In the actuation system of large legged robots, the supplementary energy control of hydraulic compliant actuator can greatly improve the robot endurance, which has strong practical value. The displacement frequency characteristic curve without load and force frequency characteristic curve with the fixed output displacement are obtained respectively and firstly by frequency sweep, and then the accurate mathematical model of the actuation system is obtained through the identification toolbox of MATLAB ident. The active disturbance rejection controller is adopted to estimate the perturbation in real-time and compensate the disturbance effectively based on the above mathematical model. A better force control effect is obtained. And then the hydraulic cylinder is equivalent to a variable stiffness spring through the force control. The three energy dynamic models of the hydraulic energy, the energy of the actuator and the heat energy are built for the hydraulic compliant actuator, and the energy conversion law of these three energies is analyzed for the simplified movement. The adjustable stiffness strategy is used to fulfil the supplement energy control during the movement, and the energy efficiency is improved. The experimental results of horizontal motion with different load mass and different stiffness of hydraulic cylinder show the effectiveness of the above control strategy.
QI Haitao
,
LIU Zilong
,
CHAI Hui
. Supplement Energy Control for Hydraulic Compliant Actuator Based on Force Feedback[J]. Journal of Mechanical Engineering, 2018
, 54(6)
: 203
-214
.
DOI: 10.3901/JME.2018.06.203
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