[1]储亚东,李成刚,陈飞翔,等.基于导纳控制算法的电液比例系统联合仿真研究[J].机械与电子,2021,(05):46-51.
　CHU Yadong,LI Chenggang,CHEN Feixiang,et al.Co-simulation Study of Electro-hydraulic Proportional System Based on Admittance Control Algorithm[J].Machinery & Electronics,2021,(05):46-51.
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基于导纳控制算法的电液比例系统联合仿真研究()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年05期
页码:
46-51
栏目:
自动控制与检测
出版日期:
2021-05-24

文章信息/Info

Title:
Co-simulation Study of Electro-hydraulic Proportional System Based on Admittance Control Algorithm
文章编号:
１００１-２２５７ ( ２０２１ ) ０５-００４６-０６
作者:
储亚东; 李成刚; 陈飞翔; 岳云双; 王 剑
南京航空航天大学机电学院,江苏 南京 ２１００１６
Author(s):
CHU Yadong ;  LI Chenggang ;  CHEN Feixiang ; YUE Yunshuang ;  WANG Jian
(College of Mechanical and Electrical Engineering ,Nanjing University of Aeronautics and Astronautics , Nanjing２１００１６ , China )
关键词:
液压机器人; 电液比例系统; 导纳算法; 联合仿真
Keywords:
hydraulic robot ;  electro-hydraulic proportional system ;  admittance algorithm ;  co-simulation
分类号:
TP２４２ ; TP２７３
文献标志码:
A
摘要:
为了满足某液压机器人对于特殊工况下的混凝土振捣需求,设计了基于导纳算法的柔顺控制器.以电液比例阀控缸系统为研究对象,建立了系统的动态数学模型,并利用 MATLAB 、 AMESim 和 Simcenter３D 软件各自优势,搭建了一种多学科融合的机电液一体化联合仿真平台,对电液比例阀控缸系统进行了弹簧阻尼负载和刚性碰撞 ２ 种不同工况下的多算法联合对比仿真分析.结果表明,设计的导纳柔顺控制器使得电液比例系统具备了对环境刚度的快速响应能力,导纳算法可根据实际负载力对内环位置控制器的位移信号进行及时修正,有效避免剧烈的刚性碰撞,体现良好的柔顺性和鲁棒性.
Abstract:
In order to meet the requirements of a hydraulic robot for concrete vibrating under special working conditions , a compliance controller based on admittance algorithm is designed．Taking the electrohydraulic proportional valve-controlled cylinder system as the research object , a dynamic mathematical model of the system is established , and a multi-disciplinary integration of mechatronics and hydraulics integrated simulation platform is built by using the respective advantages of MATLAB , AMESim and Simcenter ３D software．The electro-hydraulic proportional valve-controlled cylinder system is subjected to a multi-algorithm joint comparative simulation analysis under two different working conditions of spring damping load and rigid collision．The results show that , the designed admittance compliant controller makes the electro-hydraulic proportional system have a quick response to the environmental stiffness , and the admittance algorithm can control the inner loop position controller according to the actual load force．The displacement signal is corrected in time , which effectively avoids severe rigid collision , shows good flexibility and robustness．

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: ２０２０-１１-０９
基金项目:南京航空航天大学研究生创新基地(实验室)开放基金项目( kfjj２０１９０５０４ )
作者简介:储亚东 ( １９９６－ ),男,江苏南通人,硕士研究生,研究方向为智能机器人技术;李成刚 ( １９７５－ ),男,江苏南京人,副教授,硕士研究生导师,研究方向为工业机器人技术和传感器技术.
更新日期/Last Update: 2021-06-03