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为研究设计参数对水下机械手的控制及操作性能的影响,以水下液压机械手单关节执行机构为研究对象,确定了下机械手的初始参数;基于流量连续性方程及力平衡方程,建立活塞输出位移对阀输入位移的传递函数以及负载力扰动的传递函数,并以速度放大系数,液压固有频率及液压阻尼比作为水下机械手控制机构的性能指标,详细分析各设计参数对水下液压机械手控制机构性能的影响。研究表明:减小控制阀的位移,增大弹性模量,减小控制阀两端的压差,可以改善控制机构的响应速度和稳定性,提高机械手的控制和操作性能。
In order to study the influence of design parameters on the control and operation performance of underwater manipulator, the underwater manipulator single joint actuator was taken as the research object to determine the initial parameters of lower manipulator. Based on the flow continuity equation and force balance equation, the piston output The transfer function of the displacement to the valve input displacement and the transfer function of the disturbance of the load force. The speed magnification coefficient, the hydraulic natural frequency and the hydraulic damping ratio are taken as the performance indexes of the underwater manipulator control mechanism. The design parameters of the underwater manipulator control The impact of institutional performance. The research shows that: reducing the displacement of the control valve, increasing the elastic modulus and reducing the pressure difference between the two ends of the control valve can improve the response speed and stability of the control mechanism and improve the control and operation performance of the manipulator.