Design and matching control strategy of electro-hydraulic load-sensitive hydraulic power unit for legged robots

Abstract

A hydraulic power unit is the core energy source of hydraulic legged robots, ensuring the robot's maneuverability and carrying capacity in complex terrains. However, its pressure and flow output are usually set to a fixed level under all working conditions, which leads to mismatched pressure and flow requirements of hydraulic drive units. This mismatch reduces the stability and control accuracy of the hydraulic drive units and results in significant energy waste. To address these issues, this paper proposes an electro-hydraulic load-sensitive hydraulic power unit and a matching control strategy to better align outputs with requirements, thereby enhancing energy efficiency. Firstly, with the variable speed servo motor driving axial piston pump as the core, the closed system working principle of an electro-hydraulic load-sensitive hydraulic power unit is proposed, and the mathematical model of key components exhibiting strong nonlinearity and time-varying parameters is derived. After that, a matching control strategy based on flow feedforward and pressure difference compensation feedback is proposed. Finally, simulations and experiments are conducted to verify the feasibility of the unit and its matching control strategy. This paper provides a new solution for the design and control of hydraulic power units, laying the groundwork for achieving high-performance hydraulic systems.