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SEA模型的参数全局灵敏度分析

司癸卯 展梓荃 高康平 魏孟

司癸卯, 展梓荃, 高康平, 魏孟. SEA模型的参数全局灵敏度分析[J]. 机械科学与技术, 2021, 40(10): 1491-1496. doi: 10.13433/j.cnki.1003-8728.20200234
引用本文: 司癸卯, 展梓荃, 高康平, 魏孟. SEA模型的参数全局灵敏度分析[J]. 机械科学与技术, 2021, 40(10): 1491-1496. doi: 10.13433/j.cnki.1003-8728.20200234
SI Guimao, ZHAN Ziquan, GAO Kangping, WEI Meng. Global Sensitivity Analysis of SEA Model Parameters[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(10): 1491-1496. doi: 10.13433/j.cnki.1003-8728.20200234
Citation: SI Guimao, ZHAN Ziquan, GAO Kangping, WEI Meng. Global Sensitivity Analysis of SEA Model Parameters[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(10): 1491-1496. doi: 10.13433/j.cnki.1003-8728.20200234

SEA模型的参数全局灵敏度分析

doi: 10.13433/j.cnki.1003-8728.20200234
基金项目: 

陕西省自然科学基金项目 2021JM-148

详细信息
    作者简介:

    司癸卯(1963-), 副教授,博士,研究方向为道路施工机械机电液一体化技术、液压传动与控制等,smart718@126.com

  • 中图分类号: TP242

Global Sensitivity Analysis of SEA Model Parameters

  • 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。
  • 图  1  SEA控制原理图

    图  2  输出力带宽的一阶灵敏度Si

    图  3  输出力带宽的总阶灵敏度STi

    图  4  系统阻抗的一阶灵敏度Si

    图  5  系统阻抗的总阶灵敏度STi

    图  6  输出力带宽的一阶灵敏度Si的敛散性

    图  7  输出力带宽的总阶灵敏度STi的敛散性

    图  8  系统阻抗的一阶灵敏度Si的敛散性

    图  9  系统阻抗的总阶灵敏度STi的敛散性

    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%
    下载: 导出CSV

    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%
    下载: 导出CSV
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出版历程
  • 收稿日期:  2020-04-23
  • 刊出日期:  2021-10-01

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