Overpressure Compensation for Hydraulic Hybrid Servo Booster Applied to Hydraulic Manipulator
Overpressure Compensation for Hydraulic Hybrid Servo Booster Applied to Hydraulic Manipulator
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DOI：
10.1109/lra.2019.2894868
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发表时间：
2019-04
影响因子：
5.2
通讯作者：
S. Hyon;Yuuki Taniai;Kazuyuki Hiranuma;K. Yasunaga
中科院分区：
文献类型：
--
作者：
S. Hyon;Yuuki Taniai;Kazuyuki Hiranuma;K. Yasunaga
本文介绍了我们研制的新型液压回路--液压混合伺服助力器及其在液压机械手中的应用。该电路将伺服电机控制的泵嵌入到阀桥中，从而可以以混合、经济高效和精确的方式实现高速位置。这封信的重点是重载的精确操纵和采用升压模式的柔顺关节扭矩控制。主要的障碍包括：第一，由于单杆缸的面积差异造成的压差；第二，由于机械手和负载动态造成的惯性载荷的快速变化；第三，低成本插装阀的响应和精度有限；以及最后，小型伺服泵的输出流量有限。所有这些因素都会导致压力过大。我们提出了一种基于模型的补偿方案来缓解超压。该方法包括：第一，阀门的非线性流量映射；第二，基于估计的伺服泵流量和压力的泄压控制。通过在液压机械手样机上进行的关节位置和力矩控制实验，验证了该方法的有效性。
This letter describes our novel hydraulic circuit, referred to as the hydraulic hybrid servo booster, and its application to hydraulic manipulator. The circuit embeds a servomotor-controlled pump into a valve bridge so that the high-speed position can be achieved in a hybrid, cost-effective, and precise manner. This letter focuses on the precise manipulation of heavy-load and the compliant joint torque control using the boost mode. The main obstacles includes: first, pressure difference caused by area differences of the single rod cylinder; second, quick changes of the inertial load due to the manipulator and load dynamics; third, limited response and precision of the low-cost cartridge valves; and last, limited output flow of the small servo-pump. All these factors lead to overpressure. We propose a model-based compensation scheme to mitigate the overpressure. This method comprises: first, nonlinear flow map of the valves, and second, relief control based on the estimated flow and pressure of the servo-pump. The effectiveness is validated through the joint position and torque control experiments on our hydraulic manipulator prototype.