Onboard hydraulic system controller design for quadruped robot driven by gasoline engine
Onboard hydraulic system controller design for quadruped robot driven by gasoline engine
复制标题
汽油机驱动四足机器人车载液压系统控制器设计
DOI：
10.1016/j.mechatronics.2018.03.010
复制
发表时间：
2018-06-01
期刊：
影响因子：
3.3
通讯作者：
Li, Yibin
中科院分区：
文献类型：
--
作者：
Yang, Kun;Zhou, Lelai;Li, Yibin
汽油机驱动的液压系统具有体积小、重量轻、能量密度高等特点，是大型四足机器人驱动系统的理想解决方案。本文以四足机器人SCalf-III（SDU Calf-III）为研究对象，根据车载液压系统的特点和机器人的运动要求，设计了液压系统的控制器。根据机器人的功耗确定了液压系统的工作状态。采用分段PI算法设计了发动机转速控制策略，前馈回路采用模糊控制。介绍了控制器的硬件和软件设计，实现了发动机的控制和液压系统的监控。在SCalf-III机器人上的实验表明，所设计的控制器能够有效地控制发动机转速，保证机器人有足够的液压动力。
Featuring small size, low weight and high energy density, the hydraulic system driven by gasoline engine is an ideal solution for the actuation system of large quadruped robots. This paper studies the quadruped robot SCalf-III(SDU Calf-III) and designs a controller for the hydraulic system, which is based on the characteristics of the onboard hydraulic system and the requirements of the robot motions. The working conditions of the hydraulic system are confirmed on the basis of the robot power consumption. An engine speed control strategy is designed using the sectional PI algorithm, where the fuzzy control is implemented in the feed-forward loop. The hardware and the software designs of the controller are demonstrated, where the engine controlling and hydraulic system monitoring are implemented. Experiments on the SCalf-III robot show that the designed controller could control the engine rotating speed effectively, and ensure adequate hydraulic power for the robot.