Sliding Mode Position Control And Quantitative Feedback Force Control For Robot Single Leg Load Simulator

The load simulator is a kind of equipment working in the laboratory conditions,which can reappear the external interference in the actual movement process of aircraft,ship,tank,robot and so on.It is highly reliable and economical and convenient.A lot of experiments are needed to test the motion performance of the foot robot in the process of research.Therefore,the load simulation test bench is designed to rediscover the position and force load from the ground during the motion of the foot robot.The performance of the load simulation test bench directly determines the loading precision of the position and force load,therefore,the research on the position and force control methods of the load simulation test bench is studied.The main research work in this paper is as follows:(1)Aiming at the loading requirement of foot robot performance test,the load simulation experimental platform is proposed.The corresponding hydraulic drive system is designed,the mathematical model of the electro-hydraulic servo valve,hydraulic cylinder,sensor and other components is established.The model of the load simulation test bench position control system and the force control system is built.The simulation model is set up in MATALB/simulink and the simulation research is carried out to verify the feasibility of the case.(2)For the proposed scheme,design the mechanical structure of the load simulation laboratory bench and select the key mechanical components.The hardware configuration of the host computer,signal processing and control system,signal acquisition,and drive system of the load simulation test bed are introduced in detail.The experimental research on position and force control is carried out on the load simulation experimental platform,and the existing problems are raised.(3)Aiming at the sliding mode control method of the position control system of the load simulation test bench,a reaching law based on the arctangent function is designed.The third-order linear sliding mode based on the horizontal valve-controlled cylinder is studied and the fuzzy control method is introduced.The fuzzy sliding mode controller is designed by introducing the fuzzy control method,and the final controller is proposed with the time delay estimation control method.Simulation and experimental results show that the proposed controller has high control accuracy and disturbance rejection ability.(4)Research on the quantitative feedback control method for load simulation experiment bench force control system.Based on the establishment of linear model of force control system,the uncertain range of the force control system parameters is determined and a quantitative feedback controller is designed.In order to solve the problem that the response delay of the force control system is large,but the quantitative feedback control is inconvenient to correct the phase,feedforward control is introduced.Simulation and experiment verify the effectiveness of the combination of quantitative feedback control and feedforward control method to improve force control performance.