|Table of Contents|

 Repetitive Control Compensation Joint Control for Hydraulic Quadruped Robot
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(PDF)

《哈尔滨理工大学学报》[ISSN:1007-2683/CN:23-1404/N]

Issue:
2019年01期
Page:
8-13
Research Field:
机械动力工程
Publishing date:

Info

Title:
 Repetitive Control Compensation Joint Control for Hydraulic Quadruped Robot
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Author(s):
 SHAO JunpengXU YanshuaiSUN GuitaoLIU Mengmeng
 (School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China)
Keywords:
 Keywords:electro hydraulic servo system repetitive control joint simulation hydraulic quadruped robot experiment
PACS:
TH137
DOI:
10.15938/j.jhust.2019.01.002
Abstract:
 Abstract:Aiming at the problem that the position tracking accuracy of electrohydraulic servo actuator is poor, a repetitive control strategy is proposed to realize the position tracking control According to the mathematical model of the electrohydraulic servosystem of the hydraulic quadruped robot, the transfer function of the simplified hydraulic position driving unit is obtained The repetitive control compensation PID controller is designed, and the Matlab and AMEsim software are used to simulate the parameters of each module The effectiveness of the controller is verified by the experimental results of the electrohydraulic servotest bench The research shows that the repetitive controller can effectively use the electrohydraulic servo actuator for repeated operation information, after a certain error correction, amplitude complete tracking, phase lag is reduced, to verify the effectiveness of the repetitive control compensation PID

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Last Update: 2019-03-26