發(fā)布時(shí)間：2018-06-29 20:06

  本文選題：仿生機(jī)器人 + 多執(zhí)行器液壓系統(tǒng)��； 參考：《國防科學(xué)技術(shù)大學(xué)》2016年博士論文

【摘要】：隨著仿生機(jī)器人性能的不斷提升,其運(yùn)用范圍不斷擴(kuò)大,而傳統(tǒng)采用電機(jī)驅(qū)動(dòng)的仿生機(jī)器人由于負(fù)載能力有限,難以執(zhí)行較大負(fù)載的任務(wù),譬如特殊地形戰(zhàn)場攜帶武器裝備的作戰(zhàn)任務(wù)、地震災(zāi)區(qū)攜帶救災(zāi)設(shè)備的搜救任務(wù)等,因此具備大負(fù)載和高機(jī)動(dòng)性能的液壓驅(qū)動(dòng)的仿生機(jī)器人越來越受到人們的重視。然而,由于體積和重量的限制,仿生機(jī)器人液壓驅(qū)動(dòng)系統(tǒng)大多都采用單泵源多執(zhí)行器的結(jié)構(gòu),但在機(jī)器人的運(yùn)動(dòng)過程中,不同的執(zhí)行器在同一時(shí)刻的負(fù)載差異顯著,同一執(zhí)行器在不同時(shí)刻的負(fù)載變化也非常劇烈,使得系統(tǒng)供油壓力與執(zhí)行器負(fù)載所需壓力的匹配狀態(tài)較差,從而導(dǎo)致液壓系統(tǒng)的能量利用效率較低,嚴(yán)重制約了該類機(jī)器人的實(shí)用化進(jìn)程。針對(duì)仿生機(jī)器人液壓系統(tǒng)效率低下這一問題,本文分別從液壓系統(tǒng)能量供給與能量輸出兩個(gè)方面研究提高系統(tǒng)供給壓力與負(fù)載所需壓力的匹配度,從模仿人體多級(jí)能量供給方式和肌肉結(jié)構(gòu)及其不同輸出力的調(diào)節(jié)方式的角度出發(fā),提出了仿生多級(jí)供能的液壓系統(tǒng)以及仿生液壓執(zhí)行器,并展開了深入研究。本文主要研究思路和內(nèi)容包括以下幾點(diǎn):(1)分析了導(dǎo)致典型的單泵多執(zhí)行器仿生機(jī)器人液壓系統(tǒng)效率低下的原因。本文以具有16個(gè)執(zhí)行器的仿生四足機(jī)器人為例進(jìn)行分析,分析了該機(jī)器人在原地蹲起、轉(zhuǎn)彎和對(duì)角小跑三種典型步態(tài)下的液壓系統(tǒng)效率,并指出導(dǎo)致效率低下的原因。針對(duì)這一原因,通過分析人體的多級(jí)能量供給方式和肌肉結(jié)構(gòu)及其輸出力的調(diào)節(jié)方式,提出了仿生液壓驅(qū)動(dòng)的基本思想。(2)深入開展了仿生多級(jí)供能液壓系統(tǒng)的設(shè)計(jì)與分析。模仿人體的多級(jí)能量供給方式提出了仿生多級(jí)供能的液壓系統(tǒng)設(shè)計(jì)機(jī)理。在該機(jī)理的指導(dǎo)下,提出一種可行的基于分布式微小型瞬時(shí)高壓蓄能器的兩級(jí)供能液壓系統(tǒng),該系統(tǒng)利用微小型高壓蓄能器構(gòu)建瞬時(shí)高強(qiáng)度運(yùn)動(dòng)的能量供給系統(tǒng),利用低壓大流量泵源作為長時(shí)低強(qiáng)度運(yùn)動(dòng)的能量供給系統(tǒng)。然后,通過建立能量損耗模型,分析指出了該兩級(jí)供能系統(tǒng)比典型的單級(jí)供能系統(tǒng)節(jié)能的主要原因。(3)提出了一種基于PWM(Pulse Width Modulation)控制的壓力調(diào)節(jié)方法。為了進(jìn)一步改善兩級(jí)供能液壓系統(tǒng)的長時(shí)間低強(qiáng)度供能時(shí)的壓力匹配狀態(tài),提出一種新型的壓力調(diào)節(jié)器FPC(Fluid Power Converter)。FPC是利用機(jī)械能與液壓能之間的轉(zhuǎn)化來實(shí)現(xiàn)對(duì)輸出壓力和流量的調(diào)節(jié),該壓力調(diào)節(jié)方式與常規(guī)使用的節(jié)流(阻尼)調(diào)壓方式不同,具有較高的能量利用效率的特點(diǎn)。本文詳細(xì)闡述了FPC的原理,對(duì)關(guān)鍵的慣性元件的結(jié)構(gòu)進(jìn)行了詳細(xì)設(shè)計(jì)。通過建立FPC的數(shù)學(xué)模型,對(duì)其性能進(jìn)行了詳細(xì)分析。分析結(jié)果表明FPC在進(jìn)行壓力和流量條調(diào)節(jié)過程仍能保持較高的能量利用效率。(4)深入開展了仿生液壓執(zhí)行器的設(shè)計(jì)與分析。模仿人體肌肉的多纖維和多運(yùn)動(dòng)單元的結(jié)構(gòu)特征以及肌肉與負(fù)載進(jìn)行匹配時(shí)的運(yùn)動(dòng)單元募集方式,提出了仿生液壓執(zhí)行器的設(shè)計(jì)機(jī)理以及負(fù)載匹配控制策略。在該機(jī)理的指導(dǎo)下,對(duì)一類仿生液壓執(zhí)行器結(jié)構(gòu)進(jìn)行了詳細(xì)設(shè)計(jì)、分析和優(yōu)化,并給出了多種結(jié)構(gòu)拓展方案。通過建立仿生液壓執(zhí)行器與傳統(tǒng)液壓執(zhí)行器的能量損耗模型,對(duì)比指出了仿生液壓執(zhí)行器比傳統(tǒng)液壓執(zhí)行器節(jié)能高效的原因。最后,根據(jù)本文提出的負(fù)載匹配控制策略,利用仿真方法對(duì)仿生執(zhí)行器的負(fù)載匹配控制進(jìn)行了研究。(5)對(duì)本文提出的仿生兩級(jí)供能液壓系統(tǒng)和仿生液壓執(zhí)行器進(jìn)行了仿真驗(yàn)證。以本文設(shè)計(jì)的四足機(jī)器人為對(duì)象,分別建立了加入FPC前后的兩級(jí)供能系統(tǒng)和基于仿生高效執(zhí)行器的液壓系統(tǒng)的仿真模型并進(jìn)行仿真分析,結(jié)果表明本文所提出的方法均能夠提高能量利用效率。(6)為了進(jìn)一步驗(yàn)證仿生執(zhí)行器的負(fù)載匹配和節(jié)能特性,本文研制了三種結(jié)構(gòu)的仿生液壓執(zhí)行器原理樣機(jī)和單臂試驗(yàn)平臺(tái)。通過測試不對(duì)稱結(jié)構(gòu)和對(duì)稱結(jié)構(gòu)的兩種仿生執(zhí)行器的液壓缸的摩擦力,表明優(yōu)化后的仿生執(zhí)行器具有較好的結(jié)構(gòu)穩(wěn)定性。最后,進(jìn)行了仿生執(zhí)行器驅(qū)動(dòng)機(jī)械臂提起不同負(fù)載的試驗(yàn),試驗(yàn)結(jié)果表明仿生執(zhí)行器能夠通過負(fù)載匹配調(diào)節(jié)達(dá)到節(jié)能高效的目的。本文提出的仿生多級(jí)供能液壓系統(tǒng)和仿生執(zhí)行器的設(shè)計(jì)機(jī)理對(duì)仿生機(jī)器人液壓系統(tǒng)設(shè)計(jì)提供了理論指導(dǎo),同時(shí)提出的兩級(jí)供能系統(tǒng)和仿生液壓執(zhí)行器對(duì)促進(jìn)液壓驅(qū)動(dòng)的仿生機(jī)器人的實(shí)用化進(jìn)程具有積極的意義。另外,本文提出的方法具有一定的通用性,同樣可用于提高具有多執(zhí)行器的工程機(jī)械的液壓系統(tǒng)效率,因此具有一定的經(jīng)濟(jì)價(jià)值。
