摘要
悬臂支腿系统是仿手指自适应柔性夹具的重要组成部分。建立支腿液压系统的数学模型与仿真模型,分析系统的稳定性。改变模型的主要参数,对系统进行仿真。仿真结果表明:系统稳定性和动态性能受泄漏系数和放大器增益系数的影响较大;采用PID控制后,系统的性能得到进一步的改善。
Cantalever outrigger hydraulic system is one of the most important parts of the adaptive imitation fingers flexible fixture （AIFFF）. The mathematical model and simulation model of the outrigger system of AIFFF were established. The stability of the system was analyzed. The system was simulated by changing main parameters of the model. The simulation results show that the stability and dynamic performance are much affected by the leakage coefficient and amplifier gain coefficient. The system performance is improved after using PID control.
出处
《机床与液压》
北大核心
2012年第3期134-137,156,共5页
Machine Tool & Hydraulics
基金
重庆市科技攻关项目(CSTC 2009AC6077)
关键词
仿手指自适应柔性夹具
支腿液压系统
仿真
PID控制
Adaptive imitation fingers flexible fixture （AIFFF）
Outrigger hydraulic system
Simulation
PID control
