液压与气动2025，Vol.49Issue(3)：90-99,10.DOI:10.11832/j.issn.1000-4858.2025.03.011
机器人关节电静液作动器建模与频域分析
Modeling and Frequency-domain Analysis of Electro-hydrostatic Actuator of Robot Joint
摘要
Abstract
Electro-hydrostatic actuator has the advantages of large power to weight ratio,high efficiency,high integration and easy maintenance,and has broad application prospects in the field of large robots.This paper presents a electro-hydrostatic actuator for quadruped robot joint,and the mathematical model is derived and its aracy accuracy is verified through experiments.Aimed at the low-frequency response bandwidth of electro-hydrostatic actuator and unclear dynamic response factors,frequency-domain analysis is applied to the electro-hydrostatic actuator system to analyze the influence of key parameters on response speed.Based on the results of frequency-domain analysis,it is determined that the key factor affecting electro-hydrostatic actuator response speed is the displacement of the piston pump and the effective area of the hydraulic cylinder.The concept of electro-hydrostatic actuator response velocity sensitivity parameter is proposed,and the design optimization method to improve the response bandwidth of the electro-hydrostatic actuator system is proposed.It provides a theoretical basis for improving the response speed of electro-hydrostatic actuator system.关键词
电静液作动器/数学建模/频域分析Key words
electro-hydrostatic actuator/mathematical modeling/frequency-domain analysis分类
机械制造引用本文复制引用
马三喜,周俊杰,赵慧鹏,杜善霄,王雪..机器人关节电静液作动器建模与频域分析[J].液压与气动,2025,49(3):90-99,10.基金项目
泰山学者工程资助(tsqn202312311) （tsqn202312311）
山东省自然基金面上项目(ZR202211230116) （ZR202211230116）
