Research On Control Strategy Of Electro-hydraulic Joint Load Sensing Of Hydraulic Robot

Electro-hydraulic joint is an indispensable component of hydraulic robot.Its mechanical structure and working performance affect the overall performance of the robot directly.The research of development of high performance electro-hydraulic joint and advanced control technology has become one of the hot topics in the field of robotics,which has high control precision,good stability and fast response speed.With the increasing maturity of load sensing technology,the problem of low efficiency of hydraulic system has been solved step by step.In the control strategy of the electro-hydraulic joint load sensitive system proposed by the researchers,it can not be considered synchronously in the aspects of the weakening of the high frequency buffeting of the complex system,the improvement of the robustness and the practical application of the engineering.Therefore,it is imperative to study the advanced control strategy of electro-hydraulic joint load sensing system to optimize the control performance of joint of hydraulic robot.Based on a new type of electro-hydraulic joint,the control strategy of load sensing system is studied in this paper.The sliding mode variable structure control algorithm is applied to the hydraulic joint hydraulic control system,and the traditional sliding mode variable structure control is optimized by combining the adaptive control and fuzzy control theory.Firstly,according to the structure and working principle of hydraulic robot electro-hydraulic joint system,the whole system is divided into load sensitive(pressure regulation)system and speed regulation system to carry out step control,and the mathematical modeling and simulation analysis of the system are carried out.In summary,the control strategy of the electro-hydraulic joint load-sensitive system with the adaptive fuzzy sliding mode variable structure controller as the core has some reference and application value.Secondly,the electro-hydraulic joint load sensitive system was deeply studied,and its control strategy is determined.Based on the stability theorem of Lyapunov,the controller is designed according to the sliding mode variable structure control theory,and the control system is simulated and analyzed with the MATLAB/Simulink platform.Then,combined integrated intelligent control algorithm and adaptive fuzzy control algorithm are selected to optimize the traditional sliding mode variable structure control.In order to ensure its advantages of parameter perturbation and insensitive interference,the system has smooth control performance,less fuzzy rules and good adaptive learning ability,and can achieve tracking performance.The effect of buffeting is well and suppressed,and the Matlab/Simulink platform is used to simulate the optimized control system,and the simulation results are compared with the traditional sliding mode variable structure control simulation results.Finally,the system experiment platform is built and the experiment of the electro-hydraulic joint load sensitive control system is carried out.The response characteristics of the adaptive fuzzy sliding mode variable structure controller,the adaptability of the disturbance and the elimination of the buffeting phenomenon are tested.The experiment is derived from the adaptive fuzzy sliding mode variable structure control for the electro-hydraulic joint load sensitive system.The control effect of the system is good.To sum up,the study of the adaptive fuzzy sliding mode variable structure controller as the core of the electro-hydraulic joint load sensitive system control strategy has a certain reference and application value.