可变供给压力阀控制的机械臂节能方法

Research on energy saving method of manipulator based on variable supply pressure valve control

为了提高机械臂关节角位移运动精度,降低机械臂运动的能量消耗,采用可变供给压力阀控制,并对输出结果进行仿真验证。给出了可变供给压力阀控制装置简图,介绍了供给压力阀控制原理。设计了前馈反馈控制系统,推导出液压阀压力变化和活塞运动位置方程式。针对传统机械臂驱动方式进行改进,设计了可变供给压力阀驱动控制系统。采用Matlab软件对机械臂关节角位移跟踪误差、供给压力和电机转速进行仿真,与定量供给压力阀驱动控制系统形成对比。结果显示:采用定量供给压力阀驱动控制系统,机械臂关节角位移跟踪误差较大,供给压力和电机转速较大;采用可变供给压力阀驱动控制系统,机械臂关节角位移跟踪误差较小,供给压力和电机转速较小。采用可变供给压力阀驱动控制系统,可以提高机械臂关节角位移运动精度,降低控制系统的能量消耗,从而节约能量。

In order to improve the accuracy of the angular displacement movement of the manipulator joint and reduce the energy consumption of the manipulator movement.The variable supply pressure valve is used to control the system,and the output results are verified by simulation.The schematic diagram of the variable supply pressure valve control device is given,and the control principle of the supply pressure valve is introduced.The feed-forward and feedback control system is designed,and the equations of pressure variation of hydraulic valve and piston motion position are derived.Aiming at the improvement of the traditional mechanical arm drive mode,the variable supply pressure valve drive control system is designed.Matlab software is used to simulate the tracking error of joint angular displacement,support pressure and motor speed,which is compared with the quantitative supply pressure valve drive control system.The results show that:with the quantitative supply pressure valve drive control system,the tracking error of the joint angular displacement of the mechanical arm is large,and the supply pressure and motor speed are large;with the variable supply pressure valve drive control system,the tracking error of the joint angular displacement of the mechanical arm is small,and the supply pressure and motor speed are small.The variable supply pressure valve driving control system can improve the angular displacement accuracy of the manipulator joint,reduce the energy consumption of the control system,and save energy.