Research On Active Disturbance Rejection Control For Hydraulic-driving Robotic Leg Based On Joint Force Servo

With the development of technology and the deepening of research on foot robots,current foot robots already have certain autonomous motion and environmental adaptability,but most foot robots still lack the ability to perform high dynamic tasks.The key points and difficulties are the joint force control and leg compliance control of the foot robot.In this paper,the hydraulically driven foot robot is the research object.For the problem of leg compliance control of hydraulically driven foot robot,the main force research is on the single-leg joint hydraulic servo unit force control.At the same time,combined with the anti-disturbance control technology based on the joint force servo.The research on the spatial force mixing control of the single-legged operation of the foot robot has mainly achieved the following results:1.The mathematical model of each step of the single-leg hydraulic servo unit is derived.The state space equation of the hydraulic servo unit is constructed.The force control system of the hydraulic servo unit is briefly analyzed.The force output of the hydraulic output unit is determined not only with It is related to its own dynamic characteristics,and is also related to the load speed.At the same time,the kinematics and dynamics model of the hydraulically driven foot robot single leg is established.2.Based on the hydraulic servo unit model,the extended state observer is used to observe the uncertainty in the model.The force servo controller based on the speed compensation and expansion state observer is designed by using Lyapunov stability method.The force control simulation and experiment of hydraulic servo unit are carried out to verify the effectiveness of the force servo control algorithm.3.Based on the joint force servo control,the self-disturbance decoupling control strategy of single-leg operation space is studied.The self-interference-resistance hybrid controller of single-leg operation space is designed.The simulation proves that the controller can achieve the position of the operating space is accurately tracked in the case of uncertainty and external disturbances,...