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- 저자 : Jiaxing Song (검색결과 2 건)
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Research and Improvement on Active Compliance Control of Hydraulic Quadruped Robot
Rui Zhu,Qingjun Yang,Jiaxing Song,Shangru Yang,Yudong Liu,Qi Mao 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.5
This paper focuses on active compliance control of hydraulic quadruped robot, especially the analysis of the inner-loop of the coupled system. Current researches on active compliance control regard the bandwidth of the inner loop of the system as infinite, while ignoring that the extra-load will cause the inner-loop response characteristics to deteriorate when the leg is in the stance phase. In this work, we first briefly introduced the structure of the robot, and its kinematics and dynamics are analyzed. Next, the robot’s active compliance control framework is established, and the inner-loop two-cylinder coupling system is analyzed in depth. It can be concluded that the existence of low frequency poles in the system is the main reason for the poor response characteristics. Then through the analysis of the state equation and transfer function matrix of the multi-input multi-output system, we show that the equivalent hydraulic spring stiffness (EHSS) is the main factor affecting the zero-pole distribution. Furthermore, we optimize the structure to increase the EHSS to improve the response characteristics of the system. Finally, the co-simulation platform and single-leg experiment bench are introduced. The simulation and experimental results show that the response speed of the inner-loop control is significantly improved after optimization, and the robot with active compliance control strategies can significantly reduce the impact of the foot.
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Sliding Mode Robust Control of Hydraulic Drive Unit of Hydraulic Quadruped Robot
Rui Zhu,Qingjun Yang,Yudong Liu,Rizhi Dong,Chunli Jiang,Jiaxing Song 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.4
This paper focuses on the position control of the quadruped robot hydraulic drive unit (HDU). The proposed control strategy has the advantages of excellent output tracking performance, strong robustness, no chattering and low computational complexity. HDU has the characteristics of nonlinearity and parameter uncertainty, coupled with unpredictable external interference, which makes it difficult to achieve precise position control. In this paper, we first establish the mathematical model of the HDU based on the actual parameters and obtain the state space of the system. Through the pole placement, the simplified system can easily achieve the expected control goal. Then, the state equation of the error system is constructed, and the nonlinearity, parameter uncertainty and external interference of the HDU are summarized as the matched and unmatched uncertainties of the system. The integral sliding mode control (ISMC) is used to derive the control law, and the response characteristics of the system when pole placement and state feedback H∞ control are used for the nominal control are compared. It can be concluded that the system with state feedback H∞ control for nominal control has stronger robustness and can resist the unmatched uncertainties. Finally, the control law of the simplified system is used as feedforward and combined with the ISMC of the error system, the output tracking control framework of the HDU is proposed. Simulations and experiments show that the proposed control method has excellent tracking performance and strong robustness.
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