双足机器人微型液压动力单元设计与控制研究  

Design and Control of Micro Hydraulic Power Unit for Biped Robot

作　　者：沈丕 董昊臻 程虎 吴心怡 王迪[1] SHEN Pi;DONG Haozhen;CHENG Hu;WU Xinyi;WANG Di(Wuhan Digital Engineering Institute,Wuhan Hubei 430202,China;Aerospace Science and Industry Intelligent Operations Research and Information Security Research Institute(Wuhan)Co.,Ltd.,Wuhan Hubei 430040,China)

机构地区：[1]武汉数字工程研究所,湖北武汉430202 [2]航天科工智能运筹与信息安全研究院(武汉)有限公司,湖北武汉430040

出　　处：《机床与液压》2025年第5期52-57,共6页Machine Tool & Hydraulics

摘　　要：液压动力单元是液压双足机器人的核心部件,其小型化、轻量化设计是机器人的重要研究内容之一。针对液压双足机器人,设计一种新型微型液压动力单元。为了控制液压动力单元的输出流量,设计一种基于迭代学习的模糊PI控制器,实现对系统流量的精确控制。为了稳定压力并降低流量损耗,设计一种基于模糊控制器的压力补偿策略,提高了系统的性能和效率。最后,根据控制系统的流量内环和压力外环的特点,分别设计了转速、流量、压力实验,以验证模糊系统在转速、压力控制中的作用以及迭代学习在流量控制中的作用。实验结果表明:该微型液压动力单元可靠性强、效率高,可针对需求提供相应的流量和压力。Hydraulic power unit is the core component in the hydraulic biped robot,and designing hydraulic power unit with smaller size and less weight is one of the most important research of biped robot.A new type of micro hydraulic power unit was designed for the hydraulic biped robot.In order to control the output flow of hydraulic power unit,an iterative learning based fuzzy PI controller was proposed to realize the precise control of the system flow.In order to stabilize the pressure and reduce the flow loss,a pressure compensation strategy based on fuzzy controller was designed to improve the performance and efficiency of the system.Finally,according to the characteristics of the flow inner loop and the pressure outer loop of the control system,experiments of speed,flow and pressure were designed to verify the role of fuzzy system in speed and pressure control and the role of iterative learning in flow control.The experimental results show that the micro hydraulic power unit has strong reliability and high efficiency,and can provide corresponding flow and pressure according to the demand.

关 键 词：双足机器人 微型液压动力单元 流量压力控制 模糊控制器 

分 类 号：TH137.7[机械工程—机械制造及自动化]