The dynamic compliance and its compensation control research of the highly integrated valve-controlled cylinder position control system

Ba, Kaixian; Yu, Bin; Kong, Xianwen; Zhao, Hualong; Zhao, Jun; Zhu, Qiuguo; Li, Chun-He

doi:10.1007/s12555-016-0039-1

Cited by 18 publications

(12 citation statements)

References 17 publications

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“…The block diagram of HDU position-based impedance control is shown in Figure 7, where the detailed deduction and performance analysis of the inner loop is presented in previous research [5,15].…”

Section: The Block Diagram and State Space Presentation Of Impedance mentioning

confidence: 99%

“…Their unique advantages, such as overcoming obstacles and executing tasks in the wild, have made them a major focus of research in the robotic domain [1][2][3][4]. For the hydraulic drive robot, the highly integrated valve-controlled cylinder composes the drive component, which is called the hydraulic drive unit (HDU) [5,6]. During the robotic motion process, the robotic feet interact with the ground frequently.…”

Section: Introductionmentioning

confidence: 99%

“…The controller adopted is dSPACE, a semi-physical simulation platform, which is showed in Figure 3b. The principle of the electro-hydraulic load simulator in Figure 2 is widely used in many fields such as aviation, aerospace, and vessel and construction machining [5]. In Figure 2, the left part is a HDU-adopted position closed-loop control that contains a small servo valve, servo cylinder, position sensor, and force sensor.…”

Section: Introductionmentioning

confidence: 99%

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Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU

Gao

et al. 2017

Applied Sciences

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Abstract:For the hydraulic drive unit (HDU) on the joints of bionic legged robots, this paper proposes the position-based impedance control method. Then, the impedance control performance is tested by a HDU performance test platform. Further, the method of first-order sensitivity matrix is proposed to analyze the dynamic sensitivity of four main control parameters under four working conditions. To research the parameter sensitivity quantificationally, two sensitivity indexes are defined, and the sensitivity analysis results are verified by experiments. The results of the experiments show that, when combined with corresponding optimization strategies, the dynamic compliance composition theory and the results from sensitivity analysis can compensate for the control parameters and optimize the control performance in different working conditions.

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Section: The Block Diagram and State Space Presentation Of Impedance mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU

Gao

et al. 2017

Applied Sciences

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“…In previous research by the author, force control performance and its parameter sensitivity of the HDU were studied in many aspects, providing an accurate force control mathematical model for this paper [5], [27]. Moreover, the dynamic compliance of the position control system and the force control system of the HDU were researched, and a compliancereduced controller and compliance-enhanced controller were designed to improve the disturbance rejection ability of both the position and force control system [28], [29]. However, the above research results only improved the disturbance rejection ability when the system has no input.…”

Section: Introductionmentioning

confidence: 99%

“…The right part contains a same servo valve-controlled cylinder and a force sensor which adopts force closed loop control. The detailed hydraulic schematic of the HDU test platform, hydraulic system composition and electric system composition, can be found in the author's previous research [27], [28]. Due to limited space, that research won't be listed in this paper.…”

Section: Experiments Of Mvic Performance a Introduction Of Hdu Pementioning

confidence: 99%

Design and Application of MVIC for Hydraulic Drive Unit of Legged Robot

Liu

et al. 2019

IEEE Access

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A hydraulic drive unit (HDU), applied in each joint of a hydraulic driven legged robot, usually adopts the impedance control outer loop based on the hydraulic position or the force control inner loop during the motion process. When the hydraulic control adopts closed-loop force control, its control performance can directly determine the control performance of the impedance control outer loop. Therefore, it is significant to design a high-accuracy force control method aimed at HDUs. In this paper, aiming at the above research concept, the force control system of the HDU is introduced first, and the lack of the force control performance is studied under different working conditions on the HDU performance test platform. Second, a model-based variable input controller (MVIC) is designed to improve the force control performance. Finally, the control performance of the MVIC is verified on the HDU performance test platform. The experimental results show that the MVIC can greatly improve the force control accuracy under different working conditions and that the controller has good robustness. The above research results can provide important reference and lay the experimental foundation for force-based impedance control. INDEX TERMS Legged robot, hydraulic drive unit (HDU), force control, model-based variable input control (MVIC).

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An Air Pressure Control Method for Fast and Precise Inspection on Triple Action Pressure Sensors

Kim

Chung

Hong

2020

Int. J. Control Autom. Syst.

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The dynamic compliance and its compensation control research of the highly integrated valve-controlled cylinder position control system

Cited by 18 publications

References 17 publications

Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU

Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU

Design and Application of MVIC for Hydraulic Drive Unit of Legged Robot

An Air Pressure Control Method for Fast and Precise Inspection on Triple Action Pressure Sensors

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