凿岩台车双三角支撑液压伺服系统建模与仿真研究

Research on Modeling and Simulation of Double Triangular Support Hydraulic Servo System for Rock Drill

以8自由度多关节型凿岩台车机械臂为研究对象,在介绍凿岩台车双三角支撑结构的基础上,对独立的双三角支撑液压位置伺服系统进行数学建模,并利用MATLAB软件绘制其Bode图得到系统的动态特性。使用Z-N整定法整定PID参数,在Simulink中对系统进行仿真。结果显示:使用PID控制器的控制系统其稳定性、响应速度以及抗干扰能力满足实际使用要求。

Taking the 8-DOF multi-joint rock drilling rig mechanical arm as the research object,based on the introduction of the double-triangular support structure of the rock drilling rig,the mathematical modeling of the independent double-triangular support hydraulic position servo system was built.The MATLAB software was used to draw its Bode diagram to get the dynamic characteristics of the system.The PID parameters were set by using Z-N tuning method,and the system was simulated in Simulink.The results show that the stability,response speed and anti-interference ability of the control system using PID controller meet the actual use requirements.