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A Simplified control Method to Achieve Stable and Robust Quadrupedal Quasi-passive Walking with Compliant Legs

Journal of Bionic Engineering 2016年第4期13卷 585-599页

作者： Qiao Sun Feng Gao Chenkun Qi Xianbao Chen State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University Shanghai 200240 China

The principle of passive dynamic walking has drawn lots of attentions in the field of robotics for it provides a possibility to realize natural walking. However, stabilizing the quadrupedal passive walking remains challenging. In this paper, a novel control method is proposed to stabilize the quadrupedal quasi-passive walking. Inspired by biological concepts, this method treats the foreleg pair and hindleg pair as two bipedal walkers, and a virtual model controller is designed to maintain the quasi-passive walking of each bipedal walker independently. This control method was then verified by a planar quadrupedal model with compliant legs, which successfully achieved stable periodical walking gaits. It was found that although being con- trolled independently, the movement of fore and hind leg pairs still formed a time-invariant phase shift, showing remarkable resemblance to that of a walking horse. We fiarther analyzed the influences of varying factors on the gait characteristics and stability. These analyses show the control method is robust since it can stabilize the gaits within a wide range of leg compliance parameters and resist considerably large disturbances. In addition, the optimal ranges of the leg compliance parameters for the largest stability margin were also found in this study.

关键词： quadrupedal walking quasi-passive walking leg compliance independent control

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The control of the Asymmetric Ground Fault Current of the Line

The Control of the Asymmetric Ground Fault Current of the Li...

引用

2011 International Conference on Advanced Power System Automation and Protection(APAP 2011)

作者： JIANG Yu HUANG Min ZHANG ZhiGang WANG Heng ZHENG QunYin& LIU HePing State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing Shapingba 400044 China

During the asymmetric ground fault, the relationship of the current through the line with the inserting voltage and the inserting inductance is analyzed and a novel control method for the asymmetric ground fault current is presented. When the ground fault occurs, the fault current can be controlled to zero and the current through the fault line can be controlled to that in the normal operation by adjusting the insertion inductance and the amplitude of the insertion source voltage appropriately, in addition, adjusting the insertion source voltage to lead （lag） the corresponding phase bus voltage by 120 degree at the sending （receiving） terminal, from （into） which the active power flow goes during the normal operation. And a novel fault current controller （FCC） is also presented, which consists of the series-connection transformer, the shunt-connection transformer, adjustable inductors and on-load taps. FCC is equivalent to the adjustable inductor and the voltage source in series. The source voltage can be control to lead or lag the corresponding phase bus voltage by 120 degree. And the amplitude of the source voltage and the equivalent inductance of FCC can also be adjusted independently. Furthermore, the control strategy of the asymmetrical ground fault current suitable for FCC is also presented, by which the current through the fault line can be controlled to that in the normal operation and the fault current can also be controlled to zero. The proposed control strategy is verified with the simulation and the experiment.

关键词： asymmetric ground fault fault current controller insertion voltage source adjustable inductor independent control

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