基于AMESim/Simulnk的电液伺服系统研究与仿真
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摘要
以5自由度关节型液压机械手为控制对象,阐述液压机械手的电液伺服阀控系统的结构组成及原理。研究电液伺服系统的闭环控制系统,计算液压机械手的电液伺服系统传递函数,并在MATLAB平台下绘制bode图来验证系统的动态稳定性,有针对性地提出电液伺服系统性能优化方案。同时,针对机械手液压驱动系统的电液伺服阀位置闭环控制系统,在AMESim平台下建立阀控非对称液压缸的液压机械系统模型,在Simulink平台下建立PID控制系统模型,通过AMESim/Simulink进行联合仿真分析,解决了电液伺服控制系统在AMESim平台下难以建模的问题,系统响应速度明显加快。
This paper,taking the hydraulic manipulator with five degree freedom as the control objects,described the structure and principle of the control system of electro-hydraulic servo valve.It studied the electro-hydraulic servo position closed-loop control system,calculated the electro-hydraulic servo transfer function of hydraulic manipulator system,drew the bode diagram in MATLAB platform,and verified the dynamic stability of the system,based on which it thus put forward the improvement and research direction of electro-hydraulic servo system performance.At the same time,it studied the electro-hydraulic servo valve position closed-loop control system of manipulator hydraulic drive system,and established a hydro-mechanical model of valve controlled asymmetrical cylinder in AMESim environment and a PID control system in simulnk platform.Through the software platform of AMESim/Simulink for co-simulation analysis,it solved the problem that it's difficult to build electro-hydraulic servo control system model in AMESim platform.The control optimization effect is obvious,and the response speed of the system is significantly accelerated.
This paper,taking the hydraulic manipulator with five degree freedom as the control objects,described the structure and principle of the control system of electro-hydraulic servo valve.It studied the electro-hydraulic servo position closed-loop control system,calculated the electro-hydraulic servo transfer function of hydraulic manipulator system,drew the bode diagram in MATLAB platform,and verified the dynamic stability of the system,based on which it thus put forward the improvement and research direction of electro-hydraulic servo system performance.At the same time,it studied the electro-hydraulic servo valve position closed-loop control system of manipulator hydraulic drive system,and established a hydro-mechanical model of valve controlled asymmetrical cylinder in AMESim environment and a PID control system in simulnk platform.Through the software platform of AMESim/Simulink for co-simulation analysis,it solved the problem that it's difficult to build electro-hydraulic servo control system model in AMESim platform.The control optimization effect is obvious,and the response speed of the system is significantly accelerated.
引文
[1]倪敬,程乐平.五自由度液压伺服机械手研制[J].机电工,2014,31(5):595-599.
[2]刘俊,覃刚,王强.基于AMESim/Simulink的电液伺服系统的控制器设计[J].船海工程,2015,44(1):122-125.
[3]李谨,邓卫华.AMESim与MATLAB/Simulink联合仿真技术及应用[J].情报指挥控制系统与仿真技术,2004(5):61-64.
[4]江玲玲,张俊俊.基于AMESim的液压位置伺服系统动态特性仿真[J].机械工程与自动化,2007(1):35-37.
[5]李广瑞,焦侬,洪术华.基于AMESim/Simulink的调距桨装置伺服系统联合仿真对比研究[J].船舶工程,2014(1):49-51.
[6]张文毅,张福梅,陈祖希.电液伺服阀调试过程关键点控制方法[J].液压气动与密封,2016,36(2):56-58.
[7]王勇,刘树林,张润忤.管柱移运液压机械手的PID控制系统研究[J].工业控制计算机,2013,26(11):95-96.
[8]麦云飞,程奇.基于AMESim/Simulink的液压位置伺服系统仿真[J].机械工程与自动化,2015(2):59-61.
[2]刘俊,覃刚,王强.基于AMESim/Simulink的电液伺服系统的控制器设计[J].船海工程,2015,44(1):122-125.
[3]李谨,邓卫华.AMESim与MATLAB/Simulink联合仿真技术及应用[J].情报指挥控制系统与仿真技术,2004(5):61-64.
[4]江玲玲,张俊俊.基于AMESim的液压位置伺服系统动态特性仿真[J].机械工程与自动化,2007(1):35-37.
[5]李广瑞,焦侬,洪术华.基于AMESim/Simulink的调距桨装置伺服系统联合仿真对比研究[J].船舶工程,2014(1):49-51.
[6]张文毅,张福梅,陈祖希.电液伺服阀调试过程关键点控制方法[J].液压气动与密封,2016,36(2):56-58.
[7]王勇,刘树林,张润忤.管柱移运液压机械手的PID控制系统研究[J].工业控制计算机,2013,26(11):95-96.
[8]麦云飞,程奇.基于AMESim/Simulink的液压位置伺服系统仿真[J].机械工程与自动化,2015(2):59-61.