Method for increasing the damping of an electro-hydraulic drive system of anthropomorphic walking robots

Abstract

Annotation. Due to the fact that anthropomorphic walking robots (AWR) are becoming one of the classes of extreme robotics tools, the task of creating drive systems that simultaneously have high indicators for a set of parameters arises. In particular, the problem arises of preventing the occurrence of self-oscillations in conditions where servo drives with high quality factor experience strong dynamic mutual influence through the actuator. According to the totality of indicators for AWR designed for operation in extreme conditions, electro-hydraulic servo drives are preferable. Features of the dynamics of the ASH actuators and the electro-hydraulic drives used on them force us to look for new ways to correct their dynamic properties. This article presents a method of reducing the propensity of a drive system to generate self-oscillations by correcting hydraulic drives using acceleration feedbacks. It uses an estimate of the relative accelerations of the robot links during movement using the signals from pressure sensors installed in the actuator hydraulic motor. The calculations are made using the equations of dynamics of the AWR actuator, taking into account the temporarily imposed external connections. The method allowed to significantly increase the dynamic accuracy of the drive system of the prototype AWR developed by MSTU N.E. Bauman.