摘要
以四足机器人关节驱动器-液压驱动单元为研究对象,依据液压驱动单元的结构组成原理,采用机理建模的方法,建立其力控系统数学模型,该模型包含了基于辨识得到的伺服阀三阶传递函数、伺服阀的压力-流量非线性环节、伺服缸两腔容积变化因素等。建立液压驱动单元力控系统框图,并利用MATLAB/Simulink平台建立其仿真模型,采用实验测试与仿真分析相结合的方法,研究不同工作参数和不同给定信号下的液压驱动单元力控性能。研究结果表明:比例增益、供油压力、力阶跃量及正弦频率等参数均会对液压驱动单元的力控性能产生影响,该研究工作对四足机器人各关节高性能的力控方法研究提供了理论和实验基础。
In this paper the research object is the quadruped robot joint driver called hydraulic drive unit, accord- ing to composition principle of the hydraulic drive unit, the force control system mathematical model which includes three-order transfer function of the servo valve based on identification method, pressure-flow nonlinearity of servo valve and the change of the servo cylinder two cavity volume is established by adopting the mechanism modeling method. Then hydraulic drive unit force control system block diagram is established, and the simulation model is built on the MATLAB/Simulink platform. Through combining the simulation computation and the experiment test re- suits, the force control performance of hydraulic drive unit with different working parameters and different given signal are analyzed respectively, the research indicates that proportional gain, supply pressure, force step and force sinu- soidal frequency can influence the force control performance of hydraulic drive unit, all the research will provide theoretical and experimental basis for high performance force control compensation method of the quadruped robot joints.
出处
《液压与气动》
北大核心
2015年第11期7-16,共10页
Chinese Hydraulics & Pneumatics
基金
国家自然科学基金(51475406)
国家重点基础研究发展计划(973计划:2014CB046405)
燕山大学博士基金(B930)
