[1]马 聪,蒋振宇,王鹏飞,等.面向足式机器人的P-Q阀控非对称液压缸位置闭环刚度特性研究[J].机械与电子,2015,(11):67-71.
　MA Cong,JIANG Zhenyu,WANG Pengfei,et al.Research on the Stiffness of Closed Location Loop of Single-rod Cylinder with the P-Q Valve Used on the Legged-robot[J].Machinery & Electronics,2015,(11):67-71.
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面向足式机器人的P-Q阀控非对称液压缸位置闭环刚度特性研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年11期
页码:
67-71
栏目:
智能工程
出版日期:
2015-11-25

文章信息/Info

Title:
Research on the Stiffness of Closed Location Loop of Single-rod Cylinder with the P-Q Valve Used on the Legged-robot
文章编号:
1001-2257(2015)11-0067-05
作者:
马 聪; 蒋振宇; 王鹏飞; 查富生
(哈尔滨工业大学机器人技术与系统国家重点实验室, 黑龙江 哈尔滨 150001)
Author(s):
MA Cong; JIANG Zhenyu; WANG Pengfei; ZHA Fusheng
(State Key Laboratory of Robotics and System, Harbin Institute of Technology,Harbin 150001,China)
关键词:
足式机器人;  P-Q阀;  非线性模型;  位置伺服;  等效刚度
Keywords:
legged-robot;  P-Q valve;  nonlinear model;  position servo;  equivalent stiffness
分类号:
TP242.3
文献标志码:
A
摘要:
大负载足式机器人一般选用液压驱动单元作为系统的驱动机构。考虑到机器人结构紧凑性及控制性能等原因,研究了一种基于P-Q阀控非对称液压缸系统的位置闭环刚度特性。通过建立并利用系统的非线性方程,结合P-Q阀的特性,研究了P-Q阀在位置闭环时等效刚度动静态特性。研究表明,在位置闭环时,系统特性与弹簧等效且等效刚度与系统的增益成正比,这为机器人基于位置闭环的阻抗控制提供了理论基础。
Abstract:
Robots that work in the wild environment with heavy load usually use a hydraulic system as its actuator. Considering the structure and control characteristic of the robot, the characteristic of single-rod hydraulic system on P-Q valve is studied. By establishing and using the system's nonlinear model and with the characteristic of the P-Q valve in mind, this paper analyzes the closed position loop stiffness of the system. The result shows that the equivalent stiffness is proportional to the gain of the system when the system is in closed loop condition with external force disturbance and this provides a theoretical basis for the control of the legged robot and the analysis of the characteristic of the robot.

参考文献/References:

[1] 丁良宏, 王润孝, 冯华山, 等.浅析BigDog四足机器人[J].中国机械工程, 2012, 23(5): 505-514.
[2] 孔祥东, 俞滨, 权凌霄, 等.四足仿生机器人液压驱动单元轨迹灵敏度分析[J].机械工程学报,2013,49(14): 170-175.
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[4] 王经甫, 李洪人, 张大鹏.P-Q伺服阀抑制电液负载模拟器多余力的研究[J].机床与液压, 2006(11):104-106.
[5] 田军. P-Q 伺服阀在减摇鳍电液负载仿真台中的应用[J]. 机床与液压, 2009, 37(9): 112-115.
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备注/Memo

备注/Memo:
收稿日期:2015-06-17
基金项目:国家自然科学基金(61175107,61375097,61473105); 黑龙江省自然科学基金(F2015008); 机器人技术与系统国家重点实验室基金(SKLRS201502C)
作者简介:马 聪(1989-),男,河南郑州人,硕士研究生,研究方向为液压驱动单元特性与伺服控制。
更新日期/Last Update: 2019-11-25