【作者】 许振保；

【导师】 戴炬；

【作者基本信息】 山东科技大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 本论文以山东科技大学机器人研究中心承担的国家863课题项目“配电带电作业机器人”为背景，通过分析高空作业车举升臂机构的特点，结合机器人技术，单片机技术，电液比例技术，设计开发了举升臂腰部回转关节和伸缩臂伸缩关节的液压系统和控制系统部分。主要分为举升臂的运动学模型，液压比例控制系统分析，比例阀控马达位置闭环系统数学模型，比例阀的PID控制及比例阀死区分析，控制系统设计，实验六个部分描述。论文首先采用D-H表示法建立高空作业车举升臂的运动学模型。针对腰部回转关节和伸缩臂伸缩关节选择液压控制系统方案。液压系统为举升臂各关节提供驱动力，液压系统部分性能的好坏直接影响举升臂机构的性能。经过分析选择以比例阀为核心液压控制元件的液压控制系统。通过分析电液比例阀控马达位置闭环系统各部分功能，建立电液比例阀控马达位置闭环系统的数学模型。电液比例阀控马达位置闭环系统选择PID控制方法。电液比例阀一般具有较大的中位死区，为减小比例阀中位死区的影响，文中提出一种线形化补偿方法，应用于电液比例阀控马达位置闭环系统的PID控制中。输入电液比例阀的控制电压采用PWM信号，单片机选用能产生五路PWM信号的SST89E564RD芯片。并详细介绍了PWM信号产生方法，占空比计算方法以及控制系统部分的软硬件设计。论文最后通过构建两关节比例阀-方向阀控马达液压系统实验平台，验证比例阀控马达位置闭环控制系统性能，验证减小比例阀中位死区的线性化补偿方法，验证比例阀-普通方向阀控两回路马达液压系统方案的可行性。更多还原

【Abstract】 This paper takes the state 863 program-hot line robot for background, whichwas assumed by the robot center of Shandong University of Science and Technology.Through analyzing the Raise to rise arm of the high altitude vehicle, using robottechnology, SCM technology and electrohydraulic proportional technology, studythe electrohydraulic system and control system for waist turning joint and flexjoint of the raise-rise arm. The main content involve 6 parts, kinematic modelof the raise-rise arm, the analysis of electrohydraulic proportional controlsystems, mathematic model of the proportional valve control motor positionalclose loop system, PID control & analysis for dead section of the proportionalvalve, design of the control system, experimentation.The paper first build up the kinematic model for the raise-rise arm of thehigh task vehicle by the D-H notation. Select the electrohydraulic control systemproject for the waist turning joint and flex joint. The hydraulic system providedrive power for each joint of the raise-rise arm, so the capability of hydraulicsystem directly affect the performance of the whole system, and choose thehydraulic system which select electrohydraulic proportional valve as the maincontrol component.Through analyzing the function of each component of the electrohydraulicproportional valve controlled hydraulic motor positional closed-loop system, setup its mathematic model. The control plan of the positional closed-loopproportional valve controlled motor system select PID control. The proportionalvalve exit zero dead section, we should manage to decrease the effect of the deadsection, This paper bring forward linearity compensation method., and use inPID control system.The input control voltage imported to the valve choose PWM control mode.select SST89E564RD(one CMOS chip of SCM) which can bring five PWM signal, and introduce the method about how can bring PWM signal, means of calculating high-lowratio & the software and hardware of the proportional controller in this part.At last we set up the hydraulic experiment setting of the two joints. Throughthe experiment setting, we validate the performance of the positional closed loopvalve controlled hydraulic motor system, validate the linearization compensatemethod and validate the feasibility of the scale valve-common direction valvecontrolled two loop hydraulic motor system.更多还原