摘要
串联机械臂分布式电液伺服系统是部件高度耦合的复杂控制系统,针对其高负荷大功率状态下运动稳定性能下降的问题,在串联机械臂分布式电液伺服系统结构和动力学分析基础上,构建了分布式电液伺服系统的运动控制模型,利用扩展劳斯稳定性判据构造了串联机械臂的运动稳定性判据,进而充分地分析了串联机械臂运动失稳的影响因素,采用滑模控制策略优化串联机械臂分布式电液伺服系统的运动稳定性能,在模块化实验环境中验证了控制方法的可靠性和有效性,通过对实验结果的分析,所设计的滑模控制方法能够快速有效提升串联机械臂分布式电液伺服系统运动稳定性能。
The distributed electro-hydraulic servo system of a series manipulator is a complex control system with highly coupled components.To solve the problem of the decline of its motion stability performance under the condition of high load and high power,based on the analysis of the structure and dynamics of the distributed electro-hydraulic servo system of a series manipulator,the motion control model of the distributed electro-hydraulic servo system is constructed,and the motion Stability criterion of the series manipulator is constructed using the extended Routh Stability criterion,Furthermore,the influencing factors of the motion instability of the serial manipulator are fully analyzed,and the Sliding mode control strategy is used to optimize the motion stability of the serial manipulator distributed electro-hydraulic servo system.The reliability and effectiveness of the control method are verified in the modular experimental environment.Through the analysis of the experimental results,the designed Sliding mode control method can quickly and effectively improve the motion stability of the serial manipulator distributed electro-hydraulic servo system.
作者
朱航科
ZHU Hang-ke(Shaanxi Polytechnic Institute,School of Mechanical Engineering,Xianyang 712000,China)
出处
《液压气动与密封》
2024年第7期96-99,共4页
Hydraulics Pneumatics & Seals
关键词
串联机械臂
动力学分析
滑模控制
稳定性
tandem robotic arm
dynamic analysis
sliding mode control
stability
