论文部分内容阅读
结合水下液压机械手线性关节的阀控非对称缸位置伺服系统,分析了阀控非对称缸的负载压力-流量特性,建立了阀控缸流量连续性方程和液压缸的力平衡方程,推导了阀控缸位置控制系统动态特性的数学模型,只增加负载环节就可以构成新的液压伺服系统模型。采用MAT-LAB软件对阀控缸位置控制系统进行动态特性仿真分析,验证了系统模型的正确性。
Combined with the valve-controlled asymmetric cylinder position servo system of the linear joint of underwater hydraulic manipulator, the load pressure-flow characteristics of the valve-controlled asymmetric cylinder are analyzed. The continuity equation of valve controlled cylinder flow and the force balance equation of the hydraulic cylinder are established. Valve control cylinder position control system dynamic characteristics of the mathematical model, only increase the load link can constitute a new hydraulic servo system model. The dynamic characteristics of valve control cylinder position control system are simulated and analyzed by MAT-LAB software, which verifies the correctness of the system model.