液压四足机器人油源流量自适应控制研究

在保证机器人正常运行的前提下，为了控制方便，通常液压四足机器人的油源采用恒压恒流的供能方式，这将会导致机器人驱动功率远低于油源提供的功率，造成了严重的能源浪费。为了减小能量损失，提出变流量动态供油策略。介绍油源的变流量控制基本原理，通过负载预测得到各个液压缸速度大小，再结合阀控缸的数学模型推算出单腿在运动过程中实时供油流量需求，并建立仿真模型与机器人样机实验验证流量自适应控制的有效性。实验结果表明：利用油源流量自适应控制策略，液压四足机器人的节能效率相比恒流量供能系统提高了56.51%。

Adaptive Control of Transient Power Flow of Hydraulic Quadruped Robot Oil Source

In order to ensure the normal operation of the robot,for the convenience of control,the oil source of the hydraulic quadruped robot adopts the constant pressure and constant current energy supply mode,which will lead to the driving power of the robot is much lower than the power provided by the oil source,resulting in serious energy waste.In order to reduce such energy loss,variable flow dynamic oil supply strategy was proposed.The basic principle of variable flow control of oil source was introduced,the speed of each hydraulic cylinder was obtained through load prediction,then the real-time oil supply flow demanded by single leg in the movement process was calculated by combining with the mathematical model of valve-controlled cylinder.A simulation model and a robot prototype were established to verify the effectiveness of the adaptive flow control.The experimental results show that the energy saving efficiency of the hydraulic quadruped robot is 56.51% higher than that of the constant flow energy supply system by using the adaptive control strategy of oil source flow.