CN101806317A - Synergic control method and performer device for intelligent pump valve of biped robot - Google Patents
Synergic control method and performer device for intelligent pump valve of biped robot Download PDFInfo
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- CN101806317A CN101806317A CN 201010112055 CN201010112055A CN101806317A CN 101806317 A CN101806317 A CN 101806317A CN 201010112055 CN201010112055 CN 201010112055 CN 201010112055 A CN201010112055 A CN 201010112055A CN 101806317 A CN101806317 A CN 101806317A
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Abstract
The invention relates to a synergic control method and a performer device for an intelligent pump valve of a biped robot. The method comprises the following steps of: adopting a microcontroller MCU to sample the plantar pressure changes and the operating state of the biped robot in real time; identifying the current state and the control quantity required to be applied through a system identification algorithm; controlling the valve opening of a servo valve in real time by adopting an intelligent control algorithm; and simultaneously, controlling the flow of a system by controlling the rotating speed of a motor of a hydraulic pump. The synergic control method and the performer device have the advantages that; a return spring is used to simplify the control of the return motion of a hydraulic cylinder; signals of a sensing unit in the hydraulic cylinder are detected directly to improve the reliability; a mixed control mode of servo valve throttle control and volume control is adopted so that the control response is quick; the system adopting the mixed control mode of the servo valve throttle control and the volume control cancels an overflow valve to reduce the throttling loss and improve the system efficiency; and the system is provided with an energy accumulator to improve the passive flexibility of the system.
Description
[technical field]
The present invention relates to a kind of small-power hydraulic actuator based on the microcontroller intelligent control algorithm, be used for biped robot control, content relates to the electrohydraulic control technology field.
[background technique]
Modern machines people's control technique require final controlling element have controlled good, energy consumption is low, ouput force is big and the characteristics of miniaturization and.Typical robot actuator driven mode has motor directly to drive and electric liquid drives two kinds of patterns, and the robot with big heavy burden function is in order to alleviate own wt and energy consumption, improve the power-weight ratio of self, final controlling element multiselect electricity consumption liquid driving mode.The electrichydraulic control final controlling element mainly contains valve control and two kinds of system operating modes of pump control at present, and valve control system has the high and fast control characteristic of speed of response of precision, and pump control system then has the high and moderate characteristics of control accuracy of conversion efficiency.Because valve control system throttling control loss greatly reduces system effectiveness and causes system's heating.Compare the low-yield conversion efficiency of valve control system 20～30%, though pump control system has 80～90% high energy efficiency ratio, but the pump control system of volume control mode is because speed of response is relatively low, and application is limited to, and is applied to high-power hydraulic system usually.Therefore no matter be the conventional cylinder final controlling element that valve control techniques or pump control techniques drive, all also can't adapt to the desired high speed lightweight of small-sized final controlling element of robot control, the requirement that ouput force is big, controllability good and energy consumption is low well.
[summary of the invention]
The objective of the invention is to overcome the deficiencies in the prior art, a kind of cooperative control method and actuator apparatus of biped robot intelligence pump valve is provided.
The objective of the invention is to be achieved through the following technical solutions:
One of purpose of the present invention provides the cooperative control method of biped robot intelligence pump valve, its concrete steps are: adopt the plantar pressure of microcontroller MCU real-time sampling biped robot to change and working state, pick out current state and the controlled quentity controlled variable that need apply by the System Discrimination algorithm, adopt intelligent control algorithm to control the valve port opening of servovalve in real time, rotating speed by control oil hydraulic pump motor comes the flow of control system simultaneously, the restriction loss of reduction system reaches system load coupling and energy-conservation effect.
Two of purpose of the present invention provides a kind of actuator apparatus of biped robot intelligence pump valve, the oil hydraulic cylinder that comprises Returnning spring and sensing unit, sensing unit is installed in the oil hydraulic cylinder, in the rod chamber of oil hydraulic cylinder Returnning spring is installed, the oil hydraulic cylinder rodless cavity is connected with the pump valve hybrid control system that is subjected to microcontroller MCU control; According to the program that weaves in advance, under the control action of intelligent control algorithm, the volume-variation that control servovalve opening and oil pump motor rotating speed produce makes the actuator apparatus collaborative work based on the power control unit of microcontroller MCU.
