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基于反步法的下肢外骨骼机器人控制研究 被引量:2
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作者 苏东海 王海啸 +2 位作者 梁全 郭新博 王忠伟 《机电工程》 CAS 北大核心 2024年第9期1692-1703,共12页
针对下肢外骨骼预定轨迹的控制问题,在构建了二自由度机械腿的运动学和动力学模型的基础上,提出了一种非对称液压缸负载力、伸缩量与外骨骼转动扭矩、运动角度的转化关系,采用反步法控制下肢外骨骼系统的运动轨迹。首先,采用D-H法建立... 针对下肢外骨骼预定轨迹的控制问题,在构建了二自由度机械腿的运动学和动力学模型的基础上,提出了一种非对称液压缸负载力、伸缩量与外骨骼转动扭矩、运动角度的转化关系,采用反步法控制下肢外骨骼系统的运动轨迹。首先,采用D-H法建立了二自由度下肢外骨骼系统的运动学模型,研究了外骨骼末端执行器关节速度的变化关系,并利用拉格朗日动力学方程推导了外骨骼动力学的数学模型;然后,使用了液压缸负载力控制为机械腿运动提供了相应的扭矩,进而控制了下肢外骨骼的运动姿态;其次,针对下肢外骨骼运动时的高精度要求,利用反步法控制理论,建立了阀控非对称缸系统,结合下肢外骨骼动力学系统整体的状态空间方程,利用下肢外骨骼液压伺服系统控制了下肢外骨骼进行预定轨迹运动;最后,对AMESim软件与Visual Studio软件进行了联合仿真,对比分析了PID控制与反步法控制的精度问题。研究结果表明:针对下肢外骨骼预定轨迹控制,反步法控制误差最大值为2°,对比传统PID控制,误差降低了67%;设计的反步法控制器对于下肢外骨骼具有良好的控制精度。 展开更多
关键词 电液伺服系统 非对称液压缸 反步法控制 下肢外骨骼系统状态空间方程 D-H法 AMESIM 控制精度
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基于车身振动的压电发电装置研究 被引量:6
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作者 李霞 董亚东 +1 位作者 王婷婷 刘剑 《机械设计与制造》 北大核心 2018年第11期260-264,共5页
为最大程度利用压电悬臂梁发电装置回收车身振动能量,需要研究压电悬臂梁发电装置在车身上的安装位置及其工作频率。首先基于系统状态空间方程建立四轮车辆随机路面激励时域模型和某越野车7自由度整车振动模型,然后通过MATLAB/Simulink... 为最大程度利用压电悬臂梁发电装置回收车身振动能量,需要研究压电悬臂梁发电装置在车身上的安装位置及其工作频率。首先基于系统状态空间方程建立四轮车辆随机路面激励时域模型和某越野车7自由度整车振动模型,然后通过MATLAB/Simulink建立车路耦合振动仿真模型,最后对耦合振动模型进行时域和频域仿真分析,获得不同位置安装、不同车速及不同路面等级下,车身振动振幅和加速度时域响应图和频谱图。结果表明:安装位置距车身质心纵向距离越远,振动加速度幅值越大,距车身质心的侧向距离对车身振动加速度影响不大;车速对车身振动加速度幅值和频谱基本没有影响;路面状况越差,车身振动加速度幅值越大,但对振动频谱没有影响,振动能量主要集中在(0~2)Hz。 展开更多
关键词 压电悬臂梁 系统状态空间方程 耦合振动 MATLAB/SIMULINK
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Response of train-bridge system under intensive seismic excitation by random vibration method 被引量:4
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作者 WU Zhao-zhi ZHANG Nan 《Journal of Central South University》 SCIE EI CAS CSCD 2022年第8期2467-2484,共18页
Earthquake is a kind of sudden and destructive random excitation in nature.It is significant to determine the probability distribution characteristics of the corresponding dynamic indicators to ensure the safety and t... Earthquake is a kind of sudden and destructive random excitation in nature.It is significant to determine the probability distribution characteristics of the corresponding dynamic indicators to ensure the safety and the stability of structures when the intensive seismic excitation,the intensity of which is larger than 7,acts in train-bridge system.Firstly,the motion equations of a two-dimensional train-bridge system under the vertical random excitation of track irregularity and the vertical seismic acceleration are established,where the train subsystem is composed of 8 mutually independent vehicle elements with 48 degrees of freedom,while the single-span simple supported bridge subsystem is composed of 102D beam elements with 20 degrees of freedom on beam and 2 large mass degrees of freedom at the support.Secondly,Monte Carlo method and pseudo excitation method are adopted to analyze the statistical parameters of the system.The power spectrum density of random excitation is used to define a series of non-stationary pseudo excitation in pseudo excitation method and the trigonometric series of random vibration history samples in Monte Carlo method,respectively solved by precise integral method and Newmark-βmethod through the inter-system iterative procedure.Finally,the results are compared with the case under the weak seismic excitation,and show that the samples of vertical acceleration response of bridge and the offload factor of train obeys the normal distribution.In a high probability,the intensive earthquakes pose a greater threat to the safety and stability of bridges and trains than the weak ones. 展开更多
关键词 random vibration method intensive seismic excitation train-bridge system probability distribution inter system iteration precise integral method
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Research of inverse mathematical model to high-speed trains
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作者 朱涛 肖守讷 +1 位作者 马卫华 阳光武 《Journal of Central South University》 SCIE EI CAS 2014年第1期428-438,共11页
Operation safety and stability of the train mainly depend on the interaction between the wheel and rail.Knowledge of wheel/rail contact force is important for vehicle control systems that aim to enhance vehicle stabil... Operation safety and stability of the train mainly depend on the interaction between the wheel and rail.Knowledge of wheel/rail contact force is important for vehicle control systems that aim to enhance vehicle stability and passenger safety.Since wheel/rail contact forces of high-speed train are very difficult to measure directly,a new estimation process for wheel/rail contact forces was introduced in this work.Based on the state space equation,dynamic programming methods and the Bellman principle of optimality,the main theoretical derivation of the inversion mathematical model was given.The new method overcomes the weakness of large fluctuations which exist in current inverse techniques.High-speed vehicle was chosen as the research object,accelerations of axle box as input conditions,10 degrees of freedom vertical vibration model and 17 degrees of freedom lateral vibration model were established,respectively.Under 250 km/h,the vertical and lateral wheel/rail forces were identified.From the time domain and frequency domain,the comparison of the results between inverse and SIMPACK models were given.The results show that the inverse mathematical model has high precision for inversing the wheel/rail contact forces of an operation high-speed vehicle. 展开更多
关键词 load inversion high-speed vehicle wheel/rail contact force derailment index
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