a high precision position control method. Firstly, the electro-hydraulic servo drive unit of the foot robot is taken as the research object. The model of the nonlinear system is established, and the feedback linearization of the system is carried out. Secondly, in order to improve the tracking performance and anti-jamming ability of the position inner loop input/output a sliding mode variable structure robust controller(SMVSRC) with switching function, variable structure control rate and improved boundary layer function is designed. Finally, the electro-hydraulic servo drive unit(EHSDU) and the hydraulic foot robot test platform are tested, the influence of the two control algorithms on the position response and tracking error for EHSDU is analyzed and compared under the control of sinusoidal signals with different amplitudes and frequencies and diagonal gait signals. The experimental results show that the improved SMVSRC algorithm is feasible and effective, which provides a theoretical basis for the later study of impedance control based on position inner loop.
KW - Feedback linearization
KW - Hydraulic quadruped robot
KW - Position control
KW - Sliding mode controller
UR - http://www.scopus.com/inward/record.url?scp=85074437855&partnerID=8YFLogxK
U2 - 10.23919/ChiCC.2019.8866288
DO - 10.23919/ChiCC.2019.8866288
M3 - Conference contribution
AN - SCOPUS:85074437855
T3 - Chinese Control Conference, CCC
SP - 755
EP - 760
BT - Proceedings of the 38th Chinese Control Conference, CCC 2019
A2 - Fu, Minyue
A2 - Sun, Jian
PB - IEEE Computer Society
T2 - 38th Chinese Control Conference, CCC 2019
Y2 - 27 July 2019 through 30 July 2019
ER -