Hopping Control of a Pneumatic Single-Legged Robot using Sliding Mode Control
Hopping Control of a Pneumatic Single-Legged Robot using Sliding Mode Control
复制标题
使用滑模控制的气动单腿机器人的跳跃控制
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Ming
中科院分区：
文献类型：
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作者：
Hong;Ming
本文的目的是设计并实现一种单足垂直跳跃机器人。利用能量分析法确定了垂直跳跃机器人的跳跃周期和跳跃高度。推导了系统的数学模型。采用二阶滑模控制方法设计控制律，对气缸上、下腔的质量流量进行控制。进行了数值模拟。在实验中，比例阀用于控制致动。对于反馈控制，缸杆的行程和缸的跳动高度分别由电位器和磁性编码器测量。控制方案在数字信号处理器上实现。仿真和实验结果表明，所设计的滑模控制器可以实现有效的跳变控制。
The aim of this paper is to design and implement a single-legged vertical hopping robot with a pneumatic cylinder. The energy analysis is used to determine the hopping cycle and height for the vertical hopping robot. The mathematical model of the system is derived. Second order sliding mode control is used to design control laws to control the mass flow rate for the upper chamber and lower chamber of the cylinder. The numerical simulations are conducted. In experiments, proportional valves are used for control actuation. For feedback control, the strokes of the cylinder rod and the hopping height of the cylinder are measured by a potentiometer and a magnetic encoder, respectively. The control schemes are implemented on a digital signal processor. From simulation and experimental results, it is shown that the designed sliding mode controllers can achieve effective hopping control.