第53卷第12期 2017年6月
机械工程学报
JOURNALOFMECHANICALENGINEERING
DOI：10.3901/JME.2017.12.172
Vol.53
No.12
Jun.
液压驱动单元基于位置/力的阻抗控制
机理分析与试验研究*
巴凯先丨孔祥东1,2,3朱琦歆丨李春贺丨赵华龙丨俞滨1,2
（1.燕山大学机械工程学院秦皇岛066004；
2.浙江大学流体动力与机电系统国家重点实验室杭州310000；
3.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)
2017
摘要：液压驱动型高性能足式仿生机器人对未知、非结构环境具有很好的适应能力，为尽可能地避免其足地接触过程中的冲击和碰撞，足式机器人的关节应具有一定的动态柔顺性，针对驱动足式机器人关节运动的液压驱动单元(Hydraulicdriveunit, HDU)进行研究，首先，建立其液压系统位置/力控制数学模型；其次，推导阻抗控制基本控制原理，并以液压系统作为内环控制方式，分析HDU基于位置/力的阻抗控制机理，研究该两种阻抗控制方法的控制内外环动态柔顺性申并联组成原理；最后，搭建HDU性能测试试验平台，对提出的两种阻抗控制动态柔顺性串并联组成原理进行试验验证。试验结果表明，基于位置的阻抗内环动态柔顺性为并联组成，而阻抗控制外环与位置控制内环动态柔顺性为串联组成：基于力的阻抗内环动态柔顺性为串联组成，而阻抗控制外环与力控制内环动态柔顺性为并联组成：基于力的阻抗控制响应速度大于基于位置的阻抗控制，而后者的阻抗模拟精度要优于前者。以上研究成果可为足式仿生机器人关节控制方法选取及性能优化提供理论和试验参考。
关键词：液压驱动：四足机器人；基于位置的阻抗控制：基于力的阻抗控制；动态柔顺性中图分类号：TH137
Position/Force-basedImpedanceControlandTheirExperimentalResearch
on Hydraulic Drive Unit
BA Kaixian' KONG Xiangdongl.2,3 ZHU Qixin' LI Chunhe' ZHAO Hualong'
(1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
YUBin',2
2.State KeyLaboratory ofFluid Power&Mechatronic Systems,Zhejiang University,Hangzhou310o00; 3. Key Laboratory of Advanced Forging and Stamping Technology and Science, Ministry of Education (Yanshan
University)，Qinhuangdao066004)
Abstraet: Hydraulic drive high performance foot type bionic robot has a good ability to adapt to the unknown and unstructured environment. In order to avoid the impact and collision in the process of the foot contact with ground, the joint of the robot should possess certain dynamic compliance. The hydraulic drive unit (HDU) which drives the movement of foot type robot's joint is researched. Firstly, the mathematical model of the position / force control of the hydraulic systcm is established. Secondly, the basic control principle of impedance control is derived. Then the hydraulic system is taken as the inner loop control and the impedance control mechanism based on position / force on HDU is analyzed. Meanwhile, the two kinds of series-parallel principle of the controlling inner and outer loop dynamic compliance on impedance control method is researched. Finally, the performance test platform of the HDU is established. The two kinds of series-parallel principle of the dynamic compliance on impedance control which is proposed in the paper is verified experimentally by the platform. The experimental results show as follows: the dynamic compliance of the position-based impedance inner loop is a parallel connection, the dynamic compliance of the impedance control loop and the position control inner loop is a series connection, the dynamic compliance of the force-based impedance inner loop is a series connection, the dynamic compliance of the impedance control loop and the force control inner loop is a series connection. The responding speed of the force-based impedance control is faster than that of the position-based impedance control, while the
，国家自然科学基金(51605417)、河北省研究生创新(2016SJBS005) 和流体动力与机电系统国家重点实验室开敏基金课题(GZKF-201502)
资助项日。20160712收到初稿，20170215收到修改稿万方数据