液压驱动双足机器人及其动态平衡运动控制研究

发布时间：2018-01-18 07:32

本文关键词：液压驱动双足机器人及其动态平衡运动控制研究　出处：《哈尔滨工业大学》2017年博士论文　论文类型：学位论文

【摘要】：液压驱动双足机器人与地面非连续接触的运动特点使其能够适应野外的复杂路面,腿数较少的结构特点便于穿越丛林缝隙,液压装置功率密度比大的驱动特点为野外恶劣环境下运动提供了动力保证,因此,液压驱动双足机器人在野外环境中运动具有很大优势。但由于双足机器人在运动过程中的有限足底支撑面积,使其在受到干扰力时具有容易跌倒的问题,因而限制了双足机器人在现实生活的应用。步行和站立是双足机器人两种最常见的运动状态,在这两种状态中,双足机器人都有可能因受到干扰力而发生跌倒,因此,研究双足机器人的动态平衡步行和站立的控制方法,具有重要的实际意义。本文通过对人体运动过程的简化分析,建立了具有步行和站立能力的带足线性倒立摆模型;通过对带足线性倒立摆模型的动力学分析,得出了支撑腿髋关节力矩、双足切换步长、支撑腿踝关节力矩和身体高度等对身体运动状态影响关系,为双足机器人动态平衡步行和站立控制提供了模型和理论基础。基于干扰力必将转化为身体运动状态变化这一力学规律,结合本文所提出的带足线性倒立摆模型的动力学方程,分析了腿部动作与身体运动状态之间的对应控制关系,搭建了双足机器人动态平衡运动控制框架;建立了以支撑腿髋关节伺服身体姿态、以支撑腿膝关节伺服身体高度,以双足切换步长和支撑腿踝关节伺服身体水平运动的双足机器人动态平衡运动控制算法,同时进行了仿真实验验证,并阐述了该算法向三维空间内拓展的方法,为双足机器人的动态平衡运动提供了控制算法。以人体作为参考,研制了具有力和位置伺服的液压双足机器人样机,并建立了带足线性倒立摆模型与液压双足机器人之间的映射关系;为减小双足机器人关节耦合和着地冲击力引起的液压缸伺服精度误差,研制了基于PQ伺服阀、带力位双反馈的液压缸组件,并建立了伺服阀驱动电流与液压缸输出力与输出位置之间的数学关系,并依据此关系建立了带前馈控制的液压伺服系统,提高了液压双足机器人的伺服精度,为双足机器人动态平衡步行和站立控制算法提供了载体。搭建了包含电控系统和软件系统在内液压双足机器人实验平台;进行了双足动态平衡站立实验,验证了双足站立的动态平衡能力;进行了双足机器人的往复运动试验,验证了控制算法的步行能力;进行了在遭受哑铃撞击、手推、脚踢等多种形式干扰力下的步行实验,验证了双足步行的动态平衡能力。通过以上一系列实验,验证本文所提出的控制算法能够实现双足机器人动态平衡步行和站立。
[Abstract]:Non movement characteristics of continuous contact so that it can adapt to the complex pavement field hydraulic driven biped robot with the ground, the structure characteristics of a small number of legs is through the jungle gap, the hydraulic device power density ratio of the driving characteristics provides power guarantee for the harsh environment under movement therefore, hydraulic driven biped robot motion in the field the environment has a great advantage. But because of limited foot biped robot in the course of the campaign support area, which is easy to fall in interference force, thus limiting the application of biped robot in real life. And the biped robot standing is the two most common movement on foot, in the two state, biped robots are likely due to interference and the incidence of falls, therefore, study on the dynamic balance of the biped robot walking method and control stand, have important Practical significance. Through the analysis to simplify the process of human motion, with full linear inverted pendulum model of walking and standing ability is established; through the analysis of the dynamics of Daizu linear inverted pendulum model, the supporting leg hip torque, double foot switch step, the supporting leg ankle torque and body height on the body the motion state of relationship, provides a theoretical basis for the model and the dynamic balance of the biped robot walking and standing control. Based on the interference force will translate into physical state changes the mechanical laws, combined with the foot of the linear inverted pendulum model kinetic equation proposed by this paper, analyzes the corresponding relation between control movements of the legs and body movement state the build of biped robot dynamic balance motion control framework; to establish a supporting leg hip joint servo body posture, to support leg knee joint servo body high On two feet, switching step and support legs ankle joint servo body horizontal movement of the biped robot dynamic motion control algorithm, and carried out the simulation experiment, and expounds the method to expand the algorithm in 3D space, provides a control algorithm for dynamic balance motion of the biped robot. The human body as a reference developed with hydraulic force and position servo biped robot prototype, and mapping of Daizu linear inverted pendulum model between hydraulic and biped robot; in order to reduce the joints caused by coupling of biped robot and the impact force of hydraulic cylinder servo precision servo valve based on PQ, is developed, with a hydraulic force double cylinder assembly feedback, and established the mathematical relationship between the current driving servo valve and hydraulic cylinder output force and output position, and according to the relationship of the hydraulic servo system with feedforward control And improve the precision of hydraulic servo biped robot, provides a vector control algorithm for the dynamic balance of the biped robot walking and standing. To build a control system and software system, including hydraulic biped robot experimental platform; the double foot dynamic balance experiment, verified the dynamic balance ability of the feet to stand; test the reciprocating motion of the biped robot, verify the walking ability control algorithm; the push hands under the dumbbell impact, walking and other forms of interference experiment kicking force, verify the dynamic balance ability of biped walking. Through a series of experiments to verify the proposed control algorithm can realize the dynamic the balance of the biped robot walking and standing.

【学位授予单位】：哈尔滨工业大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TP242

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