Results
Title

双足机器人微型液压动力单元设计与控制研究.

Authors

沈丕; 董昊臻; 程虎; 吴心怡; 王迪

Abstract

Hydraulic power unit is the core component in the hydraulic biped robot, and designing hydraulic power unit with smaller size and less weight is one of the most important research of biped robot. A new type of micro hydraulic power unit was designed for the hydraulic biped robot. In order to control the output flow of hydraulic power unit, an iterative learning based fuzzy PI controller was proposed to realize the precise control of the system flow. In order to stabilize the pressure and reduce the flow loss, a pressure compensation strategy based on fuzzy controller was designed to improve the performance and efficiency of the system. Finally, according to the characteristics of the flow inner loop and the pressure outer loop of the control system, experiments of speed, flow and pressure were designed to verify the role of fuzzy system in speed and pressure control and the role of iterative learning in flow control. The experimental results show that the micro hydraulic power unit has strong reliability and high efficiency, and can provide corresponding flow and pressure according to the demand.

Subjects

PRESSURE control; FUZZY systems; ELECTRICAL load; FUZZY logic; ROBOTS; ITERATIVE learning control

Publication

Machine Tool & Hydraulics, 2025, Vol 53, Issue 5, p52

ISSN

1001-3881

Publication type

Academic Journal

DOI

10.3969/j.issn.1001-3881.2025.05.008