机械手-电液伺系统的建模与仿真-论文.docVIP

摘 要 研磨机作为金属加工工业生产中的重要设备，在机械加工行业中占有重要地位。现代研磨机大量采用新技术，如控制技术、双膨胀研磨头制造技术、现代测量技术的使用等，使得研磨机日新月异，国外研磨技术的飞速发展对中国的研磨机制造业和研磨工艺的使用行业提出了严峻的挑战。然而，我国的大部分研磨设备却比较落后，己满足不了精加工行业迅猛发展的要求。与国外先进的研磨设备相比，国内的研磨设备主要体现在自动化水平不高，研磨工艺落后，本文主要对研磨机主轴往复运动系统进行设计和研究，采用电液伺服控制代替原有系统。经过静态和动态分析，建立了系统的模型，然后利用MATLAB中的SIMULINK模块对系统进行仿真，分析其瞬态性能和稳态性能。在控制策略的研究中，选择了几种算法较简单，控制效果较好的控制作为研究对象—— PID控制，为今后控制器的设计和软件编程打下基础。 关键词：研磨机；电液伺服系统；PID控制； Abstract  Honing machine as the metal processing industry the production of important equipment, in the mechanical processing industry occupies an important position. Honing Machine extensive use of modern technology, such as control technology, double expansion honing head manufacturing technology, the use of modern measurement techniques, making the honing machine with each passing day, the rapid development of foreign honing technology to China honing machine honing process manufacturing and the use of industry poses a severe challenge. However, most of the honing device is Chinas relatively backward, finishing the industry has failed to meet the requirements of rapid development. Honing with foreign advanced equipment, domestic equipment, mainly in honing the automation level is not high, honing process backward. In this paper, reciprocating motion of the honing machine spindle system design and research, the use of electro-hydraulic servo control instead of the original system. Through the static and dynamic analysis, a system model, and then use MATLAB SIMULINK module in the system simulation, analysis of the transient performance and steady state performance. In the control strategy, the choice of several algorithms is relatively simple, the control is better control of the research object - PID control, fuzzy control and fuzzy adaptive PID control method is simulated, and then compare the three simulation results, controller design for the future and lay the foundation for software programming. Keywords: honing machine; Servo System; PID con