基于Simulink的仿手指自适应柔性夹具支腿液压系统仿真  

Simulation of Outrigger Hydraulic System for Adaptive Imitation Fingers Flexible Fixture Based on Simulink

作　　者：郑讯佳[1] 罗天洪[1] 

机构地区：[1]重庆交通大学机电与汽车工程学院,重庆400074

出　　处：《机床与液压》2012年第3期134-137,156,共5页Machine Tool & Hydraulics

基　　金：重庆市科技攻关项目(CSTC 2009AC6077)

摘　　要：悬臂支腿系统是仿手指自适应柔性夹具的重要组成部分。建立支腿液压系统的数学模型与仿真模型,分析系统的稳定性。改变模型的主要参数,对系统进行仿真。仿真结果表明:系统稳定性和动态性能受泄漏系数和放大器增益系数的影响较大;采用PID控制后,系统的性能得到进一步的改善。Cantalever outrigger hydraulic system is one of the most important parts of the adaptive imitation fingers flexible fixture （AIFFF）. The mathematical model and simulation model of the outrigger system of AIFFF were established. The stability of the system was analyzed. The system was simulated by changing main parameters of the model. The simulation results show that the stability and dynamic performance are much affected by the leakage coefficient and amplifier gain coefficient. The system performance is improved after using PID control.

关 键 词：仿手指自适应柔性夹具 支腿液压系统 仿真 PID控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]