摘要
建立了阀控液压缸系统动力机构及负载的数学模型,完成了双自由度力控制模型及其传递函数的推导,并给出了力加载控制系统的方框图。然后提出了力环包容位置环的控制策略,针对力环加载力控制,设计了基于阻抗控制的力加载控制器,通过运用Matlab/Simulink软件对单缸双自由度力加载控制系统进行仿真分析,得到了系统位置环及力环的频率特性及其在阶跃输入下的响应。最后通过阻抗控制器参数与系统参数不完全匹配时系统阶跃响应的仿真分析结果,验证了该阻抗控制器的有效性。
A mathematical model for valve controlled hydraulic clinder and the loads is built in it,from which the control model of the force with two degrees of fredom and its transfer function is derived,and block diagram of the force control system is presented.Then the force control strategy for inclusive position loop is proposed,the load force controller is designed based on impedance control.Afterwards,the force control system of single hydraulic clinder with two degrees of fredom is analyzed through Matlab/Simulink so that the displacement and force frequency characteristics of the system and the step response are obtained.Finally,through the simulation analysis for the step response results with impedance control parameters being incompletely in accordance with the system parameters,the effectiveness of impedance controller is verified.
出处
《机械设计与制造》
北大核心
2012年第4期201-203,共3页
Machinery Design & Manufacture
关键词
阀控缸
阻抗控制
动态特性
Valve controlled cylinder
Impedance control
Dynamic propertics