First kind of controlling schemes of described pump valve hybrid control system is summarized as follows: a kind of robot final controlling element with the control of pump valve mixing control method, fuel tank is connected with the one-way pump filler opening, the one-way pump oil outlet is connected with one-way valve, the one-way pump rotating shaft is connected with direct current generator, the accumulator of one-way valve and voltage stabilizing, pressure transducer and oil-feed servovalve connect, the oil-feed servovalve is connected with asymmetric servo cylinder and oil return servovalve, the oil return servovalve is connected with fuel tank, the sensing unit of asymmetric servo cylinder is connected with controller by signaling line, controller is connected by the pressure transducer of signaling line with the steady pressure testing signal, and controller is also by guide line and direct current generator, the oil-feed servovalve is connected with the oil return servovalve.
Second kind of controlling schemes of described pump valve hybrid control system is summarized as follows: a kind of robot final controlling element with the control of pump valve mixing control method, fuel tank is connected with the one-way pump filler opening, the one-way pump oil outlet is connected with one-way valve, the one-way pump rotating shaft is connected with direct current generator, one-way valve is connected with asymmetric servo cylinder and oil return servovalve, the oil return servovalve is connected with fuel tank, the sensing unit of asymmetric servo cylinder is connected with controller by signaling line, and controller is connected with the oil return servovalve with direct current generator by guide line.
The third controlling schemes of described pump valve hybrid control system is summarized as follows: a kind of robot final controlling element with the control of pump valve mixing control method, fuel tank is connected with the one-way pump filler opening, the one-way pump oil outlet is connected with one-way valve, the one-way pump rotating shaft is connected with direct current generator, one-way valve is connected with asymmetric servo cylinder, accumulator and oil return servovalve, the oil return servovalve is connected with fuel tank, the sensing unit of asymmetric servo cylinder is connected with controller by signaling line, and controller is connected with the oil return servovalve with direct current generator by guide line.
According to the program that weaves in advance, finish the synergistic function of intelligent control algorithm based on the power control unit of microcontroller MCU, the work of control final controlling element.The major function of intelligent control algorithm is: (1) picks out the relevant controlling parameters that the system force feedback control needs; (2) control the valve port opening and the control oil hydraulic pump volume-variation of servovalve in real time; (3), reach system load coupling and energy-conservation effect by the restriction loss of control system.
Usage requirement for the robot of different loads weight the present invention proposes 3 kinds of final controlling element controlling schemes.These 3 kinds of identical technological pointss of controlling schemes are summarized as follows: (1) all is the pump valve Collaborative Control; (2) used the digital hydraulic control technology of general character; (3) can satisfy the control features of the desired flexibility of robot final controlling element; (4) compare with simple valve control hydraulic system, have the characteristics of tangible reduction energy consumption; (5) compare with common pump control hydraulic system, have the precise control and the sensitive characteristics of valve control system again jointly.By selecting 3 kinds of different allocation plans, can make it to be fit to the application and the needs of unequally loaded robot.
Compared with prior art, good effect of the present invention is:
(1) the present invention uses Returnning spring to simplify the control of oil hydraulic cylinder drawback movement;
(2) the present invention directly detects the sensing unit signal in oil hydraulic cylinder, and reliability improves;
(3) the present invention adopts the mixed-control mode of servovalve throttling control and volume control, and control response is fast;
(4) the present invention adopts the system of the mixed-control mode of servovalve throttling control and volume control to cancel relief valve, has reduced the throttling loss, has improved system effectiveness;
(5) system of the present invention has accumulator, has improved the passive compliance of system.
[description of drawings]
Accompanying drawing 1 is an asymmetric servo cylinder schematic representation of the present invention;
Accompanying drawing 2 is that the solution of the present invention one is implemented schematic representation;
Accompanying drawing 3 is that the solution of the present invention two is implemented schematic representation;
Accompanying drawing 4 is that the solution of the present invention three is implemented schematic representation;
Mark in the accompanying drawing is respectively: 1, asymmetric servo cylinder, 2, sensing unit, 3, Returnning spring, 4, fuel tank, 5, one-way pump, 6, one-way valve, 7, direct current generator, 8, accumulator, 9, pressure transducer, 10, oil-feed servovalve, 11, the oil return servovalve, 12, controller, 13, accumulator.
