破拆机器人臂系动态特性及能耗分析

Dynamic Characteristics and Energy Consumption Analysis for Demolition Robot Arm System

随着经济和社会的发展,对破拆机器人工程作业的位置精度和能耗提出了更为严苛的需求。为了提高作业定位精度、降低系统能耗,通过反馈油缸杆位移建立基于PID的闭环控制系统提升位置精度,通过大臂驱动缸和平衡缸的双液压缸设计,建立大臂运动过程的重力势能回收系统。通过平衡缸连接蓄能器储存大臂下降过程势能并在下一个抬升工况再利用,降低负载敏感泵跟踪最大负载的输出压力,实现节能控制。通过ADAMS-AMESim软件联合,对基于PID的闭环系统动态特性和双液压缸大臂势能回收系统的动态特性和节能效果进行仿真。结果表明,闭环系统可精确控制油缸位移,误差小于1 mm,有效补偿了泄漏等造成的误差;双液压缸大臂能量回收系统针对大臂升降工况泵输出功率降低60%以上,实现了能量回收再利用。

With the development of economy and society,more stringent requirements have been put forward for the position accuracy and energy consumption of demolition robot engineering operations.In order to improve the positioning accuracy and reduce the energy consumption of the system,a PID-based closed-loop control system through feeding back displacement of the cylinder rod was established to improve the position accuracy.Through the dual hydraulic cylinder design of the boom drive cylinder and the balance cylinder,the gravitational potential energy of the boom movement process was recovered into the accumulator and reused in the next lifting process to reduce the output pressure of the load-sensitive pump to achieve energy-saving control.The ADAMS-AMESim co-simulation experimental results show that the cylinder displacement error of the closed-loop system is less than 1 mm,which effectively compensates the error caused by leakage;the output power of the pump in the boom lifting condition is reduced by more than 60%,realizing energy recovery and reusing.