电液比例控制在农林业机器人中的应用

Application of Electronic-hydraulic Proportional Control in Forestry Robot

比例控制系统是电液控制技术的一项新发展,采用电液比例控制技术可以有效地提高整个系统的性能。电液比例阀具有优良的静态性能和适当的动态性能,并且容易实现连续控制和自动无级调速。根据电液比例阀的特点和系统构成,提出了计算机开环控制和远程闭环控制系统方案,由主控计算机、各种传感器、通信模块、液压泵站、电液比例阀、液压缸和相应的数据通信线等组成现场实时网络控制系统,并应用于农林业机器人的控制系统设计。

The proportional control system is a new development of electronic - hydraulic technology, and the system performance is improved by using electronic - hydraulic proportional control technology. The electronic - hydraulic proportional valve has fine static performance and suitable dynamic performance, and it is used in continuous control or automatic stepless speed regulation. According to proportional valve characteristics, the computer open -loop control scheme is proposed, and the long- distance closed -loop control system includes computer, sensors, communication module, electronic - hydraulic proportional valve and corresponding data bus. In the end the electronic - hydraulic proportional control system design used in the robot is introduced.