The invention discloses a rhombic five-rod parallel-leg quadruped robot based on an improved FOC control algorithm. The rhombic five-rod parallel-leg quadruped robot comprises a robot body, a first movement mechanism, a second movement mechanism, a third movement mechanism and a fourth movement mechanism, wherein the first movement mechanism, the second movement mechanism, the third movement mechanism and the fourth movement mechanism are arranged on the side edges of the robot body; the first movement mechanism and the second movement mechanism are symmetrically arranged on the two sides of the machine body in the length direction of the machine body, and the third movement mechanism and the fourth movement mechanism are symmetrically arranged on the two sides of the machine body. The first movement mechanism, the second movement mechanism, the third movement mechanism and the fourth movement mechanism each comprise a movement assembly. The SVPWM is adopted to replace the Clark inverse transformation in the FOC algorithm, so that the tracks of the reference voltage vectors output by the first driver and the second driver are closer to a circle, the voltage utilization rate is high, the harmonic distortion rate is small, and the torque pulsation of the first driver and the second driver can be reduced.
本申请公开的一种基于改进FOC控制算法的菱形五杆并联腿四足机器人,包括:机体以及设置在所述机体侧边的第一运动机构、第二运动机构、第三运动机构和第四运动机构;所述第一运动机构和所述第二运动机构沿所述机体长度方向对称设置在所述机体的两侧,所述第三运动机构和所述第四运动机构向对称设置在所述机体的两侧;所述第一运动机构、第二运动机构、第三运动机构和第四运动机构均包括运动组件。采用SVPWM来代替FOC算法中的克拉克逆变换,使所述第一驱动器与所述第二驱动器输出的参考电压矢量的轨迹更逼近圆形,所以电压利用率高,谐波畸变率小,可以减小所述第一驱动器与所述第二驱动器的转矩脉动。
Rhombic five-bar parallel leg quadruped robot based on improved FOC control algorithm
基于改进FOC控制算法的菱形五杆并联腿四足机器人
2024-09-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |