一种串联式液压机械臂PLC运动控制方法研究  

Research on PLC Motion Control Method of Series Hydraulic Manipulator

作　　者：张娟荣[1] 屈昕鹏[2] ZHANG Juan-rong;QU Xin-peng(Mechanical and Electrical College of Xianyang Vocational and Technical College,Xi'an 712000,China;College of Mechanical and Electrical Engineering and Automotive Technology of the Open University of Shanxi,Xi'an 710119,China)

机构地区：[1]咸阳职业技术学院机电学院,陕西西安712000 [2]陕西广播电视大学机电工程与汽车科技学院,陕西西安710119

出　　处：《液压气动与密封》2023年第3期53-56,共4页Hydraulics Pneumatics & Seals

基　　金：咸阳职院2021年度“双高计划”专项研究项目(2021SGA03)。

摘　　要：串联式液压机械臂是一个复杂的连杆控制机构,针对复杂多变的运行工况下串联式液压机械臂的运动控制精确化需求,在串联式液压机械臂工作原理和运动控制系统结构基础上,构建了PLC主从式控制系统图,并设计了PLC控制程序,优化了运动控制系统的标定参数,在搭建好的串联式液压机械臂运动控制实验台架中进行调试测试,最后实验结果表明该控制方法能够快速提高串联式液压机械臂的运动控制精度,提升运动控制系统的响应能力。The series hydraulic manipulator is a complex linkage control mechanism.According to the accurate motion control requirements of the series manipulator under complex and changeable operating conditions,based on the working principle of the series manipulator and the structure of the motion control system,the state diagram of the PLC master-slave control system is constructed,the PLC control program is designed,and the calibration parameters of the motion control system are optimized,Finally,the experimental results show that the control method can quickly improve the motion control accuracy of the series manipulator and the response ability of the motion control system.

关 键 词：串联式 液压 机械臂 运动控制 PLC 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]