机器人关节电机转矩动态特性研究  

Dynamic characteristics of robot joint motor torque

作　　者：何伟严 马吉恩[1,2] 王宏涛[3] 许博文 方攸同[1,2] HE Weiyan;MA Jien;WANG Hongtao;XU Bowen;FANG Youtong(State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China;College of Electrical Engineering,Zhejiang University,Hangzhou 310027,China;Center for X-Mechanics,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]浙江大学流体动力基础件与机电系统全国重点实验室,浙江杭州310027 [2]浙江大学电气工程学院,浙江杭州310027 [3]浙江大学交叉力学中心,浙江杭州310027

出　　处：《电机与控制学报》2023年第12期12-20,共9页Electric Machines and Control

基　　金：国家自然科学基金(52293424);流体动力基础件与机电系统全国重点实验室自主课题(SKLoFP_ZZ_2302)。

摘　　要：在高速奔跑等极端工况下,足式机器人的机动性会明显受到关节电机的转矩输出范围及动态特性的影响。为了研究电机转矩输出对机器人高速奔跑的影响机制,首先分析并简化了采用d轴电压优先与反馈抑制抗饱和的PI式控制器的电机系统模型和转矩输出特性,在此基础上将电机系统模型与机器人刚体动力学系统进行联合仿真,比较了足式机器人在高速奔跑工况下电机转矩输出特性对关节转矩、速度、角度的影响。结果表明,当电机动态特性的电流响应带宽高于50 Hz时,关节速度几乎不受带宽影响;但转矩输出范围的减小会对机器人的奔跑速度和稳定性产生较大影响,实验中测得的关节电机转矩变化与受电压限制造成的静态转矩输出范围变化相一致。得到的联合仿真系统能够为机器人关节电机与控制器设备的选型和机器人运动控制算法从仿真到实物的迁移提供支撑。In extreme working conditions such as high-speed running,the maneuverability of the legged robots is significantly affected by the torque output range and dynamic characteristics of the joint motors.In order to study the influence mechanism of the motor torque output on high-speed running of the robot,the motor system model and torque output characteristics of the PI controller using d-axis voltage priority and back calculation anti-windup were analyzed and simplified.Then,a joint simulation of the motor sys-tem model and the robot rigid body dynamics system was conducted to compare the impact of motor torque output characteristics on joint torque,speed and angle under high-speed running conditions of a legged ro-bot.The results show that when the current response bandwidth of the motor’s dynamic characteristics is higher than 50 Hz,the joint speed is almost unaffected by the bandwidth;however,the reduction of torque output range has a significant impact on the running speed and stability of the robot.The measured joint motor torque changes in the experiment are consistent with the static torque output range changes caused by voltage limitations.The simulation system can provide guidance for the selection of robot joint motors and controllers and the migration of robot motion control algorithms from simulation to physical world.

关 键 词：足式机器人 关节电机 永磁同步电机 转矩动态特性 PI式控制器 抗饱和 静态输出范围 

分 类 号：TM351[电气工程—电机] TP242.3[自动化与计算机技术—检测技术与自动化装置]