双叶片液压关节主被动联合柔顺控制分析

doi:10.13229/j.cnki.jdxbgxb.20220309

摘要/Abstract

摘要：

双叶片液压被动柔顺回转关节在受到外界环境的碰撞时，关节的被动柔顺性会使关节阀体输出转角产生回调，碰撞结束后，输出转角又会迅速恢复。为了有效吸收剩余的冲击能量，本文将自适应阻抗控制作为回转关节的主动柔顺控制，与关节的被动柔顺控制相结合，实现对关节的主被动联合柔顺控制，增大了回转关节在受到碰撞时的回调角度，能够更好地化解环境碰撞力。同时在关节的控制系统中设计并添加了一个模糊自适应PID（比例-积分-微分）控制器，作为自适应阻抗控制中的位置控制器，能够减小回转关节输出转角恢复后的稳态误差，提高了关节与外界接触时的安全性。

关键词: 机械电子工程, 液压关节, 模糊PID控制, 自适应阻抗控制, 主被动联合柔顺控制

Abstract:

When the double blade hydraulic passive compliance rotary joint is impacted by the external environment， the passive compliance of the joint will make the output angle of the joint valve body callback， and the output angle will recover rapidly after the collision. In order to effectively absorb the remaining impact energy， the adaptive impedance control is used as the active compliance control of the rotary joint， which is combined with the passive compliance control of the joint to realize the active and passive joint compliance control effect of the joint， and increases the return angle of the rotary joint when it is impacted， that is， it can better resolve the environmental impact force. At the same time， a fuzzy adaptive PID controller is designed and added to the joint control system as the position controller in the adaptive impedance control， which can reduce the steady-state error after the recovery of the output angle of the rotary joint and improve the safety of the joint when in contact with the outside world.

Key words: mechanical and electronic engineering, hydraulic joint, fuzzy PID control, adaptive impedance control, active passive joint compliance control

中图分类号:

TH12

赵慧,朱发强,蒋林,王诗虎. 双叶片液压关节主被动联合柔顺控制分析[J]. 吉林大学学报(工学版), 2024, 54(1): 86-98.

Hui ZHAO,Fa-qiang ZHU,Lin JIANG,Shi-hu WANG. Analysis of active compliance and passive compliance combined control of double blade hydraulic joint[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(1): 86-98.

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序号	参数名称	数值
1	阀口圆心角θ₂/rad	π/2
2	阀芯半径r/m	0.01
3	阀口宽度a/m	0.004
4	矩形阀口流量系数C_d	0.62
5	输入压力P_S/Pa	5×10⁶
6	液压油密度ρ/（kg·m^-3）	870
7	阀体及回转机构的总转动惯量J/（kg·m^-2）	0.005
8	关节和负载的总等效粘性阻尼系数B_m/（N·s·m^-2）	10
9	系统有效容积弹性模量β_e/Pa	6.9×10⁸
10	工作腔每弧度排量D_m/m³	8×10^-6
11	总泄漏系数C_tp	2×10^-12
12	总容积V_t/m³	2×10^-3
13	外负载力矩T_L/（N·m）	20
14	力矩传递盘的半径R/m	0.06
15	支撑轮机构的弹簧刚度k/（N·m）	1.6×10⁴
16	托盘机构的斜坡角度γ/rad	π/6