A new hydraulic synchronous scheme in open-loop control: Load-sensing synchronous control

Fan

Measurement and Control

et al. 2023

To enhance the joint control performance in hydraulic quadruped robots, active disturbance rejection control was used in the leg joint controller design of a hydraulic quadruped robot in combination with the self-growing lévy-flight salp swarm algorithm in this paper. First, the robot-leg structure of the hydraulic system model was built to analyze system operation details in terms of the mathematical construction. Second, the self-growing lévy-flight salp swarm algorithm was introduced. Then, the active disturbance rejection control parameters required were defined based on the composition and principle of the third-order active disturbance rejection control model. Third, the system evaluation function ITSE was selected, and the parameter tuning problem was converted into an algorithm optimization problem. Finally, the joint system of the hydraulic quadruped robot was taken as the research object, the self-growing lévy-flight salp swarm algorithm was added to the active disturbance rejection control to tune parameters, and this paper compared three different algorithms in the same environments to show the good control ability of the proposed method. To comprehensively show the performances of robot joint systems controlled by the proposed controller, the temporal response results, the frequency response results, the sawtooth response results, the ramp response, and the random response were displayed. All results reveal the effectiveness and excellent performance of the proposed controller in joint systems of a hydraulic quadruped robot.

Section: Introductionmentioning

confidence: 99%

Improved active disturbance rejection control with the optimization algorithm for the leg joint control of a hydraulic quadruped robot

Fan

Measurement and Control

et al. 2023

“…A hydraulic system typically transfers a fluidic medium from one hydraulic element to another, capable of delivering serialized variable hydraulic loads to contact lubrication areas [1,2]. The core components of a hydraulic system are an actuator or hydraulic motor, different control valves, accumulators, and a hydraulic pump [3,4].…”

Section: Introductionmentioning

confidence: 99%

Self-Anti-Disturbance Control of a Hydraulic System Subjected to Variable Static Loads

et al. 2022

A hydraulic system’s lubricating oil is subject to serialized variable static loads with performance. An improved self-turbulent flow algorithm, based on the real-time acquisition and monitoring of lubricating oil static pressure in a hydraulic system to simulate variable static loads, is proposed. A mathematical model of the electrohydraulic servo control system for lubricating oil static pressure acquisition is presented, and the self-turbulent flow controller is designed for numerical analysis. The self-anti-disturbance control strategy for the lubricating oil static pressure of an electrohydraulic servo system is discussed, which is used for quadratic optimization, pole placement, PID, and self-turbulent flow control, and the lubricating oil static pressure simulation model of self-turbulent flow control is constructed by a SIMULINK module. The numerical simulation results indicate that the overshoot is significantly reduced. The proposed self-anti-disturbance control algorithm is verified by experiments, and the lubricating oil static pressure acquisition followability and monitoring accuracy are greatly improved. Variable hydraulic lubricating oil static pressure acquisition and monitoring can be effectively and stably adjusted by a predesigned electrohydraulic servo control system in the field of power hydraulic fluid lubrication.

“…A hydraulic system typically transfers a fluidic medium from one hydraulic element to another, capable of delivering serialized variable hydraulic loads to a contact lubrication area [1,2]. The extremely core components for a hydraulic system are an actuator or hydraulic motor, different control valves, accumulators, and a hydraulic pump [3,4].…”

Section: Introductionmentioning

confidence: 99%

Optimal analysis of VSL following-up performance considering hydraulic system SAD control strategy

Zhang¹,

Ruan²,

Jiang³

et al. 2022

J. vibroeng.

Hydraulic system lubricating oil is subject to serialized Variable Static Loads (VSL) following-up performance. An improved Self-Turbulent Flow (STF) algorithm, based on the real-time acquisition and monitoring of Lubricating Oil Static Pressure (LOSP) in hydraulic system to simulate VSL, is proposed. In this topic, a mathematical model of the Electro-Hydraulic Servo (EHS) control system for LOSP acquisition is presented, and the STF controller is designed for numerical analysis. The Self-Anti-Disturbance (SAD) control strategy for LOSP of EHS system is discussed, which is used for quadratic optimization, pole placement, PID and STF control, and the LOSP simulation model of STF control is constructed by SIMULINK module. Numerical simulation results indicate that the overshoot is significantly reduced. The proposed SAD control algorithm is verified by experiments, and the LOSP acquisition followability and monitoring accuracy are greatly improved. Toward this goal, a variable hydraulic LOSP acquisition and monitoring can be effectively and stability adjusted by pre-designed EHS control system in the field of power hydraulic fluid lubrication.