液压四足机器人关节重复补偿控制
|
摘要
针对液压四足机器人电液伺服作动器存在的位置跟踪精度较差问题,提出一种重复控制策略来实现位置跟踪控制。根据液压四足机器人的电液伺服系统各个驱动单元的数学模型,得到简化后的液压位置驱动单元的传递函数。设计了重复控制补偿PID控制器,采用Matlab和AMEsim软件进行联合仿真,进行各个模块的参数设置,得到了的电液伺服系统的位置跟踪曲线。并通过液压四足机器人实验平台进行实验验证控制器的有效性。研究表明,重复控制器可以有效的利用电液伺服作动器的重复运行信息,经过一定误差纠正后,幅值实现完全跟踪,相位滞后减小,验证了重复控制补偿PID的有效性。
Aiming at the problem that the position tracking accuracy of electro-hydraulic servo actuator is poor, a repetitive control strategy is proposed to realize the position tracking control. According to the mathematical model of the electro-hydraulic servo-system of the hydraulic quadruped robot, the transfer function of the simplified hydraulic position driving unit is obtained. The repetitive control compensation PID controller is designed, and the Matlab and AMEsim software are used to simulate the parameters of each module. The effectiveness of the controller is verified by the experimental results of the electro-hydraulic servo-test bench. The research shows that the repetitive controller can effectively use the electro-hydraulic servo actuator for repeated operation information, after a certain error correction, amplitude complete tracking, phase lag is reduced, to verify the effectiveness of the repetitive control compensation PID.
Aiming at the problem that the position tracking accuracy of electro-hydraulic servo actuator is poor, a repetitive control strategy is proposed to realize the position tracking control. According to the mathematical model of the electro-hydraulic servo-system of the hydraulic quadruped robot, the transfer function of the simplified hydraulic position driving unit is obtained. The repetitive control compensation PID controller is designed, and the Matlab and AMEsim software are used to simulate the parameters of each module. The effectiveness of the controller is verified by the experimental results of the electro-hydraulic servo-test bench. The research shows that the repetitive controller can effectively use the electro-hydraulic servo actuator for repeated operation information, after a certain error correction, amplitude complete tracking, phase lag is reduced, to verify the effectiveness of the repetitive control compensation PID.
引文
[1] 彭聿松,钟世勇,唐华溢.现代机器人的巅峰之作——BIGDOG [J].科技资讯,2010(29):2.
[2] BigDog-The Most Advanced Rough-Terrain Robot on Earth[EB/OL].[2013-05-30].http://www.bostondynamics.com/robot_bigdog.html.
[3] 丁良宏,王润孝. BigDog四足机器人关键技术分析[J].机械工程学报,2016,51(7):2
[4] WOODEN D,MALCHANO M, BLANKESPOOR K,et al.Autonomous navigation for BigDog[C]//Robotics and Automation (ICRA),2010 IEEE International Con-ference on. IEEE,2010: 4736.
[5] 孙桂涛,邵俊鹏,赵新通,等.液压机器人作动器建模及关节转角跟踪控制[J].仪器仪表学报,2015,36(3):584.
[6] 孙桂涛.液压四足机器人关节控制研究[D].哈尔滨:哈尔滨理工大学,2015:22.
[7] 王春行.液压控制系统[M].北京:机械工业出版社,2011:41.
[8] 于凤丽.四足机器人液压驱动单元神经网络辨识与控制研究[D].哈尔滨:哈尔滨理工大学,2016:12.
[9] 魏学帅. 液压四足机器人电液伺服作动器控制研究[D].哈尔滨:哈尔滨理工大学,2017:20.
[10] 刘金琨.先进 PID 控制 MATLAB 仿真[M] .北京:电子工业出版社,2007:294.
[11] ZHANG Li-Qiang,YANG Guo-Lai,GONG Hai-Feng..PID Control for Electro-hydraulic Position Servo System with Repetitive Control Compensation Machine Tool and Hydraulics[C]// 5th International Symposium on Fluid Power Transmission and Control,2007: 868.
[12] 苏东海,孙占文. AMEsim 仿真技术在电液位置同步系统中的应用[J]. 液压气动与密封, 2007(6):13.
[13] 郭凌龙.基于AMEsim 与 Matlab 联合仿真的电液伺服控制系统研究[J].科技情报开发与经济,2011,21(16):201.
[14] 邵俊鹏,李中奇,孙桂涛,等. 液压四足机器人关节驱动节能[J]. 哈尔滨理工大学学报, 2016(21):54.
