摘要
大型机械臂等液压执行元件在驱动过程中由于力平衡和结构等方面的原因,对同步控制的精度和响应速度要求较高。为消除磁滞、饱和等非线性因素的影响,采用一种新型的电液数字伺服阀构成位置同步闭环系统,该阀具有结构简单、抗污染能力强、可实现计算机直接控制等优点。对系统进行了数学建模和理论仿真,并得到实验结果。表明该同步系统具有响应速度快,控制精度高的优点,其同步误差控制在0.05mm以内。
The large robotic arm is usually driven by the electro-hydraulic synchronizing control system. The electro-hydraulic position synchronizing system was designed with the digital servo valve which has simple structure and can be direct digital control to eliminate the effect of the nonlinearities, such as hysteresis, saturation, definite resolution. Simulation analysis shows that the dynamic performance of the synchronizing system is good, and its steady state error is very small. The experiment results makes it clear that the control system has high accuracy and quick dynamic response. The synchronous error can be control within 0. 05mm.
出处
《机床与液压》
北大核心
2008年第10期49-51,共3页
Machine Tool & Hydraulics
基金
浙江工业大学校基金资助项目
关键词
电液数字伺服阀
位置同步
高精度
Digital servo valve
Position synchronizing
High accuracy
