论文部分内容阅读
针对液压驱动四足机器人在约束空间力控制特点,提出鲁棒位置内环阻抗外环的复合控制策略,推导电液伺服作动器的数学模型,建立作动器的误差模型,基于误差模型及其不确定界进行位置内环μ控制器设计,给出环境参数的自适应估计器.在半实物仿真平台上进行力跟踪实验,实验结果表明:位置内环幅值超调和相位滞后分别小于10%和0.02s,验证了鲁棒位置内环控制器的有效性;基于自适应估计方法获得的环境参数设计的轨迹发生器及阻抗力外环的综合运用实现了系统的高精度力跟踪控制,验证了所提控制策略的有效性.
Aiming at the characteristics of constrained space force control of four-legged robot driven by hydraulics, a compound control strategy of outer ring with inner ring impedance in robust position is proposed. The mathematical model of actuator is deduced. The error model of actuator is established. Its uncertainties are given to the design of the inner loop μ controller, and the adaptive estimator of the environmental parameters is given. The force tracking experiments are carried out on the semi-physical simulation platform. The experimental results show that the inner loop amplitude overshoot and phase lag are less than 10 % And 0.02s respectively, the validity of the inner loop controller in the robust position is verified. Based on the comprehensive application of the track generator and the outer loop of impedance obtained from the environmental parameters obtained by the adaptive estimation method, the high precision tracking control of the system is realized, The validity of the proposed control strategy is verified.