Energy-saving motion control based on Hamiltonian systems and its application to hydraulic robots

提出了一种新型的液压混合伺服驱动器，用于高精度伺服应用。将常规开环电路与小型伺服控制泵耦合，可以同时实现高负载、高速度和高精度伺服控制性能。给出了新电路的原理和伺服压力机应用的实现方案，并对一台10阶伺服压力机样机进行了仿真和实验。仿真和实验结果表明，在10吨力的作用下，定位误差小于0.1微米。这意味着传统的液压机可以根据泵的选择以非常低的成本更新为高精度（甚至在亚微米级）伺服压力机。最后，我们在我们的液压挖掘机实验台上实现了所提出的电路，并验证了位置控制性能在助推模式。结果表明，我们的方法在水力机械和机器人中具有广泛的应用。

We proposed a novel hydraulic hybrid servo drive for high-precision servo application. Coupling a conventional open-loop circuit with a small servo-controlled pump, one can simultaneously achieve high-load, high-speed, and high-precision servo control performance. We showed the principle of the new circuit and one of the realizations for servo press application, and conducted simulation and experiments for a 10-tone servo press prototype. The both simulation and experimental results showed the position error can be less than 0.1 micrometer while applying 10-tone force to the work. This means that conventional hydraulic press can be renewed as a high-precision (even at submicron level) servo press at very low cost depending on the selection of the pumps. Finally, we implemented the proposed circuit on our hydraulic excavator testbed, and confirmed the position control performance at boosting mode. The results indicate our method has wide application to hydraulic machinery and robots.