液压四足机器人的自适应模糊PID控制

摘要

In order to improve the control performance and trajectory tracking effect of hydraulic quadruped robot, the self⁃tuning fuzzy⁃PID control algorithm was applied to drive the hydraulic cylinders of leg joints, and the increment values of PID parameters were adjusted in real time. The mathematical model of valve⁃controlled asymmetrical hydraulic cylinder system was established, and the control problem caused by the nonlinear phenomenon and time⁃variance of plant parameters when the hydraulic cylinder was moving forward and reverse were analyzed. The control simulation was performed based on the co⁃simulation environment of AMESim and Simulink, and a physical prototype testing was done on the single leg experiment platform. Simulations and test results indicate that the self⁃tuning fuzzy⁃PID control algorithm shows the better control effects than conventional PID control in many respects, such as shortening the adjusting time, and restraining the impulse interference. This control algorithm can improve the dynamic tracking performance of robot legs, is easily applied in the projects and is helpful for hydraulic robot’ s control.%为提高液压四足机器人的控制性能和足端轨迹跟踪效果，将自适应模糊PID算法用于机器人腿关节控制，并对PID参数进行实时增量调节。建立阀控非对称缸系统的数学模型，分析其伸出和缩回运动时由非线性、参数时变等因素导致的控制问题，利用AMESim－Simulink联合仿真模型对算法的控制效果进行了仿真，并在单腿试验平台上进行了实物样机测试。结果表明：自适应模糊PID算法的控制效果在减小调节时间、抑制干扰等方面相比常规PID有较大改善。该控制算法提高了机器人的动态跟踪性能，易于工程应用，有利于机器人的运动控制。