[embodiment]
The cooperative control method of a kind of biped robot intelligence of the present invention pump valve and the embodiment of actuator apparatus below are provided.
Biped robot intelligence pump valve cooperative control method, its concrete steps are: adopt the plantar pressure of microcontroller MCU real-time sampling biped robot to change and working state, pick out current state and the controlled quentity controlled variable that need apply by the System Discrimination algorithm, adopt intelligent control algorithm to control the valve port opening of servovalve in real time, rotating speed by control oil hydraulic pump motor comes the flow of control system simultaneously, the restriction loss of reduction system reaches system load coupling and energy-conservation effect.
A kind of biped robot actuator apparatus, the asymmetric servo cylinder 1 that comprises Returnning spring 3 and sensing unit 2, on the described asymmetric servo cylinder 1 sensing unit 2 is housed, in described asymmetric servo cylinder 1 rod chamber Returnning spring 3 is installed, described asymmetric servo cylinder 1 rodless cavity mixes controlled hydraulic system with pump valve and is connected, and sees also accompanying drawing 1.
First kind of controlling schemes of described pump valve hybrid control system is summarized as follows, a kind of robot final controlling element with the control of pump valve mixing control method, fuel tank 4 is connected with one-way pump 5 filler openings, described one-way pump 5 oil outlets are connected with one-way valve 6, one-way pump 5 rotating shafts are connected with direct current generator 7, described one-way valve 6 and accumulator 8, pressure transducer 9 and oil-feed servovalve 10 connect, described oil-feed servovalve 10 is connected with asymmetric servo cylinder 1 and oil return servovalve 11, described oil return servovalve 11 is connected with fuel tank 4, the sensing unit 2 of described asymmetric servo cylinder 1 is connected with controller 12 by signaling line, described controller 12 is connected with pressure transducer 8 by signaling line, described controller 12 is also by guide line and direct current generator 7, the control end of the control end of oil-feed servovalve 10 and oil return servovalve 11 connects, and sees also accompanying drawing 2.
When controller 12 is received control command to asymmetric servo cylinder 1, the pressure that controller 12 detects in the accumulator 8 by pressure transducer 9, compare with default working pressure, if accumulator 8 internal pressures are lower than default working pressure, then controller 12 drives direct current generator 7 rotations, direct current generator 7 drive one-way pump 5 rotations are synchronously squeezed into accumulator 8 formation system works oil pressure with hydraulic oil in the fuel tank 4 through one-way valves 6, controller 12 compares the signal of the sensing unit 2 of control command and asymmetric servo cylinder 1 afterwards, be converted to pulse-width modulation control signal after error is relatively handled by intelligent control algorithm and send to oil-feed servovalve 10 and oil return servovalve 11, open when error oil-feed servovalve 10 when negative and to make accumulator 8 be connected the raising oil pressure with asymmetric servo cylinder 1, when error is that timing oil return servovalve 11 is opened and fuel tank 4 is connected with asymmetric servo cylinder 1 reduce oil pressure, thereby realize control to oil pressure in the asymmetric servo cylinder 1, sensing unit 2 can feed back to controller 12 with the real-time status of asymmetric servo cylinder 1 simultaneously, less than the minimal internal dead space scope, controller 12 stops to export control signal up to error signal.
Second kind of controlling schemes of described pump valve hybrid control system is summarized as follows: a kind of robot final controlling element with the control of pump valve mixing control method, fuel tank 4 is connected with one-way pump 5 filler openings, described one-way pump 5 oil outlets are connected with one-way valve 6, rotating shaft is connected with direct current generator 7, described one-way valve 6 is connected with asymmetric servo cylinder 1 and oil return servovalve 11, described oil return servovalve 11 is connected with fuel tank 4, the sensing unit 2 of described asymmetric servo cylinder 1 is connected with controller 12 by signaling line, described controller 12 is connected with direct current generator 7 and oil return servovalve 11 by guide line, sees also accompanying drawing 3.
