易控液压转角伺服关节的性能研究  

Research of Performance for Easy Control Hydraulic Rotating Angle Servo Robot Joint

作　　者：向贤宝[1] 金晓宏[1] 蒋林[1] 

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081

出　　处：《机床与液压》2012年第21期44-47,50,共5页Machine Tool & Hydraulics

基　　金：机器人技术与系统国家重点实验室开放基金资助项目(SKLRS2010MS12);湖北省自然科学基金资助项目(2010CDB03405)

摘　　要：为了获得结构性能优越的易控液压转角伺服关节,介绍了该关节的基本构成及工作原理,建立了该关节数学模型,借助Matlab的Simulink工具模块对该模型进行了动态特性仿真分析。通过仿真,讨论了阀口、通油油道和控制腔等结构参数与该关节的性能关系。在此基础上,确定了对应的结构参数使易控液压转角伺服关节具有优越动态特性。仿真结果表明,该关节能实现快速、准确地跟随,同时具备较强的抗干扰能力。In order to obtain an easy control hydraulic rotating angle servo robot joint with superior structural characteristics, the basic structure and working principle of the joint were introduced. Its mathematics model was established, and then the dynamic char- acteristics of the model were also analyzed by using the Simulink tools module in Maflab. Through simulation, the relationship between the performance of joint and the structural parameters was discussed, such as the opening of valve, the channel of hydraulic route, the control chamber and so on. The simulation results show that the joint can achieve fast and precise tracing, also is robust in performance to the disturbance.

关 键 词：液压转角伺服关节 动态特性 性能分析 数学模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]