交通锥回收机械手摆动控制研究与仿真  

Research and Simulation on Swing Control of Retrieval Arm for Traffic Cones

作　　者：杨立新 于淼[2] 李玉善[2] 吕安涛[3] 

机构地区：[1]威海怡和专用车有限公司,山东威海264211 [2]山东科技大学机械电子工程学院,山东青岛266590 [3]山东省交通科学研究所,山东济南250031

出　　处：《专用汽车》2013年第9期88-90,93,共4页Special Purpose Vehicle

摘　　要：在对交通锥回收机械手摆动控制系统工作过程中所存在问题进行分析的基础上,介绍了一种电液比例摆动控制系统,推导出了该系统的数学模型,并利用Matlab/Simulink进行仿真分析,仿真结果表明系统具有较好的动态性能,但其相位裕度不满足工程实践稳定性储备的要求。为此,设计了PID调节器对系统进行校正,再次仿真结果表明,校正后的系统比校正前具有更高的相位裕度和幅值裕度,提高了系统的稳定性储备。An electro-hydraulic proportional swing control system after the analysis on the lack of the traffic cone retrieval arm were proposed in this paper, Then the mathematical model of the system and conducts simulation analysis based on Matlab / Simulink was deriven, and the result shows that the system has good dynamic performance. However, its phase margin does not meet the stability reserve requirements for engineering practice. For that, the PID controller is designed for system calibration and the simulation result shows the system has higher phase margin and amplitude margin than before calibration, and then improves system stability reserve.

关 键 词：交通锥回收机械手摆动控制电液比例控制比例-积分-微分控制器仿真分析 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]