When controller 12 is received control command to oil hydraulic cylinder 1, controller 12 compares the signal of the sensing unit 2 of control command and asymmetric servo cylinder 1, be converted to pulse-width modulation control signal after error is relatively handled by intelligent control algorithm and send to direct current generator 7 and oil return servovalve 11, when driving one-way pumps 5, rotates synchronously by error direct current generator 7 when negative, hydraulic oil in the fuel tank 4 is squeezed in the asymmetric servo cylinder 1 through one-way valve 6, when error is that timing oil return servovalve 11 is opened and fuel tank 4 is connected with asymmetric servo cylinder 1 reduce oil pressure, thereby realize control to oil pressure in the asymmetric servo cylinder 1, sensing unit 2 can feed back to controller 12 with the real-time status of asymmetric servo cylinder 1 simultaneously, less than the minimal internal dead space scope, controller 12 stops to export control signal up to error signal.
The third controlling schemes of described pump valve hybrid control system is summarized as follows: a kind of robot final controlling element with the control of pump valve mixing control method, fuel tank 4 is connected with one-way pump 5 filler openings, described one-way pump 5 oil outlets are connected with one-way valve 6, rotating shaft is connected with direct current generator 7, described one-way valve 6 and asymmetric servo cylinder 1, accumulator 13 and oil return servovalve 11 connect, described oil return servovalve 11 is connected with fuel tank 4, the sensing unit 2 of described asymmetric servo cylinder 1 is connected with controller 12 by signaling line, described controller 12 is connected with direct current generator 7 and oil return servovalve 11 by guide line, sees also accompanying drawing 4.
When controller 12 is received control command to oil hydraulic cylinder 1, controller 12 compares the signal of the sensing unit 2 of control command and asymmetric servo cylinder 1, be converted to pulse-width modulation control signal after error is relatively handled by intelligent control algorithm and send to direct current generator 7 and oil return servovalve 11, when driving one-way pumps 5, rotates synchronously by error direct current generator 7 when negative, hydraulic oil in the fuel tank 4 is squeezed in asymmetric servo cylinder 1 and the accumulator 13 through one-way valve 6, when error is that timing oil return servovalve 11 is opened and fuel tank 4 is connected with asymmetric servo cylinder 1 and accumulator 13 reduce oil pressure, thereby realize control to oil pressure in the asymmetric servo cylinder 1, sensing unit 2 can feed back to controller 12 with the real-time status of asymmetric servo cylinder 1 simultaneously, up to error signal less than the minimal internal dead space scope, controller 12 stops to export control signal, when asymmetric servo cylinder 1 is subjected to the fluctuation of load, accumulator 13 reduces the rigidity of hydraulic system, makes asymmetric servo cylinder 1 stable action.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, without departing from the inventive concept of the premise; can also make some improvements and modifications, these improvements and modifications also should be considered within the scope of protection of the present invention.
Claims (5)
1. the cooperative control method of biped robot intelligence pump valve, it is characterized in that, concrete steps are: adopt the plantar pressure of microcontroller MCU real-time sampling biped robot to change and working state, pick out current state and the controlled quentity controlled variable that need apply by the System Discrimination algorithm, adopt intelligent control algorithm to control the valve port opening of servovalve in real time, the rotating speed by control oil hydraulic pump motor comes the flow of control system simultaneously.
2. the actuator apparatus of biped robot intelligence pump valve, it is characterized in that, the oil hydraulic cylinder that comprises Returnning spring and sensing unit, sensing unit is installed in the oil hydraulic cylinder, in the rod chamber of oil hydraulic cylinder Returnning spring is installed, the oil hydraulic cylinder rodless cavity is connected with the pump valve hybrid control system that is subjected to microcontroller MCU control; According to the program that weaves in advance, under the control action of intelligent control algorithm, the volume-variation that control servovalve opening and oil pump motor rotating speed produce makes the actuator apparatus collaborative work based on the power control unit of microcontroller MCU.
