SIWR-Ⅱ水下作业机械手动力机构特性分析

Analysing to the Characteristic of the Motive Mechanism of STWR-Ⅱ Manipulato Under the Water

本文根据SIWR-Ⅱ水下作业机械手动力机构为伺服阀控单出杆液压缸的特点,推导了动力机构的传递函数,对电液伺服阀零位附近的控制特性进行了分析,并提出改善SIWR-Ⅱ水下作业机械手控制性能的措施.

According to the characteristic of the motive mechanism of SIWR-Ⅱ manipulato under the water-controled by servo-valve, single-arm, hydraulic vat.The transmit function of the motive mechanism was lead to.Through analysing the controling-characteristic of the servosystem nearby the zero point, point out the means promoting the controling-performance of SIWR-Ⅱ manipulato under the water.