大功率柔顺驱动器的设计方法及能量优化和交互安全机理研究

项目名称： 大功率柔顺驱动器的设计方法及能量优化和交互安全机理研究

项目编号： No.51505016

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 齐海涛

作者单位： 北京航空航天大学

项目金额： 21万元

中文摘要： 为了缓冲外部冲击、保证人机交互安全和实现能量存储/释放，驱动器正向着“柔性化”方向发展，不再片面追求高刚性。但现有的柔顺驱动器输出功率普遍偏小、大载荷情况下的能量使用效率偏低、无理论化和系统化的设计方法，已成为限制机器性能进一步提高的最大障碍。为此，本项目基于大功率高频响液压伺服驱动，从模块化参数化设计与优化、能量转换关系与优化以及交互安全控制角度入手，研究大功率柔顺驱动器的系统化设计方法，并揭示其所蕴含的能量转换和变刚度的规律。主要研究内容包括：给出一种大功率柔顺驱动器的体系化设计方法；揭示柔顺驱动中的能量转换规律和人机交互安全控制机理；实现能量优化和实时大范围变刚度控制；提高能量使用效率，确保机器与人或周围环境交互时的安全性，并改善环境适应性，从本质上提高驱动质量和效率。研究成果可以为柔顺驱动器提供系统性的设计方法与理论依据，有助于实现大规模推广应用，具有很高的社会价值。

中文关键词： 柔顺驱动器；电液伺服控制；变刚度；能量优化；交互安全控制

英文摘要： In order to minimize large forces due to shocks, to safely interact with the user, and to store and release energy, the trend towards “compliant” actuator is gradually being implemented, not only for high stiffness. However, most of the existing compliant actuators’ power is not very large, and energy efficiency under heavy load is not very high, theoretic and systematic design methods haven’t been proposed, all of these have hindered the development of high performance machines. Therefore, based on hydraulic servo system with large power and high frequency response, starting with modular and parametric design method and optimization, energy conversion and optimization, and interactive safety control, this project will study systematic design method of large power compliant actuator, and to reveal the laws of energy conversion and variable stiffness. The main research contents consist of how to design a large power compliant actuator with systematic design method, and how to reveal the energy conversion law and human-machine safely interact control mechanism in the compliant drives, how to optimize energy and control in real time large scale variable stiffness. To fulfil the purpose of improve energy efficiency, keep safety when machines interact with human and surroundings, improve environment adaptability, and improve driving quality and efficiency in fundament. The research results have very high social value, and can provide a systematic design method and theoretic foundation for designing a large power compliant actuator, contribute to realize large-scale application.

英文关键词： Compliant actuator;Electro-hydraulic servo control;Variable stiffness;Energy optimization;Interactive safety control