水下机械手电液伺服系统前馈补偿控制策略研究

Research on Feedforward Compensation Control Strategy of Electro-hydraulic Servo System for Underwater Manipulator

对典型高性能水下机械手电液伺服系统进行分析,以Schilling公司的Titan 4七功能机械手为例,建立了电液伺服系统的数学模型;针对水下机械手的工作特点,借鉴地震模拟振动台广泛采用的三状态控制技术,设计了伺服控制策略,采用PID和前馈补偿控制的方法,实现了快速响应和高精度的控制效果。Matlab/Simulink仿真结果表明,采用基于三状态控制技术的前馈补偿控制算法可有效提高系统响应速度,扩展了机械手在复杂水下环境中的作业能力。

It analyzed an electro-hydraulic servo system of typical high-performance underwater manipulator and established mathematical models of the electro-hydraulic servo system when taking Titan-47-function manipulator of Schilling company as an example.According to the working characteristics of the underwater manipulator,by using the three-state control technology widely used in seismic simulation shaking table for reference,a servo control strategy was designed which adopts the method of PID and feed-forward compensation control to achieve fast response and high precision control effect.Matlab/Simulink simulation results show that the feedforward compensation control algorithm based on the three-state control technology can effectively improve response speed of the system and expand operation ability of the manipulator in complex underwater environment.