首页|Force Compensation Control for Electro-Hydraulic Servo System with Pump-Valve Compound Drive via QFT-DTOC

Force Compensation Control for Electro-Hydraulic Servo System with Pump-Valve Compound Drive via QFT-DTOC

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Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy losses.By contrast,pump control systems offer a high efficiency.Nevertheless,their response ability is unsatisfactory.To fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots.Herein,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first introduced.In addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC herein.This method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the system.Finally,experimental verification is performed using the PCDS performance test platform.The experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the PCDS.The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.

Legged robotPump-valve compound drive system(PCDS)Force compensation controlQuantitative feedback theory(QFT)Disturbance torque observer(DTO)

Kaixian Ba、Yuan Wang、Xiaolong He、Chunyu Wang、Bin Yu、Yaliang Liu、Xiangdong Kong

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Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Qinhuangdao 066004,China

School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China

National Engineering Research Center for Local Joint of Advanced Manufacturing Technology and Equipment,Yanshan University,Qinhuangdao 066004,China

National Excellent Natural Science Foundation of China河北省自然科学基金Yanzhao's Young Scientist Project of ChinaScience Research Project of Hebei Education Department of ChinaHebei Provincial Graduate Innovation Funding Project of China

52122503E2022203002E2023203258BJK2022060CXZZSS2022129

2024

10.1186/s10033-023-00988-1

中国机械工程学报
中国机械工程学会

中国机械工程学报

CSTPCD
影响因子：0.765
ISSN：1000-9345
年,卷(期)：2024.37(2)