[Abstract]:With the continuous improvement of the performance of the bionic robot, the application scope of the robot is expanding, and the traditional bionic robot driven by the motor is difficult to carry out the task of large load because of the limited load capacity. For example, the special terrain battlefield carries the operational task of the weapon and equipment, the earthquake stricken area carries the search and rescue task of the disaster relief equipment and so on. The bionic robot driven by load and high maneuverability has been paid more and more attention. However, because of the limitation of volume and weight, most of the hydraulic driving systems of bionic robot adopt the structure of single pump source multi actuator, but in the process of robot movement, the difference of the load of different actuators at the same time is remarkable. The load change of an actuator at different times is also very intense, which makes the matching state of the pressure of the system oil supply and the load required for the actuator is poor, which leads to the low efficiency of the energy utilization of the hydraulic system, which seriously restricts the practical process of this kind of robot. This paper is aimed at the problem of the low efficiency of the hydraulic system of the bionic robot. From the two aspects of the energy supply and energy output of the hydraulic system, the matching degree of the pressure of the system supply pressure and the load required is studied. The bionic multistage energy supply hydraulic system and the bionic hydraulic actuator are proposed from the angle of imitation of the human multistage energy supply mode and the adjustment mode of the muscle structure and the different output forces. The main research ideas and contents of this paper include the following points: (1) the reasons for the low efficiency of the typical single pump multi actuator bionic robot hydraulic system are analyzed. In this paper, a bionic quadruped robot with 16 actuators is analyzed, and the robot is squatted, turned and diagonally small. The hydraulic system efficiency under three typical gait is run and the cause of low efficiency is pointed out. According to this reason, the basic idea of bionic hydraulic drive is put forward by analyzing the multistage energy supply mode of human body and the adjusting mode of muscle structure and its output force. (2) the design and division of the bionic multistage energy supply hydraulic system are carried out in depth. The design mechanism of the bionic multistage energy supply system is proposed by imitating the multistage energy supply mode of the human body. Under the guidance of this mechanism, a feasible two stage energy supply hydraulic system based on the distributed micro instantaneous high pressure accumulator is proposed. The system uses a micro high voltage accumulator to build the energy supply of the instantaneous high intensity motion. The system uses the source of the low pressure and large flow pump as the energy supply system for long and low intensity movement. Then, through the establishment of the energy loss model, the main reasons for the energy saving of the two stage energy supply system are pointed out. (3) a pressure regulation method based on PWM (Pulse Width Modulation) control is proposed. A new type of pressure regulator FPC (Fluid Power Converter).FPC is proposed to adjust the pressure and flow rate between