串联弹性驱动器动力学模型及其特性分析

发布时间：2018-01-02 07:33

本文关键词：串联弹性驱动器动力学模型及其特性分析　出处：《哈尔滨工程大学》2012年硕士论文　论文类型：学位论文

【摘要】：作为一种具有低输出阻抗的力输出驱动装置，串联弹性驱动器(Series ElasticActuator，SEA)在步行机器人、康复机器人、机械外骨骼以及医疗辅助器械等领域逐渐被广泛应用。本论文正是从串联弹性驱动器的广泛应用前景出发，着眼于串联弹性驱动器的基础性研究，展开了以下工作。首先，建立一种新的SEA动力学模型。针对目前串联弹性驱动器动力学模型的不足本文建立了一种新的SEA动力学模型。以该动力学模型为核心建立了基于速度源驱动的SEA控制模型，提出了一种力源控制法，建立了力源控制模型，推导出了两种控制模型开环和闭环系统传递函数，进而通过Nyquist图和Bode图对系统稳定性和动力学模型的控制特性进行分析，，并得到了闭环系统的谐振峰值、谐振频率和力输出带宽。通过控制与动力学仿真软件对该模型进行机电一体化系统联合仿真得到阶跃与变带宽正弦信号跟踪响应，最终利用DSpace与已完成的SEA样机进行实物控制试验，理论仿真和试验结果是一致的，SEA样机力输出稳定，证明本文所建立模型完全合理。其次，对SEA能量放大特性进行了研究。由于能量放大特性是SEA所特有的一种特性，有着广泛的应用前景，因此成为该领域研究重点之一。针对本文建立的新的SEA动力学模型，对SEA的能量放大特性展开了基础性研究。推导出了新的SEA动力学模型下的能量方程，绘制出了SEA能量输出曲线，定义了SEA能量放大特性指标（即能量放大峰值、能量放大峰值点、能量放大行程、能量放大行程起始点），分析了SEA能量放大特性指标随系统参数（弹簧刚度、传动机构等效质量和阻尼）的变化规律。最后利用Adams对SEA能量放大特性进行了仿真，仿真结果与理论分析相一致。证明了本文对SEA能量放大特性分析方法和结果是正确的。
[Abstract]:As a force output drive device with low output impedance, Series Elastic Actuator (SEAA), a series elastic driver, is used in walking robots and rehabilitation robots. Mechanical exoskeleton and medical auxiliary devices have been widely used. This paper focuses on the basic research of series elastic actuator from the perspective of the wide application of series elastic driver. The following work was carried out. First. A new dynamic model of SEA is established, and a new dynamic model of SEA is established in this paper, which is based on velocity source. Driving SEA control model. A force source control method is proposed, and the force source control model is established. The open loop and closed loop system transfer functions of two control models are derived. Then, the control characteristics of the system stability and dynamic model are analyzed by Nyquist diagram and Bode diagram, and the resonance peak of the closed-loop system is obtained. Resonance frequency and force output bandwidth. The step and variable bandwidth sinusoidal signal tracking responses are obtained by the simulation software of control and dynamics. Finally, the physical control experiment with DSpace and completed SEA prototype is carried out. The results of theoretical simulation and test show that the force output of sea prototype is stable, which proves that the model established in this paper is completely reasonable. Secondly, the energy amplification characteristics of SEA are studied. Because energy amplification is a characteristic of SEA, it has a wide application prospect. Therefore, it has become one of the key points in this field. A new SEA kinetic model is established in this paper. The energy amplification characteristics of SEA are studied, the energy equation under the new SEA dynamic model is derived, and the output curve of SEA energy is drawn. The SEA energy amplification characteristic index (i.e. energy amplification peak value, energy amplification peak point, energy amplification stroke, energy amplification stroke start point) is defined. The variation law of SEA energy amplification characteristics with system parameters (spring stiffness, equivalent mass and damping of transmission mechanism) is analyzed. Finally, the energy amplification characteristics of SEA are simulated by Adams. The simulation results are in agreement with the theoretical analysis. It is proved that the method and results of the analysis of SEA energy amplification characteristics are correct in this paper.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH136

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