In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order ...In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors,the backstepping sliding mode controller is combined with the adaptive reference trajectory generator.Finally,a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change.The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged;the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed;when the environment suddenly changes,the drive unit can move slowly until the robot re-contacts the environment.展开更多
By virtue of the comparability between the wave superposition method and the dynamic analysis of structures, a general format for overcoming the non-uniqueness of solution induced by the wave superposition method at t...By virtue of the comparability between the wave superposition method and the dynamic analysis of structures, a general format for overcoming the non-uniqueness of solution induced by the wave superposition method at the eigenfrequencies of the corresponding interior problems is proposed. By adding appropriate damp to the virtual source system of the wave superposition method, the unique solutions for all wave numbers can be ensured. Based on this thought, a novel method-wave superposition method with complex radius vector is constructed. Not only is the computational time of this method approximately equal to that of the standard wave superposition method, but also the accuracy is much higher compared with other correlative methods. Finally, by taking the pulsating sphere and oscillating sphere as examples, the results of calculation show that the present method can effectively overcome the non-uniqueness problem.展开更多
In order to overcome the non-unique solution problem of the conventional equivalent source method at the corresponding eigenfrequency,the basic guidelines of adding virtual damping into the equivalent source method is...In order to overcome the non-unique solution problem of the conventional equivalent source method at the corresponding eigenfrequency,the basic guidelines of adding virtual damping into the equivalent source method is proposed according to the damping characteristics of the imaginary part of the coordinates of the equivalent source point.The complex source point constructed by complex retraction is used to add virtual damping to the equivalent source system,and a complex retractive equivalent source method with unique solution in full wavenumber domain is proposed.The mechanism of the complex retraction equivalent source method in overcoming the non-unique solution problem is described in accordance with the zero-point characteristic of the characteristic indicator function,involving the theory,modeling method and selection of damping parameter.The simulation and analysis of typical acoustic radiation and acoustic scattering problems indicate that the present method can obtain the unique solution in the entire frequency domain simply and effectively for arbitrarily shaped acoustic source.Its computational accuracy and efficiency are equivalent to the conventional equivalent source method,which solves the problem of poor adaptability of the complex radius vector method.展开更多
基金Projects(51975376,51505289)supported by the National Natural Science Foundation of ChinaProject(19ZR1435400)supported by the Natural Science Foundation of Shanghai,China。
文摘In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors,the backstepping sliding mode controller is combined with the adaptive reference trajectory generator.Finally,a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change.The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged;the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed;when the environment suddenly changes,the drive unit can move slowly until the robot re-contacts the environment.
基金Project supported by the National Natural Science Foundation of China (No. 10172038).
文摘By virtue of the comparability between the wave superposition method and the dynamic analysis of structures, a general format for overcoming the non-uniqueness of solution induced by the wave superposition method at the eigenfrequencies of the corresponding interior problems is proposed. By adding appropriate damp to the virtual source system of the wave superposition method, the unique solutions for all wave numbers can be ensured. Based on this thought, a novel method-wave superposition method with complex radius vector is constructed. Not only is the computational time of this method approximately equal to that of the standard wave superposition method, but also the accuracy is much higher compared with other correlative methods. Finally, by taking the pulsating sphere and oscillating sphere as examples, the results of calculation show that the present method can effectively overcome the non-uniqueness problem.
基金supported by the National Natural Science Foundation of China(12364055,51775121).
文摘In order to overcome the non-unique solution problem of the conventional equivalent source method at the corresponding eigenfrequency,the basic guidelines of adding virtual damping into the equivalent source method is proposed according to the damping characteristics of the imaginary part of the coordinates of the equivalent source point.The complex source point constructed by complex retraction is used to add virtual damping to the equivalent source system,and a complex retractive equivalent source method with unique solution in full wavenumber domain is proposed.The mechanism of the complex retraction equivalent source method in overcoming the non-unique solution problem is described in accordance with the zero-point characteristic of the characteristic indicator function,involving the theory,modeling method and selection of damping parameter.The simulation and analysis of typical acoustic radiation and acoustic scattering problems indicate that the present method can obtain the unique solution in the entire frequency domain simply and effectively for arbitrarily shaped acoustic source.Its computational accuracy and efficiency are equivalent to the conventional equivalent source method,which solves the problem of poor adaptability of the complex radius vector method.