the mechanical energy and the hydraulic energy, and the pressure regulating mode and the conventional throttle (damping) adjustment are used to improve the pressure matching state of the two stage energy supply hydraulic system with long time and low strength. The principle of FPC is described in detail and the structure of the key inertial components is detailed. The performance is analyzed in detail by establishing a mathematical model of FPC. The results show that the FPC can still maintain high energy in the process of regulating pressure and flow strip. (4) the design and analysis of the bionic hydraulic actuator are carried out in depth. The structure characteristics of the multi fiber and multi motion unit of the human muscle and the way of raising the motion unit when the muscles and the load are matched are proposed. The design mechanism of the bionic hydraulic actuator and the control strategy of the load matching are put forward. The guidance of the mechanism is guided. Then, the structure of a kind of bionic hydraulic actuator is designed, analyzed and optimized, and a variety of structure expansion schemes are given. By establishing the energy loss model of the bionic hydraulic actuator and the traditional hydraulic actuator, the reasons of energy saving and efficiency of the bionic hydraulic actuator than the traditional hydraulic actuator are compared. Finally, the paper proposes the paper. The load matching control strategy is developed, and the simulation method is used to study the load matching control of the bionic actuator. (5) the simulation verification of the bionic two level power supply hydraulic system and the bionic hydraulic actuator proposed in this paper is carried out. The four legged robot, which is designed in this paper, is used to establish the two level energy supply system before and after the FPC. Simulation model of hydraulic system based on bionic high efficiency actuator and simulation analysis show that the proposed method can improve the efficiency of energy utilization. (6) in order to further verify the load matching and energy saving characteristics of the bionic actuator, three kinds of bionic hydraulic actuator prototype and single arm test are developed in this paper. By testing the friction force of the hydraulic cylinders of two kinds of bionic actuators with asymmetric and symmetrical structures, it is shown that the optimized bionic actuator has better structural stability. Finally, the bionic actuator drives the mechanical arm to lift the different loads. The experimental results show that the bionic actuator can be adjusted by the load matching. The design mechanism of bionic multistage energy supply hydraulic system and bionic actuator proposed in this paper provides theoretical guidance for the hydraulic system design of bionic robot. At the same time, the two stage energy supply system and the bionic hydraulic actuator have positive significance to the practical process of promoting the hydraulic driven bionic robot. In addition, the method proposed in this paper has a certain generality and can also be used to improve the efficiency of the hydraulic system of engineering machinery with multiple executor. Therefore, it has certain economic value.
【學(xué)位授予單位】：國防科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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