Compliance control for a hydraulic bouncing system

被引：17

作者：

Chen, Guangrong ^{[1
]}

Wang, Junzheng ^{[1
]}

Wang, Shoukun ^{[1
]}

Zhao, Jiangbo ^{[1
]}

Shen, Wei ^{[1
]}

机构：

[1] Beijing Inst Technol, Key Lab Intelligent Control & Decis Complex Syst, Beijing 100081, Peoples R China

来源：

ISA TRANSACTIONS | 2018年 / 79卷

基金：

中国国家自然科学基金;

关键词：

Compliance control; Active compliance; Bouncing height control; Velocity control; SEPARATE METER; LOCOMOTION; STABILITY; ROBOT;

D O I：

10.1016/j.isatra.2018.05.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is to reduce the contact impact, control the leg stiffness and bouncing height. Firstly, the combining position/force active compliance control was involved in the deceleration phase to decrease the impact force and improve the leg compliance capacity. Then a reasonable velocity control of cylinder was addressed to control the bouncing height to the given value in the acceleration phase. Due to the model uncertainties and disturbances in the deceleration and acceleration phase, a near inverse like controller with a proportional and differential control (PD) was added into the velocity control of acceleration phase to compensate the bouncing height control error. Finally, the effectiveness of proposed controller was validated by experiments. Experimental results showed the impact force could be reduced effectively and a significant bouncing height control performance could be achieved. The influences of initial energy, preload of spring and velocity of cylinder on the bouncing height were addressed as well.

引用

页码：232 / 238

页数：7

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