Design and Control of a Hydraulic Hexapod Robot with a Two-Stage Supply Pressure Hydraulic System

Liu, Ziqi; Jin, Bo; Dong, Junkui; Zhai, Shuo; Tang, Xuan

doi:10.3390/machines10050305

Cited by 3 publications

(1 citation statement)

References 34 publications

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“…Wei Liu proposed a nonlinear coordinated control method for the IMEHSS under sustained negative load to achieve position tracking and smooth speed control of cylinder [9]. Ziqi Liu designed a independentmetering system for hydraulic hexapod robot, and developed a sliding mode repetitive controller for it to get better control performance and energy-saving effect [10]. Aiming at independent metering hydraulic steering system, Qihui Liu designed a combined control strategy based on the position, velocity and pressure of the system to ensure the steering accuracy and achieve the purpose of energy saving [11].…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Decoupling Control for Independent-Metering Electro-Hydraulic System With Online Compensation Information

Meng,

Hushan,

Youshan

et al. 2023

IEEE Access

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Aiming at the problems of complex operating conditions, large load disturbance, strong coupling of pressure and position control subsystems, and time-varying parameters of independent metering electro-hydraulic servo system (IMEHSS), an active disturbance rejection decoupling (ADRC) control method with online compensation information is proposed in this paper. In this study, the internal coupling of subsystems is treated as the part of total disturbances, and decoupling control is realized by estimating and compensating the total disturbance through extended state observer. In position control subsystem, the cylinder dynamic changes caused by the inlet chamber flow rate of cylinder and the deviation of the nominal calculated flow rate from actual calculated flow rate are calculated in real time. And these calculated values are compensated to the controller as online information to improve the control accuracy and the disturbance rejection ability of position control. By calculating the cylinder velocity in real time to obtain the effect of cylinder speed on the change of return chamber pressure and compensating it into the controller to improve the return chamber pressure control accuracy. The online information compensation method presented in this paper reduces the amount of total disturbance and thus reduces the burden of extended state observer. At the same time, this method can realize the proportional relationship between the regulation parameters and control signals in the passive pressure control subsystem, which simplifies the tuning process of parameters. Finally, to verify the effectiveness and rationality of the method, simulations and experiments are carried out.

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Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Decoupling Control for Independent-Metering Electro-Hydraulic System With Online Compensation Information

Meng,

Hushan,

Youshan

et al. 2023

IEEE Access

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show abstract

Design and matching control strategy of electro-hydraulic load-sensitive hydraulic power unit for legged robots

Yu,

Li,

et al. 2024

Energy

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Research on stability of modular multi-legged robots with non-isomorphic configurations

Liu,

Xue

et al. 2024

Transactions of the Institute of Measurement and Control

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Modular robots can be reconfigured and deformed into multiple non-isomorphic configurations. Different configurations of robots exhibit diverse motion and stability characteristics. Therefore, the stability of robots with different configurations is essential to improve their motion control robustness and expand their application range. In this article, a new reconfigurable modular multi-legged robot is designed. To analyze the stability of the various typical non-isomorphic configurations of modular robots, a hybrid discrimination method combining the static stability margin-force angle stability margin-stability cone is proposed. By conducting simulation experiments on the static minimum tilt angle of robots in tilt, pitched, and yawed terrains, as well as their combinations, and evaluating the performance index of tipping in the presence of external force interference, the effectiveness of the proposed method can be proved. Furthermore, the movement experiments of the robot in irregular terrain under the quadruped configuration and hexapod configuration were carried out, it is proven that the robot under different configurations can maintain the stability of the structure.

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Design and Control of a Hydraulic Hexapod Robot with a Two-Stage Supply Pressure Hydraulic System

Cited by 3 publications

References 34 publications

Active Disturbance Rejection Decoupling Control for Independent-Metering Electro-Hydraulic System With Online Compensation Information

Active Disturbance Rejection Decoupling Control for Independent-Metering Electro-Hydraulic System With Online Compensation Information

Design and matching control strategy of electro-hydraulic load-sensitive hydraulic power unit for legged robots

Research on stability of modular multi-legged robots with non-isomorphic configurations

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