四足仿生机器人液压驱动单元轨迹灵敏度分析  

Trajectory Sensitivity Analysis of Hydraulic Drive Unit of Quadruped Bionic Robot

作　　者：孔祥东[1,2] 俞滨[3] 权凌霄[1,2] 巴凯先[3] 

机构地区：[1]燕山大学河北省重型机械流体动力传输与控制实验室,秦皇岛066004 [2]先进锻压成形技术与科学教育部重点实验室(燕山大学),秦皇岛066004 [3]燕山大学机械工程学院,秦皇岛066004

出　　处：《机械工程学报》2013年第14期170-175,共6页Journal of Mechanical Engineering

基　　金：国家科技重大专项资助项目(2010ZX04013-021)

摘　　要：建立四足仿生机器人液压驱动单元数学模型,给出可描述液压驱动单元动态特性的时域和频域表达式,通过特定工况下液压驱动单元位移阶跃响应的仿真曲线与试验曲线对比,验证数学模型在该工况下的准确性。基于液压驱动单元状态方程,建立液压驱动单元轨迹灵敏度模型,通过求解液压驱动单元的位移阶跃响应对应其结构参数、工作参数及PID控制器增益的灵敏度函数曲线,研究液压驱动单元参数对其输出特性的影响,并以参数变化引起输出变化百分比为衡量指标,分析各参数变化对输出特性影响程度的大小,从而给出影响其稳态特性和动态特性的主要影响参数和次要影响参数,上述分析结论为四足仿生机器人液压驱动单元结构改进设计和控制器参数优化奠定理论基础。The mathematic model of hydraulic drive unit of quadruped bionic robot is founded. Time and frequency domain equations are shown to describe the dynamic characteristics of hydraulic drive unit. The accuracy of mathematic model is proved by comparing model curve and experimental curve in specific conditions. Based on the state equations of hydraulic drive unit, the trajectory sensitivity equations are derived. By solving the step response displacement of hydraulic drive unit of the sensitivity function curves corresponding to its structural parameters, operating parameters and PID controller gains, the impact on output characteristics is researched. The influence degree of each parameter variation is analyzed by percentage change of step response displacement. Then the main factors and secondary factors which affect the dynamic characteristics are given. All the research above can provide theoretical basis for structure optimization design and optimal control of hydraulic drive unit.

关 键 词：四足仿生机器人 液压驱动单元 轨迹灵敏度分析 MATLAB 

分 类 号：TH137[机械工程—机械制造及自动化]