3. the actuator apparatus of biped robot intelligence pump valve as claimed in claim 2, it is characterized in that, first kind of controlling schemes of described pump valve hybrid control system is summarized as follows: a kind of robot final controlling element with the control of pump valve mixing control method, fuel tank is connected with the one-way pump filler opening, the one-way pump oil outlet is connected with one-way valve, the one-way pump rotating shaft is connected with direct current generator, the accumulator of one-way valve and voltage stabilizing, pressure transducer and oil-feed servovalve connect, the oil-feed servovalve is connected with asymmetric servo cylinder and oil return servovalve, the oil return servovalve is connected with fuel tank, the sensing unit of asymmetric servo cylinder is connected with controller by signaling line, controller is connected by the pressure transducer of signaling line with the steady pressure testing signal, and controller is also by guide line and direct current generator, the oil-feed servovalve is connected with the oil return servovalve.
4. the actuator apparatus of biped robot intelligence pump valve as claimed in claim 2, it is characterized in that, second kind of controlling schemes of described pump valve hybrid control system is summarized as follows: a kind of robot final controlling element with the control of pump valve mixing control method, fuel tank is connected with the one-way pump filler opening, the one-way pump oil outlet is connected with one-way valve, the one-way pump rotating shaft is connected with direct current generator, one-way valve is connected with asymmetric servo cylinder and oil return servovalve, the oil return servovalve is connected with fuel tank, the sensing unit of asymmetric servo cylinder is connected with controller by signaling line, and controller is connected with the oil return servovalve with direct current generator by guide line.
5. the actuator apparatus of biped robot intelligence pump valve as claimed in claim 2, it is characterized in that, the third controlling schemes of described pump valve hybrid control system is summarized as follows: a kind of robot final controlling element with the control of pump valve mixing control method, fuel tank is connected with the one-way pump filler opening, the one-way pump oil outlet is connected with one-way valve, the one-way pump rotating shaft is connected with direct current generator, one-way valve and asymmetric servo cylinder, accumulator and oil return servovalve connect, the oil return servovalve is connected with fuel tank, the sensing unit of asymmetric servo cylinder is connected with controller by signaling line, and controller is connected with the oil return servovalve with direct current generator by guide line.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010112055 CN101806317A (en) | 2010-02-23 | 2010-02-23 | Synergic control method and performer device for intelligent pump valve of biped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010112055 CN101806317A (en) | 2010-02-23 | 2010-02-23 | Synergic control method and performer device for intelligent pump valve of biped robot |
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| CN101806317A true CN101806317A (en) | 2010-08-18 |
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| CN 201010112055 Pending CN101806317A (en) | 2010-02-23 | 2010-02-23 | Synergic control method and performer device for intelligent pump valve of biped robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106527134A (en) * | 2016-11-23 | 2017-03-22 | 北京交通大学 | Distributed cooperative control method of large-scale hydraulic system |
| CN106837916A (en) * | 2015-12-03 | 2017-06-13 | 中国航空工业第六八研究所 | A kind of actuator based on one-way hydraulic pump |
| CN109139584A (en) * | 2018-11-05 | 2019-01-04 | 深圳航天科技创新研究院 | Pump valve multiplex control system and method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2780256Y (en) * | 2005-04-05 | 2006-05-17 | 公安部上海消防研究所 | Hydraulic device for fire rescue robot |
| CN201157638Y (en) * | 2007-12-27 | 2008-12-03 | 公安部上海消防研究所 | Fire-fighting smoke discharging robot control system |
-
2010
- 2010-02-23 CN CN 201010112055 patent/CN101806317A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2780256Y (en) * | 2005-04-05 | 2006-05-17 | 公安部上海消防研究所 | Hydraulic device for fire rescue robot |
| CN201157638Y (en) * | 2007-12-27 | 2008-12-03 | 公安部上海消防研究所 | Fire-fighting smoke discharging robot control system |
Non-Patent Citations (1)
| Title |
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| 《河北工业大学学报》 19991231 王爱民、高铁红、史庆国 壁面机器人控制***设计 60-62 第28卷, 第6期 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106837916A (en) * | 2015-12-03 | 2017-06-13 | 中国航空工业第六八研究所 | A kind of actuator based on one-way hydraulic pump |
| CN106527134A (en) * | 2016-11-23 | 2017-03-22 | 北京交通大学 | Distributed cooperative control method of large-scale hydraulic system |
| CN109139584A (en) * | 2018-11-05 | 2019-01-04 | 深圳航天科技创新研究院 | Pump valve multiplex control system and method |
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Application publication date: 20100818 |