摘要
针对传统液压四足机器人电液伺服阀控缸系统的非线性、参数时变性、控制误差大等问题,提出了一种基于位置闭环控制的模型参考自适应控制算法。以液压四足机器人为研究背景,介绍了单腿整体结构及组成;然后,建立液压四足机器人电液伺服阀控缸控制系统模型、传递函数,并设计模型参考自适应控制器;最后,结合AMESim-MATLAB软件搭建四足机器人电液伺服阀控缸系统的控制模型,并对搭建好的测试平台进行实验。实验表明基于电液位置伺服系统的液压四足机器人阀控缸位置控制系统模型的合理性,阀控缸位置跟踪效果好、响应速度快、误差小、鲁棒性强,验证了所设计的位置闭环控制的模型参考自适应控制算法的可行性。
Aiming at the problems of nonlinearity,parameter time variability and large control error of electro-hydraulic servo valve control cylinder system of traditional hydraulic quadruped robot,an model reference adaptive control algorithm based on position closed-loop control is proposed.Taking the hydraulic quadruped robot as the research background,the single leg whole structure and composition are introduced.Then,the model and transfer function of the electro-hydraulic servo valve control system and the model reference adaptive controller are established.Combined with AMESim-MATLAB software,the control model of electro-hydraulic servo valve control cylinder system for quadruped robot is constructed,and the model is simulated by joint experiment.Simulation results show that the model of valve control system of hydraulic quadruped robot based on electro-hydraulic position servo system is reasonable,the position tracking effect of valve control cylinder is good,the response speed is fast,the error is small and the robustness is strong,and the feasibility of the model reference adaptive control algorithm for position closed-loop control is verified.
作者
王炳恺
WANG Bing-kai(Jiandong Vocational College,Changzhou 213032,China)
出处
《液压气动与密封》
2019年第8期29-33,40,共6页
Hydraulics Pneumatics & Seals
基金
江苏省科技重大专项(20175273)
关键词
液压四足机器人
电液伺服
阀控缸
模型参考自适应
hydraulic four-legged robot
electro-hydraulic servo
valve control cylinder
model reference adaptive
