Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force...Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.展开更多
Undesirable repulsive force between contact members due to both a current path shrink near a real contact area and/or so-called pinch effect is particularly onerous for power switch applications, and results in either...Undesirable repulsive force between contact members due to both a current path shrink near a real contact area and/or so-called pinch effect is particularly onerous for power switch applications, and results in either contact floating or bouncing which are associated with an electric arc following contact welding. This problem is of great importance for any circuit breaker especially for compact low voltage vacuum circuit breakers. To avoid contact floating at closure and during any inrush current under short circuit conditions, the electrodynamic repulsive force can be employed successfully if we use a special compensation system flexibly combined with the contact itself. However to select and design the compensation system properly, its efficiency has to be known. This paper presents an approach to obtain the electrodynamic force value depending on different shaped (rectangular, square, circle and arch) copper plates used in the compensator by using ANSYS for current values 40 kA RMS. Curve-fitting was done according to the calculating results, the optimization designing of compensation unit is based on them.展开更多
基金Supported by National Key Basic Research Program of China(973 Program,Grant No.2014CB046405)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)Hebei Military and Civilian Industry Development Funds Projects of China(Grant No.2015B060)
文摘Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.
文摘Undesirable repulsive force between contact members due to both a current path shrink near a real contact area and/or so-called pinch effect is particularly onerous for power switch applications, and results in either contact floating or bouncing which are associated with an electric arc following contact welding. This problem is of great importance for any circuit breaker especially for compact low voltage vacuum circuit breakers. To avoid contact floating at closure and during any inrush current under short circuit conditions, the electrodynamic repulsive force can be employed successfully if we use a special compensation system flexibly combined with the contact itself. However to select and design the compensation system properly, its efficiency has to be known. This paper presents an approach to obtain the electrodynamic force value depending on different shaped (rectangular, square, circle and arch) copper plates used in the compensator by using ANSYS for current values 40 kA RMS. Curve-fitting was done according to the calculating results, the optimization designing of compensation unit is based on them.
