摘要
以自行设计的多自由度液压钻孔机械手的液压系统为研究对象,重点研究了机械手钻头夹持部位的阀控液压缸系统,建立了液压系统动态仿真模型。详细介绍了利用Simulink对液压系统的动态特性进行仿真的方法。针对机械手电液伺服系统设计了电液比例伺服控制系统数字校正环节,仿真验证了建模分析的正确性以及PID参数选择的合理性。
Hydraulic system of self-designed hydraulic drilling manipulator was taken as researching object, then system of valve control hydraulic cylinder of drill chuck parts of manipulator was researched and dynamic simulation model of hydraulic system was established. The method of simulation for dynamic characteristics of hydraulic system based on Simulink was introduced, then system of electrohydraulic proportional servo controlling was designed, the precision of modeling analysis and rationality of parameters selection in PID were verified through simulation.
出处
《煤矿机械》
北大核心
2011年第12期53-56,共4页
Coal Mine Machinery
