水压蛇形灭火机器人中水压自伺服摆动缸运动特性的研究

Research of Motion Characteristics for Water Servo Swing Cylinder of Water Pressure Snake-like Fire Fighting Robot

针对蛇形灭火机器人中,直流电机输出力矩小,液压驱动系统易燃等缺点,设计出一种水压自伺服摆动缸作为蛇形灭火机器人的驱动装置,以解决蛇形灭火机器人驱动力不足和阻燃性不好等问题。通过建立水压自伺服摆动缸的数学模型,得到了系统的传递函数。通过MATLAB的Simulink仿真模块对该模型进行了动态特性仿真分析。仿真结果表明,水压自伺服摆动缸动态响应快、跟随性准确而稳定,而且抗干扰能力强,总体性能较好。

Aiming at the weakness that the DC motor output torque is small and the hydraulic drive system burns easily in the snake-like fire fighting robot,we design a water pressure self-servo swing cylinder as the snake-like fire fighting robot＇ s drive equipment,to solve the problem of the snake-like fire fighting robot＇ s driving force inadequate and the fire resistance bad.Through establishing the mathematics model of the water pressure self-servo swing cylinder,we get the system＇ s transfer function.The dynamic characteristic of the model is analyzed by using the Simulink in MATLAB.The simulation results show that the water servo swing cylinder＇ s response is fast and tracing is accurate and stable,and it also is robust to the disturbance and good to all of the performance.