机械臂电液伺服系统双闭环稳定性控制方法研究  

Research on Double Closed Loop Stability Control Method of Manipulator Electro-hydraulic Servo System

作　　者：向玉春 朱建雷 金莹[1] 景蕾 XIANG Yu-chun;ZHU Jian-lei;JIN Ying;JING Lei(Mechanical and Electrical College of Xianyang Vocational and Technical College,Xi'an 712000,China)

机构地区：[1]咸阳职业技术学院机电学院,陕西西安712000

出　　处：《液压气动与密封》2023年第3期9-11,8,共4页Hydraulics Pneumatics & Seals

基　　金：陕西省自然科学基础研究计划(2022JQ416);咸阳职业技术学院2020年度“双高计划”建设专项研究项目(2020SGB05);咸阳职业技术学院2021年度教学改革研究(2021JYA03)。

摘　　要：机械臂电液伺服系统是一种可控大功率输出、响应速度快的机电液控制系统,针对工业机械臂大功率高负载工况下机械臂电液伺服系统稳定性下降的问题,在机械臂电液伺服系统结构基础上,构建了电液伺服系统的扩张状态观测器,利用窗口平移检测稳定性分析方法分析其稳定性,采用数模结合的双闭环控制方法,通过内环模拟流量控制、外环数字速度控制来提升电液伺服系统的稳定性,最后在机械臂电液伺服系统实验平台对控制方法进行验证,通过分析实验数据,验证了所设计的双闭环稳定性控制方法能够快速提高电液伺服系统的稳定性和响应速度。The electro-hydraulic servo system of the manipulator is an electro-hydraulic control system with controllable high-power output and fast response.Aiming at the problem of the decline of the stability of the electro-hydraulic servo system of the manipulator under the condition of high power and high load of the industrial manipulator,based on the structure of the electro-hydraulic servo system of the manipulator,an extended state observer of the electro-hydraulic servo system is constructed,The window translation detection stability analysis method is used to analyze its stability.The double closed-loop control method combined with digital and analog is used to improve the stability of the electro-hydraulic servo system through the inner loop analog flow control and the outer loop digital speed control.Finally,the control method is verified on the experimental platform of the electro-hydraulic servo system of the manipulator.By analyzing the experimental data,It is verified that the designed double closed-loop stability control method can quickly improve the stability and response speed of electro-hydraulic servo system.

关 键 词：机械臂 电液伺服系统 稳定性 扩张状态观测器 双闭环控制 

分 类 号：TH137[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]