Earticle

초록

영어

For the influence of time varying model parameters on servo accuracy of hydraulic quadruped robot joint torque, the equivalent model of electro-hydraulic force servo system was derived, the compound control strategy including flow compensator and velocity feed forward was proposed, the principle of compound control strategy was given. The flow of electro-hydraulic servo valve is linear with the input signal which realized by the flow compensator, the time varying parameters of inertia and elastic load were inhibited by velocity feed forward, and then the high accuracy joint torque control was realized. The composite strategy was verified on Co-simulation of MATLAB & AMESim platform, the simulation results show that the compound control strategy can effectively inhibit the parameter perturbation and the Amplitude attenuation of the tracking signal is less than 10% , and verify efficiency of the proposed control strategy.

목차

Abstract
 1. Introduction
 2. Electro-hydraulic Servo Actuator Modeling
 3. Controller Design
 4. Simulation Analysis
 5. Conclusions
 Acknowledgements
 References

키워드

저자

• Junpeng Shao [ Harbin University of science and technology ]
• Xiaoning Mu [ Harbin University of science and technology ]
• Guitao Sun [ Harbin University of science and technology ]
• Weiyu Yang [ Harbin University of science and technology ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605