冗余液压机械手双伺服阀驱动控制仿真研究  

Simulation research on dual servo valve drive control of redundant hydraulic manipulator

作　　者：谢祥洲 陈小兵 张潞 XIE Xiangzhou;CHEN Xiaobing;ZHANG Lu(College of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,Sichuan,China;College of Intelligent Engineering,Chongqing City Management College,Chongqing 401331,China;College of Artificial Intelligence,Guangdong Open University,Guangzhou 510091,Guangdong,China)

机构地区：[1]电子科技大学自动化工程学院,四川成都611731 [2]重庆城市管理职业学院智能工程学院,重庆401331 [3]广东开放大学人工智能学院,广东广州510091

出　　处：《中国工程机械学报》2022年第3期211-215,共5页Chinese Journal of Construction Machinery

基　　金：重庆教委科学技术研究计划青年项目(KJQN202003305)。

摘　　要：机械手是当今社会发展的智能化设备,由于受到设计水平的限制,控制精度达不到期望的要求,能量消耗也较为严重。为解决此类问题,详细分析了单伺服阀和双伺服阀液压驱动系统,根据运动学原理推导出活塞驱动力和能量消耗方程式,并优化了能量消耗。采用粒子群优化(PSO)算法PID控制器,并且通过冗余液压机械手末端执行器进行仿真验证。双伺服阀明显优于单伺服阀,在驱动冗余液压机械手末端执行器时,不仅追踪误差较小,而且能量消耗较少。因此,双伺服阀驱动冗余液压机械手末端执行器能够更好地满足设计者的要求。Manipulator is an intelligent equipment developed in today’s society,but due to the limitation of design level,the control accuracy cannot meet the expected requirements,and the energy consumption is also serious.In order to solve this kind of problem,this paper analyzes the hydraulic drive system of single servo valve and double servo valve in detail,deduces the equation of piston driving force and energy consumption according to the principle of kinematics,and optimizes the energy consumption.The PID controller is optimized by particle swarm optimization(PSO)algorithm,and verified by simulation of the end effector of redundant hydraulic manipulator.Dual servo valve is obviously better than single servo valve.When driving the end effector of redundant hydraulic manipulator,it not only has less tracking error,but also consumes less energy.Therefore,the end effector of dual servo valve driven redundant hydraulic manipulator can better meet the requirements of designers.

关 键 词：液压机械手 双伺服阀 粒子群算法(PSO) 增量式PID控制器 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]