四足机器人液压驱动单元变刚度和变阻尼负载特性的模拟方法

摘要

The position control system mathematic and simulation model of HDU was established by the mechanism modeling method.A variable load stiffness and load damping characteristics simula-tion method was derived through the position control loop as controller inner loop,considering the dy-namic characteristics of the stiffness and the load damping under different environment structures. The simulation model for load characteristics was established.Then,the experimental test of simula-tion method was conducted on the HDU performance test platform.During the test,the stiffness,un-der the ramp-step and sinusoidal load force,and the characteristics of load with varied damping were researched.The research results indicate that the method designed herein may well simulate the varia-tions of load stiffnesses,the variations of load dampings and even the coinstantaneous variations of load stiffness and load damping characteristics.%基于机理建模方法建立了液压驱动单元位置控制系统数学模型，针对不同环境结构下负载刚度和负载阻尼的动态变化特性，把位置控制环作为控制器内环，推导了一种变刚度和变阻尼负载特性的模拟方法。建立了负载特性模拟方法的仿真模型，并在液压驱动单元性能测试平台上进行了模拟方法的实验测试，研究了斜坡阶跃负载力和正弦负载力下变刚度和变阻尼负载特性的模拟效果。研究结果表明：设计的模拟方法能够较好地模拟环境刚度参数变化、阻尼参数变化，以及刚度参数和阻尼参数同时变化时的负载特性。