并联机械手集成电液伺服系统同步控制研究  

Research on Synchronous Control of Parallel ManipulatorIntegrated Electro-Hydraulic Servo System

作　　者：杨坤漓 王莹 YANG Kun-li;WANG Ying(School of Mechanical and Electrical Engineering,Zhengzhou University of Industrial Technology,He’nan Zhengzhou 451150,China)

机构地区：[1]郑州工业应用技术学院机电工程学院,河南郑州451150

出　　处：《机械设计与制造》2024年第3期18-21,26,共5页Machinery Design & Manufacture

基　　金：河南省高等学校重点科研项目(19A520042)。

摘　　要：为了提高并联机械手集成电液伺服驱动系统控制反应速度,降低末端执行器输出误差。介绍了一种具有三个独立控制的集成电液伺服驱动器,利用并联机械手的逆向运动学的表达式,推导出集成电液伺服驱动的平移并联机械手动力学模型。利用两个独立离散PI和PD控制器控制并联机械手输出力和位置,使驱动并联机械手三个液压缸输入电压控制信号保持同步。通过控制系统仿真软件对液压缸电压输入信号和末端执行器位置输出结果进行仿真。结果显示:采用同步控制方法,并联机械手集成电液伺服系统电压输入控制信号和末端执行器位置跟踪误差较小。采用同步控制方法,可以提高并联机械手集成电液伺服系统的自适应调节速度,提高末端执行器轨迹跟踪精度。In order to improve the control response speed of the integrated electro-hydraulic servo drive system of the parallel ma-nipulator and reduce the output error of the end effector.An integrated electro-hydraulic servo driver with three independent con-trols is introduced.Using the expression of inverse kinematics of parallel manipulator,the mechanical model of translational paral-lel manipulator driven by integrated electro-hydraulic servo is derived.Two independent discrete PI and PD controllers are used to control the output force and position of the parallel manipulator to keep the input voltage control signals of the three hydraulic cyl-inders driving the parallel manipulator synchronized.The voltage input signal of the hydraulic cylinder and the position output re-sult of the end effector are simulated by the control system simulation software.The results show that using the synchronous control method,the voltage input control signal and the position tracking error of the end effector of the parallel manipulator integrated electro-hydraulic servo system are small.The synchronous control method can improve the adaptive adjustment speed of the inte-grated electro-hydraulic servo system of the parallel manipulator and improve the trajectory tracking accuracy of the end effector.

关 键 词：电液伺服系统 并联机械手 同步控制 误差 仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TH112