摘要
为了建立基于力源驱动的串联弹性驱动器(series elastic actuator,SEA)动力学模型,在模型中将弹性元件简化为刚度-阻尼并联环节,通过Laplace变换并得到了力源驱动的开环和闭环系统传递函数,进而通过Nyquist稳定判据对其稳定性进行分析,通过Bode图得到其力输出带宽.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系统阶跃与正弦跟踪响应,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基本一致,SEA样机力输出稳定,证明所建立模型合理.
Dynamitic model of series elastic actuator （SEA） is established using force source in this paper, the e- lastic component in which is simplified to a parallel link of stiffness and damp. Transfer functions of force-driven model are derived using Laplace transform. Furthermore, the stability and bandwidth of these models are analyzed using Nyquist criterion and Bode diagram respectively. The step and sinusoidal responses of the system are simula- ted using control and dynamitic simulation software. The experiments are accomplished using DSpace and SEA pro- totype. It is shown that the simulation result is basically in accord with that of experiment. The SEA prototype has stable force output. It is proved by the above analysis that the model established in this paper is accurate.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2012年第11期1410-1416,共7页
Journal of Harbin Engineering University
基金
国家自然科学基金资助项目(7150080050)
黑龙江省自然科学基金资助项目(F200602
ZD200911)
哈尔滨市创新科技人才资助项目(2010RFQXG010)
自由探索计划基金资助项目(HEUCF110709)
