混合模式磁流变阻尼器的机械腿减振控制

针对足式机器人在重载情况下机械腿会受到较大足地冲击，现有普通磁流变阻尼器的出力等级抑制有限的问题，提出一种剪切阀-挤压混合式磁流变阻尼器，并设计半主动控制器对机械腿进行减振控制.首先，分析新型磁流变阻尼器结构原理，并对其力学性能进行测试.然后，基于Bouc-Wen模型与实验数据，采用遗传算法对阻尼器力学正模型参数进行辨识求解.最后，建立基于新型混合磁流变阻尼器的机械腿减振系统的理论模型，并设计天棚控制器对其进行机械腿振动控制仿真.结果表明，新型混合式磁流变阻尼器在天棚控制策略下能有效降低机械腿振动的幅值与加速度，分别下降了49%和47%.

Vibration reduction control of mechanical leg with hybrid mode magnetorheological damper

Under the condition of heavy load, the mechanical leg of the foot robot is subjected to great impact. However, the output level of the existing common magnetorheological damper is limited. Therefore, this paper proposes a shear-extrusion hybrid mode MR damper and designs a semi-active controller to reduce the vibration of the mechanical leg. Firstly, the structural principle of the new MR damper is explained and its mechanical properties are tested. Then, based on Bouc-Wen model and experimental data, genetic algorithm is used to identify and solve the parameters of the positive model of damper mechanics. Finally, the theoretical model of the mechanical leg vibration damping system based on the new hybrid magnetorheological damper is established, and skyhook controller is designed to simulate the vibration control of the mechanical leg. The results show that the new hybrid mode MR damper can effectively reduce the vibration amplitude and acceleration of the mechanical leg by 49% and 47% respectively.