基于UG的液压机械臂建模与故障诊断方法研究

Research on Modeling and Fault Diagnosis of Hydraulic Manipulator Based on UG

液压机械臂是智能化工业制造中不可或缺的重要机械装置,针对在复杂多变的工业应用情景下液压机械臂故障诊断效率下降的问题,在UG交互式建模系统中构建了液压机械臂的实体造型,明确相关性能参数,与此同时,构建了液压机械臂的运动学模型,设计了液压机械臂运动状态观测器,利用分段阈值故障诊断算法对不同工作状态下进行故障检测,最后,在构建的液压机械臂实验平台中验证故障诊断方法的有效性,实验结果表明,采用UG建模辅助方法和分段阈值故障诊断方法能够提升液压机械臂的故障诊断效率和精确度。

Hydraulic manipulator is an indispensable mechanical device in intelligent industrial manufacturing.Aiming at the problem that the efficiency of fault diagnosis of hydraulic manipulator decreases in complex and changeable industrial application scenarios,the solid modeling of hydraulic manipulator is constructed in UG interactive modeling system,and the relevant performance parameters are defined.At the same time,the dynamic model of hydraulic manipulator is constructed,The motion state observer of the hydraulic manipulator is designed,and the segmented threshold fault diagnosis algorithm is used to detect the faults under different working states.Finally,the effectiveness of the fault diagnosis method is verified in the experimental platform of the hydraulic manipulator,The efficiency and accuracy of fault diagnosis of hydraulic manipulator can be improved by using UG modeling aid method and segmented threshold fault diagnosis method.