基于增材制造旋转直驱伺服阀的肢腿运动单元位置控制研究  

Research on Position Control of Leg Unit Based on Rotary Direct Drive Servo Valve Utilizing Additive Manufacturing

作　　者：方李舟 张军辉[1] 纵怀志 张堃[1] 杨郅贤 徐兵[1] FANG Li-zhou;ZHANG Jun-hui;ZONG Huai-zhi;ZHANG Kun;YANG Zhi-xian;XU Bing(State Key Laboratory of Fluid Power&Mechatronic Systems,Zhejiang University,Hangzhou,Zhejiang 310027)

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027

出　　处：《液压与气动》2023年第10期143-150,共8页Chinese Hydraulics & Pneumatics

摘　　要：液压腿足式机器人因其可承受大负载、具有更高的速度上限等优势被广泛应用于物资搬运、地形侦查等场景。伺服阀作为液压系统中的控制元件,与机器人作业过程的运动稳定性、地形适应性、节能等方面都存在着密切关联。目前腿足式机器人系统普遍应用喷嘴挡板式伺服阀,不同阀型号的选择往往只需要满足阀的频响、压力、流量等指标,并且伺服阀的数学模型也通常近似为低阶环节,这在设计中弱化了伺服阀对系统的影响。为探究不同结构伺服阀与控制系统最佳匹配问题,研究了增材制造旋转直驱式伺服阀在机器人位置控制系统中的性能,并将其与传统喷嘴式挡板阀作比较,分别建立其数学模型并在单腿试验台上完成实验验证。结果表明,在相同的流量压力需求下,应用旋转直驱阀的控制系统足端阶跃响应时间减少了14%,足端正弦轨迹跟踪误差减少了21%。Hydraulic legged robot is widely used in material handling,terrain investigation and other scenes because of its advantages of bearing large load and higher speed limit.As a control element in the hydraulic system,the servo valve has close relationship with the stability of motion,terrain adaptability and energy saving of the robot during operation.Nozzle flapper servo valves are widely used in legged robot systems at present.The selection of different valve types often only needs to meet the frequency response,pressure,flow and other indicators of valves.Moreover,the mathematical model of servo valves is also generally approximated to a low-order link,which weakens the effect of valve structure on the system control.In order to explore the optimal matching between servo valves with different structures and control system,in this paper,the performance of rotary direct drive servo valve in position-based control system of robot is studied and compared with traditional nozzle flapper valve.Mathematical models are established and applied to single-leg test platform to complete simulation and experimental verification.The results show that the step response time of the foot end of the control system using the rotary direct drive valve is reduced by 14%,and the sinusoidal trajectory tracking error of foot tip is reduced by 21%under the same flow and pressure requirements.

关 键 词：液压腿足式机器人 位置控制 旋转直驱阀 喷嘴挡板阀 

分 类 号：TH137[机械工程—机械制造及自动化]