To improve the controllability of an electro-hydraulic position servo control system while simultaneously enhancing the anti-jamming ability of a PID controller, a compound PID controller that combines the beetle antennae search algorithm with PID strategy was proposed, and used to drive the position servo control system of the electro-hydraulic servo system. A BAS-PID controller was designed, and the beetle antennae search algorithm was used to tune PID parameters so that the disturbance signal of the system was effectively restrained. Initially, the basic mathematical model of the electro-hydraulic position servo control system was established through theoretical analysis. The transfer function model was obtained by identifying system parameters. Then, the PID parameter-tuning problem was converted into a class of three-dimensional parameter optimization problem, and gains of PID controllers were adjusted using the beetle antennae search algorithm. Finally, by comparing the effectiveness of different algorithms, simulation and experimental results revealed that the BAS-PID controller can greatly enhance the performance of the electro-hydraulic position servo control system and inhibit external disturbances when different interference signals are used to test the system’s robustness.

https://www.mdpi.com/1424-8220/19/12/2727/pdf

Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System.

The highly integrated valve-controlled cylinder (HIVC) is the joint driver in the hydraulic drive legged robot motion process, with the inner-loop-control-based outer loop dynamic compliance control method of the hydraulic system adopted. Yet the dynamic compliance of the HIVC position inner loop control has effects on the accuracy of the outer loop dynamic compliance control. Therefore, the dynamic compliance parallel composition theory of the HIVC position inner loop control is presented and its dynamic compliance is analyzed in this paper, based on the HIVC position control nonlinear mathematical model. Moreover, the multiple parallel branch dynamic compliance compound compensation control method is also designed and the dynamic compliance parallel composition is rearranged. The experimental results indicate that adopting the compensation control method can decrease the dynamic compliance of the HIVC position control system dramatically, which would provide the inner loop dynamic compliance compensation control method of the robot with high accuracy and high robustness.

The Dynamic Compliance and Its Compensation Control Research of the Highly Integrated Valve-controlled Cylinder Position Control System

In this paper, a novel impedance control method is designed for the hydraulic drive unit (HDU) equipped on the hydraulic driven legged robot First, the position control mathematical model of HDU is built Next, the HDU performance test platform is introduced and the performance requirements are given Second, the system load pressure observer is designed and an accurate stiffness control method is proposed by combining the external load force feed forward control with the load force feedback control Third, the damping control method based on the velocity feedback is designed Finally, a novel impedance control method is proposed through combining the stiffness control and the damping control The effects of all techniques listed above have been verified experimentally Especially, the impedance control effects are verified by comparing the impedance characteristics with the natural characteristics of the second-order mass-spring-damper system This research indicates that the system characteristics of HDU with the novel impedance control method is well equivalent to that of the second-order mass-spring-damper system, which can solve the stall problem of the robot joint movement process caused by the load force vanish instantaneously and the switch between position control and force control The above research can provide references for the active compliance control of bionic legged robots

A Novel Position-Based Impedance Control Method for Bionic Legged Robots’ HDU

Nowadays, a highly integrated valve-controlled cylinder (HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high-performance robot control, the hydraulic force system still has problems, such as strong nonlinearity, and time-varying parameters. This makes HIVC force control very difficult and complex. How to improve the control performance of the HIVC force control system and find the influence rule of the system parameters on the control performance is very significant. Firstly, the mathematical model of HIVC force control system is established. Then the mathematical expression for parameter sensitivity matrix is obtained by applying matrix sensitivity analysis (PSM). Then, aimed at the sinusoidal response under (three factors and three levels) working conditions, the simulation and the experiment are conducted. While the error between the simulation and experiment can’t be avoided. Therefore, combined with the range analysis, the error in the two performance indexes of sinusoidal response under the whole working condition is analyzed. Besides, the sensitivity variation pattern for each system parameter under the whole working condition is figured out. Then the two sensitivity indexes for the three system parameters, which are supply pressure, proportional gain and initial displacement of piston, are proved experimentally. The proposed method significantly reveals the sensitivity characteristics of HIVC force control system, which can make the contribution to improve the control performance.

/pdf/parameters-sensitivity-characteristics-of-highly-integrated-12un27kcoj.pdf

Parameters Sensitivity Characteristics of Highly Integrated Valve-Controlled Cylinder Force Control System

Novel Hybrid Leg-Track Locomotion Robot and its Stability Analysis Using a Unified Methodology

Hydraulic actuators are widely used in various kinds of industrial applications. High-power density is key parameters for engineering applications especially for quadruped robots applied in the outdoor environment. Therefore, an increasing number of advanced robots are equipped with hydraulic actuators. In this paper, to compensate the inherent nonlinearities and enhance the performance of the quadruped robot, a hybrid fuzzy controller composed of fuzzy logic controller and Proportion Integration Differentiation controller is evaluated both in simulations and experiments. The control strategy is developed based on the accurate mathematical model. The Matlab Simulink and Fuzzy Logic Toolbox are implemented to accomplish the simulations under flexible loads. Single hydraulic actuator and single leg experiments are accomplished on the specific platforms. Both the simulations and the experimental results indicate that the fuzzy Proportion Integration Differentiation control strategy is capable of fulfilling t...

The modeling and controlling of electrohydraulic actuator for quadruped robot based on fuzzy Proportion Integration Differentiation controller

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The modeling and controlling of electrohydraulic actuator for quadruped robot based on fuzzy Proportion Integration Differentiation controller