In order to ensure the normal operation of the robot,for the convenience of control,the oil source of the hydraulic quadruped robot adopts the constant pressure and constant current energy supply mode,which will lead to the driving power of the robot is much lower than the power provided by the oil source,resulting in serious energy waste.In order to reduce such energy loss,variable flow dynamic oil supply strategy was proposed.The basic principle of variable flow control of oil source was introduced,the speed of each hydraulic cylinder was obtained through load prediction,then the real-time oil supply flow demanded by single leg in the movement process was calculated by combining with the mathematical model of valve-controlled cylinder.A simulation model and a robot prototype were established to verify the effectiveness of the adaptive flow control.The experimental results show that the energy saving efficiency of the hydraulic quadruped robot is 56.51% higher than that of the constant flow energy supply system by using the adaptive control strategy of oil source flow.
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黄檀,赵慧,辛建树,袁立鹏.液压四足机器人油源流量自适应控制研究[J].机床与液压,2024,52(3):30-36. HUANG Tan, ZHAO Hui, XIN Jianshu, YUAN Lipeng. Adaptive Control of Transient Power Flow of Hydraulic Quadruped Robot Oil Source[J]. Machine Tool & Hydraulics,2024,52(3):30-36