机器人关节电静液作动器建模与频域分析  

Modeling and Frequency-domain Analysis of Electro-hydrostatic Actuator of Robot Joint

作　　者：马三喜 周俊杰[1,2] 赵慧鹏 杜善霄 王雪 MA Sanxi;ZHOU Junjie;ZHAO Huipeng;DU Shanxaio;WANG Xue(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081;Institute of Advanced Technology,Beijing Institute of Technology,Jinan,Shandong 250300)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京理工大学前沿技术研究院,山东济南250300

出　　处：《液压与气动》2025年第3期90-99,共10页Chinese Hydraulics & Pneumatics

基　　金：泰山学者工程资助(tsqn202312311);山东省自然基金面上项目(ZR202211230116)。

摘　　要：电静液作动器作为泵控液压系统,具有功重比大、效率高、集成度高、维护方便等优势,在大型机器人领域具有广阔的应用前景。提出了一种用于四足机器人关节电静液作动器,推导了电静液作动器的数学模型,通过实验验证了所建数学模型的准确性。针对当前电静液作动器频率响应带宽低,且影响动态响应因素不清晰的问题,将频域分析法应用于电静液作动器系统,分析了电静液作动器关键参数对响应速度的影响。基于频域分析结果,确定了影响电静液作动器响应速度的关键因素为柱塞泵的排量与液压缸有效作用面积,提出了电静液作动器响应速度敏感度参数的概念,提出了提高电静液作动器系统响应带宽的设计优化方法,为提高系统响应速度提供了理论基础。Electro-hydrostatic actuator has the advantages of large power to weight ratio,high efficiency,high integration and easy maintenance,and has broad application prospects in the field of large robots.This paper presents a electro-hydrostatic actuator for quadruped robot joint,and the mathematical model is derived and its aracy accuracy is verified through experiments.Aimed at the low-frequency response bandwidth of electro-hydrostatic actuator and unclear dynamic response factors,frequency-domain analysis is applied to the electro-hydrostatic actuator system to analyze the influence of key parameters on response speed.Based on the results of frequency-domain analysis,it is determined that the key factor affecting electro-hydrostatic actuator response speed is the displacement of the piston pump and the effective area of the hydraulic cylinder.The concept of electro-hydrostatic actuator response velocity sensitivity parameter is proposed,and the design optimization method to improve the response bandwidth of the electro-hydrostatic actuator system is proposed.It provides a theoretical basis for improving the response speed of electro-hydrostatic actuator system.

关 键 词：电静液作动器 数学建模 频域分析 

分 类 号：TH137[机械工程—机械制造及自动化]