[15] 邵俊鹏,魏学帅,孙桂涛.输入指令整形技术在电液伺服系统中的应用[J].沈阳工业大学学报,2016:4.
[16] 于舰, 孙桂涛.液压四足机器人驱动器 CAN 总线通信[J].哈尔滨理工大学学报,2013(18): 78.
[17] 高炳微.液压四足机器人单腿关节解耦控制及力/位切换控制研究[D].哈尔滨:哈尔滨理工大学,2015:30.
[18] 高炳微,邵俊鹏,韩桂华,等.电液伺服系统位置和力模糊切换控制方法[J].哈尔滨:电机与控制学报,2013: 78.
[19] 李谨,邓卫华. AMEsim 与 MATLAB/Simulink联合仿真技术及应用[J].情报指挥控制系统与仿真技术,2004,26(5):61.
[20] 高元锋.液压四足机器人单腿跳跃步态规划 [D].哈尔滨:哈尔滨理工大学,2017:48.
[21] BAO Quan Jin,DONG Bing Chen,HANG Cheng.Research on Joint Simulation and Modeling of Electro-Hydraulic Position Servo System Based on Simulink and AMESim[J]. Applied Mechanics and Materials,2011,120:563.
[2] BigDog-The Most Advanced Rough-Terrain Robot on Earth[EB/OL].[2013-05-30].http://www.bostondynamics.com/robot_bigdog.html.
[3] 丁良宏,王润孝. BigDog四足机器人关键技术分析[J].机械工程学报,2016,51(7):2
[4] WOODEN D,MALCHANO M, BLANKESPOOR K,et al.Autonomous navigation for BigDog[C]//Robotics and Automation (ICRA),2010 IEEE International Con-ference on. IEEE,2010: 4736.
[5] 孙桂涛,邵俊鹏,赵新通,等.液压机器人作动器建模及关节转角跟踪控制[J].仪器仪表学报,2015,36(3):584.
[6] 孙桂涛.液压四足机器人关节控制研究[D].哈尔滨:哈尔滨理工大学,2015:22.
[7] 王春行.液压控制系统[M].北京:机械工业出版社,2011:41.
[8] 于凤丽.四足机器人液压驱动单元神经网络辨识与控制研究[D].哈尔滨:哈尔滨理工大学,2016:12.
[9] 魏学帅. 液压四足机器人电液伺服作动器控制研究[D].哈尔滨:哈尔滨理工大学,2017:20.
[10] 刘金琨.先进 PID 控制 MATLAB 仿真[M] .北京:电子工业出版社,2007:294.
[11] ZHANG Li-Qiang,YANG Guo-Lai,GONG Hai-Feng..PID Control for Electro-hydraulic Position Servo System with Repetitive Control Compensation Machine Tool and Hydraulics[C]// 5th International Symposium on Fluid Power Transmission and Control,2007: 868.
[12] 苏东海,孙占文. AMEsim 仿真技术在电液位置同步系统中的应用[J]. 液压气动与密封, 2007(6):13.
[13] 郭凌龙.基于AMEsim 与 Matlab 联合仿真的电液伺服控制系统研究[J].科技情报开发与经济,2011,21(16):201.
[14] 邵俊鹏,李中奇,孙桂涛,等. 液压四足机器人关节驱动节能[J]. 哈尔滨理工大学学报, 2016(21):54.
[15] 邵俊鹏,魏学帅,孙桂涛.输入指令整形技术在电液伺服系统中的应用[J].沈阳工业大学学报,2016:4.
[16] 于舰, 孙桂涛.液压四足机器人驱动器 CAN 总线通信[J].哈尔滨理工大学学报,2013(18): 78.
[17] 高炳微.液压四足机器人单腿关节解耦控制及力/位切换控制研究[D].哈尔滨:哈尔滨理工大学,2015:30.
[18] 高炳微,邵俊鹏,韩桂华,等.电液伺服系统位置和力模糊切换控制方法[J].哈尔滨:电机与控制学报,2013: 78.
[19] 李谨,邓卫华. AMEsim 与 MATLAB/Simulink联合仿真技术及应用[J].情报指挥控制系统与仿真技术,2004,26(5):61.
[20] 高元锋.液压四足机器人单腿跳跃步态规划 [D].哈尔滨:哈尔滨理工大学,2017:48.
[21] BAO Quan Jin,DONG Bing Chen,HANG Cheng.Research on Joint Simulation and Modeling of Electro-Hydraulic Position Servo System Based on Simulink and AMESim[J]. Applied Mechanics and Materials,2011,120:563.