Research On Noise Analysis And Noise Reduction Technology Of Hydraulic Quadruped Robot

With the development of society,robots and artificial intelligence have more and more broad development prospects,and quadruped robots have gradually become a hot research topic due to their terrain adaptability and flexibility.However,due to the late start of the country,the four-legged robot power source is now mainly hydraulic,that is,relying on the engine to drive the hydraulic pump to power the robot;hydraulic drive makes the robot have better performance,but it also causes the robot to have relatively large noise during the work.In this paper,the Scalf hydraulically driven quadruped robot of Shandong University Robotics Research Center is taken as the research object.The overall analysis of the robot and the noise reduction as the research target respectively carry out the noise reduction research on the engine and the exhaust pipe.The main research contents are as follows.The first is the noise source analysis of a quadruped robot.Through the analysis of the overall system of the robot,the source of noise and main noise sources of the robot during operation are determined:the engine and the exhaust pipe.The engine is modeled by AMESim software,and the parameters such as intake and exhaust are simulated,and the influence of intake and exhaust and cylinder temperature at different speeds is analyzed.The ANSYS software was used to model the fluid flow inside the exhaust pipe,and the fluid analysis was carried out.The temperature and pressure were analyzed according to the actual parameters,and the feasibility of active noise reduction control was verified.Followed by low engine speed-low noise control.By modeling the kinematics of the robot and performing kinematic analysis,the flow calculation of the hydraulic system is estimated according to the working mode of the robot and the characteristics of related components.According to the working characteristics of the engine and hydraulic pump and related parameters,the engine speed and the flow rate of the hydraulic system are matched and controlled,and the designed controller is introduced.Next is the study of the active noise reduction algorithm of the exhaust pipe.The structure of the exhaust pipe control system is introduced through the study of the active noise reduction control system,and a minimum mean square algorithm(LMS)is proposed,which is validated by its model,because it does not consider the secondary path pair.The influence of the system is combined with the filter and the least mean square algorithm.The FXLMS algorithm is proposed.It is modeled and simulated by Matlab and its Simulink module.The convergence factor and the filter order are simulated to determine the influence of parameters on the system and the effectiveness of its control.