Gao Junyao

The modeling and controlling of electrohydraulic actuator for quadruped robot based on fuzzy Proportion Integration Differentiation controller

Hydraulic actuators are widely used in various kinds of industrial applications. High-power density is key parameters for engineering applications especially for quadruped robots applied in the outdoor environment. Therefore, an increasing number of advanced robots are equipped with hydraulic actuators. In this paper, to compensate the inherent nonlinearities and enhance the performance of the quadruped robot, a hybrid fuzzy controller composed of fuzzy logic controller and Proportion Integration Differentiation controller is evaluated both in simulations and experiments. The control strategy is developed based on the accurate mathematical model. The Matlab Simulink and Fuzzy Logic Toolbox are implemented to accomplish the simulations under flexible loads. Single hydraulic actuator and single leg experiments are accomplished on the specific platforms. Both the simulations and the experimental results indicate that the fuzzy Proportion Integration Differentiation control strategy is capable of fulfilling the specific position tracking under diverse loads. Compared with the conventional Proportion Integration Differentiation controller, the fuzzy Proportion Integration Differentiation controller provided a desirable performance under heavy load with comparatively little response and settling time. Results show that the fuzzy Proportion Integration Differentiation control strategy can effectively achieve the objective of enhancing position tracking robustness under flexible loads and improve the performance of quadruped robot.

The research of hydraulic quadruped bionic robot design

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies a few experiments had be made in this thesis such as the marking time experiment, the squat experiment, the walking experiments, the trotting experiments.

The modeling and simulation of mine rescue robot with brushless direct current motor based on fuzzy logical controller

The coal robot is highly demanded in rescuing and detecting in the coal tunnel after explosion. Due to combustible gases in the tunnel, brushless direct current motor is widely applied for avoiding the danger of spark. In addition, the brushless direct current motor adapts to flexible load, which makes it satisfy both the tough terrain and the slopes. In this paper, the wheeled robot is developed in the Adams. The brushless direct current motor control system is modeled precisely based on the Matlab Simulink and Adams S-function to test the slope climbing ability. To enhance the performance of the speed tracking capacity, a hybrid fuzzy speed controller composed of fuzzy logic controller and proportion integration differential controller is proposed. The simulations show that the controller with a constant set of coefficient cannot adapt to both level road and slope. The results indicate that the motor control system based on the hybrid fuzzy speed controller regulates the speed and torque very well. Therefore, the motor control system is capable of fulfilling the speed tracking under flexible load. Additionally, the results show that the motor and reducer can meet the needs of the maximum torque and the power supplement.

Electric control and design for automatic precision forging production line

This paper presents a precision forging line of plate spares production. The line include press, robot, heating furnace, convey. Main computer control each device work in coordination with each other. Robots are used to carry spares automatically. The line is automatic control and high efficient, high quality.

Study on the calculation method of the light mobile robot motor power

Light mobile robots motor powers calculate and design is an important problem. It includes weight, velocity, motor power, slope angle, reduce gearbox, battery, etc. These factors influence each other. It is difficult to calculate precise each parameter. But it decides function and ability of mobile robot. In this paper, motor powers calculate method is advanced. There are many factors to consider. There are several aspects of calculate method are analyzed. The method can help mobile robot designers on how to design a robots motor quickly and easily.

Design and Control of Light Mobile Robotic System

Light mobile robotic system is a kind of unmanned equipment in surface of the earth. This paper introduces the research work of a light mobile robotic system. Main research content is include: machinery, electric, sensor, navigation, motor, computer control communication, remote control, storage batter, resist interfere. The whole system is installed in a small vehicle. The light mobile robotic system has many functions: detective, chemistry test, anti-terror, fight. Many experiments are done to examine the quality of system. Then some views are advanced about light mobile robotic system