The Disturbance Rejection Control Method Based on the External Load Force Feed-forward Compensation of the Hydraulic Drive Unit

基於外負載力前饋補償的液壓驅動單元抗擾抑制控制方法研究

孔祥東(Xiang-Dong Kong) ； 巴凱先(Kai-Xian Ba) ； 俞濱(Bin Yu) ； 曹源(Yuan Cao)

《中國機械工程學刊》 36卷6期 (2015/12) Pp. 531-541

摘要

高性能四足仿生機器人的關節由液壓驅動單元驅動，為有效補償載荷作用對液壓驅動單元控制性能的不利影響，本文旨在研究壹種外負載力前饋補償控制方法。本文給出積分分離PI控制存在的帶載情況下位置控制性能的不足。設計負載壓力觀測器用於實時計算液壓驅動單元的負載壓力。此外，設計外負載力前饋補償控制器，通過典型力加載條件及四足機器人對角小跑工況條件下的實驗和仿真分析，得出抗擾控制效果。研究結果表明：采用該補償控制方法，可有效地提高液壓驅動單元位置控制系統帶載情況下的響應速度和控制精度。

並列摘要

The high performance bionic quadruped robot is driven by the hydraulic drive unit (HDU), and to compensate the negative effects of the external load force on the HDU performance availably, the external load force feedforward compensation control method is researched in this paper. Therefore, the deficiency of the position control performance with integral separation PI control under external load force is given. And the load pressure observer is designed to compute the load pressure of the HDU. Moreover, the external load force feedforward compensation controller is designed and applied. And control effects are obtained by experiment and simulation analysis under the typical external load force and robot’s trot gait work condition. The research results indicate that the response speed and the control accuracy of the HDU position control system are improved availably with this compensation control method.

並列關鍵字

Bionic quadruped robot ； Hydraulic drive unit ； Disturbance rejection control method ； External load force feedforward compensation