Global Sensitivity Analysis of SEA Model Parameters
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摘要: 为了定量探究串联弹性驱动器(SEA)系统阻抗和力输出带宽的参数全局灵敏度,本文利用基于方差分解的Sobol方法,计算不同取值下的弹簧刚度、阻尼和质量对SEA的输出力的带宽以及系统阻抗的全局灵敏度,并通过分析灵敏度计算结果的收敛性,验证了灵敏度分析结果的可靠性。研究结果表明:在不同工作频率下,弹簧刚度、阻尼和质量对于SEA的输出力带宽以及系统阻抗大小影响各不相同,且三者对所求目标函数具有交互影响的作用;系统阻尼和质量对于输出力带宽以及系统阻抗大小的影响均远大于弹簧刚度的影响,这表现在系统阻尼和质量对上述所求目标函数的总阶灵敏度在任何频率下均约为弹簧刚度的总阶灵敏度的3~4倍;对于参数的采样,当采样个数小于5 000时,Sobol指数波动较大,当采样个数为5 000时,既能节约计算开支又能获得可靠的Sobol参数。
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关键词:
- 机械工程 /
- 参数灵敏度 /
- Sobol法 /
- 串联弹性驱动器(SEA)
Abstract: This paper uses the Sobol method of variance decomposition to calculate the sensitivities of model parameters, spring stiffness, damping factor and mass on the force bandwidth and impedance of series elastic actuator (SEA), and analyzes their convergences in different sample size to look for the reliable result with minimum calculation cost. And the research results indicate that the sensitivity of damping factor and mass are greater than that of spring stiffness in most frequencies, specifically, the total sensitivities of damping factor and mass is about 3 or 4 times greater than that of spring stiffness, though the sensitivities of spring stiffness, damping factor and mass have interactive influence on the force bandwidth and impedance and vary with the frequency; and the results of the convergences analysis show that the amplitude of Sobol index below 5 000 size of sample is larger than that above 5 000, therefore a believable result with minimum calculation cost could be obtained when the sample size is 5 000.-
Key words:
- mechanical engineering /
- parameter sensitivity /
- Sobol method /
- series elastic actuator
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表 1 不同频率下输出力带宽的各个参数的全局灵敏度
W ks bm Mm 1 S=2.79%
ST=2.28%S=90.93%
ST=85.76%S=6.28%
ST=11.96%2 S=7.99%
ST=6.25%S=61.98%
ST=61.96%S=30.03%
ST=31.79%3 S=8.27%
ST=6.90%S=52.12%
ST=51.10%S=39.16%
ST=42.00%4 S=7.04%
ST=12.33%S=47.47%
ST=45.40%S=45.49%
ST=42.27%5 S=11.73%
ST=13.04%S=37.40%
ST=42.87%S=50.87%
ST=44.10%表 2 不同频率下系统阻抗的各个参数的全局灵敏度
W ks bm Mm 1 S=9.18%
ST=11.48%S=50.28%
ST=41.42%S=40.54%
ST=47.10%2 S=9.71%
ST=14.55%S=44.50%
ST=47.41%S=45.79%
ST=38.04%3 S=7.75%
ST=7.89%S=47.34%
ST=46.01%S=44.91%
ST=46.10%4 S=5.70%
ST=13.39%S=47.54%
ST=50.37%S=46.76%
ST=36.24%5 S=10.09%
ST=6.85%S=55.85%
ST=44.84%S=34.06%
ST=48.32% -
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