水液压驱动的水下机械臂pwm鲁棒控制分析-robust pwm control analysis of underwater manipulator driven by hydraulic pressure.docxVIP

AbstractThewaterhydraulictwo-jointsmanipulatordesignedandresearchedinthisthesisisdrivenbywaterhydrauliccylinderandPWMhigh-speedsolenoidvalves.Therobustcontrollerisusedthatcandecreasetheeffectsofcylinderfrictioncharacteristics.Thisthesisdescribesthearmmechanicalstructure,kinematicsanddynamicsmodelsofthemanipulatoraswellasthehydrodynamicscharacteristicsofwaterhydraulicsystem.Allthesegiverisetotheoveralldynamicmodelofthewaterhydraulicmanipulator.Withregardtothenon-linearityanduncertaintyofthewaterhydraulicmanipulatorsystem,thecontrolmethodisresearchedinreducingtheimpactsoffrictionofthewaterhydrauliccylinderonthemanipulatorcontrol.PWMcontrolsolenoidvalvesareusedtoreducethenegativeeffectsofthenon-linearsignalingtransferofwaterhydraulicsystem.Theadverseeffectsofthefrictioncharacteristicsuncertaintyaresuppressedbyresearchingthecompensationofacertainkindofrobustcontrollerfortheboundedunknownparameters.Thefrictioncharacteristicsexperimentofthewaterhydrauliccylinderwasconductedwhichresultedintherangeofvaluesofthedynamicandstaticfriction.Byinsertingtheparametersintothecontroller,therobustcontrolexperimentswereaccomplished.Theresultsshowthatthiscontrollercanfinishthekinematiccontrolofthemanipulator.However,thecontrolqualitycanbebetterperformedwiththefurtherimprovementoftheresponsefrequencyofself-madedigitalvalve.Keywords:waterhydraulicmanipulatorPWMcontrolrobustcontrol目录摘要.............................................................................................................IAbstract......................................................................................................II1绪论1.1课题的目的及意义..........................................................................(1)1.2国内外研究现状..............................................................................(2)1.3课题主要研究工作、主要指标和关键技术..................................(7)2水液压机械臂的结构设计和动态模型2.1机械臂的机械结构设计..................................................................(9)2.2水液压PWM高速开关阀控系统原理.....................................