液压与气动Issue(1)：1-8,8.DOI:10.11832/j.issn.1000-4858.2018.01.001
基于扩张观测器的液压驱动单元位置抗扰控制
Research of Anti-interference Control Method of Hydraulic Driving Unit Position Control System Based on External State Observer
摘要
Abstract
In the motion of robots,external disturbance can reduce the accuracy of joint actuators,which degrades the control performance.The joint actuator of legged robots,hydraulic driving unit (HDU),is researched in this paper.First,the mathematical model of HDU position control system is built.Next,the system space state is deducted.Then,the total disturbance of the system is expanded to a new state variable.Thus,the expanded state observer of HDU position control system is obtained.Moreover,the parameters of the observer are obtained by bandwidth.Finally,the system control strategy is designed.The method of expanded state observer is verified by experiments.The results indicate that the observer can retrain the disturbance obviously and improve the system stability and control accuracy.关键词
足式机器人/液压驱动单元/扰动抑制/扩张状态观测器Key words
legged robots/hydraulic driving unit/anti-disturbance/expanded state observer分类
机械制造引用本文复制引用
俞滨,巴凯先,刘雅梁,高正杰,孔祥东..基于扩张观测器的液压驱动单元位置抗扰控制[J].液压与气动,2018,(1):1-8,8.基金项目
国家自然科学基金(51605417) （51605417）
河北省军民结合产业发展专项(2017BB12) （2017BB12）
燕山大学博士基金(B930) （B930）
