基于扩张观测器的液压驱动单元位置抗扰控制  

Research of Anti-interference Control Method of Hydraulic Driving Unit Position Control System Based on External State Observer

作　　者：俞滨[1,2] 巴凯先 刘雅梁[1] 高正杰 孔祥东 YU Bin;BA Kaixian;LIU Yaliang;GAO Zhengjie;KONG Xiangdong(School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004;Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Qinhuangdao, Hebei066004;National Engineering Research Center for Local Joint of Advanced Manufacturing Technology and Equipment,Yanshan University, Qinhuangdao, Hebei066004)

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004 [2]河北省重型机械流体动力传输与控制实验室,河北秦皇岛066004 [3]先进锻压成形技术与科学教育部重点实验室(燕山大学),河北秦皇岛066004

出　　处：《液压与气动》2018年第1期1-8,共8页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51605417);河北省军民结合产业发展专项(2017BB12);燕山大学博士基金(B930)

摘　　要：机器人在运动过程中,较大的外干扰力会降低机器人关节控制器的精度,进而影响机器人的控制性能。以足式机器人的关节驱动器——液压驱动单元为研究对象,建立了非对称缸液压驱动单元位置控制系统的数学模型,推导了其状态空间表达式;将系统的总扰动扩张为一个新的状态变量,从而建立了液压驱动单元位置控制系统的扩张状态观测器,并通过带宽确定扩张状态观测器增益参数;设计了控制系统的控制律,并对设计的扩张状态观测器的有效性进行了实验验证。实验表明:设计的扩张状态观测器对控制系统扰动有一定的抑制作用,增强了系统稳定性,提高了系统受外界干扰时的控制精度。In the motion of robots,external disturbance can reduce the accuracy of joint actuators,which degrades the control performance.The joint actuator of legged robots,hydraulic driving unit(HDU),is researched in this paper.First,the mathematical model of HDU position control system is built.Next,the system space state is deducted.Then,the total disturbance of the system is expanded to a new state variable.Thus,the expanded state observer of HDU position control system is obtained.Moreover,the parameters of the observer are obtained by bandwidth.Finally,the system control strategy is designed.The method of expanded state observer is verified by experiments.The results indicate that the observer can retrain the disturbance obviously and improve the system stability and control accuracy.

关 键 词：足式机器人 液压驱动单元 扰动抑制 扩张状态观测器 

分 类 号：TH137[机械工程—机械制造及自动化]