| 参数摄动对四足机器人液压驱动单元位置控制特性影响 |
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| 引用本文： | 孔祥东,俞滨,权凌霄,秦春艳,吴柳杰.参数摄动对四足机器人液压驱动单元位置控制特性影响[J].机电工程,2013(10):1169-1177. |
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| 作者姓名： | 孔祥东 俞滨 权凌霄 秦春艳 吴柳杰 |
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| 作者单位： | [1]燕山大学先进制造成形技术及装备国家地方联合工程研究中心,河北秦皇岛066004 [2]燕山大学河北省重型机械流体动力传输与控制实验室,河北秦皇岛066004 [3]燕山大学机械工程学院,河北秦皇岛066004 |
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| 基金项目： | 国家科技重大专项资助项目（2010ZX04013-021） |
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| 摘 要： | 高性能四足仿生机器人的设计要求驱动其关节运动的液压驱动单元具有良好的动态特性,但由于液压驱动单元工作参数摄动和其固有的复杂非线性,使得多数情况下液压驱动单元的控制性能受到制约.采用机理建模方法,针对四足机器人采用的一种对称阀控制对称缸的液压驱动单元结构,综合考虑控制器饱和特性、伺服阀压力-流量非线性、伺服缸活塞初始位置变化、库伦摩擦非线性等因素的影响,建立了液压驱动单元非线性数学模型,给出了其液压固有频率和阻尼比表达式;运用Matlab/Simulink软件系统搭建了其非线性仿真模型,在相同工况下,分析了不同控制器比例增益的液压驱动单元位移阶跃响应的仿真及试验结果,以验证仿真模型;并搭建了液压驱动单元性能测试试验台,通过仿真与试验分析,进一步研究了控制器比例增益、系统供油压力、液压驱动单元初始位移、负载力、负载质量、负载刚度对液压驱动单元动态特性的作用机理和影响规律.研究结果表明,建立的非线性数学模型准确、实用,且以上参数的改变均会对液压驱动单元位置控制特性产生不同程度的影响,其影响规律可为四足仿生机器人液压驱动单元控制器参数的在线优化奠定基础.
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| 关 键 词： | 四足仿生机器人 液压驱动单元 对称阀控制对称缸 非线性数学模型 位置控制特性 |
Effect of parameters perturbation on displacement control characteristics of hydraulic drive unit of quadruped robot |
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| KONG Xiang-dong,YU Bin,QUAN Ling-xiao,QIN Chun-yan,WU Liu-jie.Effect of parameters perturbation on displacement control characteristics of hydraulic drive unit of quadruped robot[J].Mechanical & Electrical Engineering Magazine,2013(10):1169-1177. |
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| Authors: | KONG Xiang-dong YU Bin QUAN Ling-xiao QIN Chun-yan WU Liu-jie |
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| Affiliation: | 1.Advanced Manufacturing Technology and Equipment National Engineering Research Center for Local Joint,Yanshan University, Qinhuangdao 066004, China;Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China; 2.School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China;) |
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| Abstract: | The satisfying dynamic characteristics of hydraulic drive unit which can drive the joints of high-performance quadruped bionic robot are required.However,control characteristics of hydraulic drive unit are restricted in most cases by its parameters perturbation and inherent nonlinear factors.Aiming at hydraulic drive unit structure which corresponds to structure of symmetrical valve controlling symmetrical cylinder,nonlinear mathematical model of hydraulic drive unit was founded,then mathematical expressions of hydraulic natural frequency and damping ratio were derived.Influence factors,including saturation characteristics of controller,nonlinear relation of pressure-flow,differences of initial piston position of servo-cylinder,and coulomb friction,were considered in the nonlinear mathematical model above.The nonlinear simulation model of hydraulic drive unit was founded in Matlab/Simulink,and it was verified by comparing simulation curves and experimental curves in the same conditions.The performance test-platform of hydraulic drive unit was built.The acting mechanisms and influence rules of controller gain,oil supply pressure,initial piston position of servo-cylinder,load force,load mass and load stiffness on dynamic characteristics of hydraulic drive unit,were obtained by experiment and simulation analysis.The research indicates that nonlinear model is accurate and practical.The changes of parameters above influence displacement control characteristics of hydraulic drive unit and these influence rules can provide theoretical basis for the online optimization of controller parameters of hydraulic drive unit. |
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| Keywords: | quadruped bionic robot hydraulic drive unit symmetrical valve controlling symmetrical cylinder nonlinear mathematical model displacement control characteristics |
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