原创力文档深海模拟环境中液压水下机械手的仿真分析-simulation analysis of hydraulic underwater manipulator in deep sea simulation environment.docxVIP
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深海模拟环境中液压水下机械手的仿真分析-simulation analysis of hydraulic underwater manipulator in deep sea simulation environment
AbstractWiththecontinuousconsumptionofthelandresources,humanspeedupthepacetothedevelopmentoftheresourcesintheocean.Underwatermanipulator,asacomponentoftheunderwaterwork-system,playsanimportantroleinexploringresourceandrescueindeepsea.Theinternationalanddomesticdevelopmentofunderwatermanipulatorisintroducedfirstinthispaper.Three-dimensionalmodelofthehydraulicmanipulator,whichcouldworkinthedeep-seasimulationenvironment,isestablishedandthetypeofdriveofwhichisselectedaccordingtothedemand.ThestaticloadsofthemanipulatorareanalyzedusingtheFEMsoftwareCOSMOSWorks.Theresultsshowthatstrengthcouldmeettherequirementsinthemaximumload.ThekinematicsmodelisconstructedbyusingtheD-Hmethod,obtainingtheforwardkinematicssolutions.Inversekinematicsissolvedbyusingthecountertransformationmethod.ThemethodsofMonte-carloandfixedsteparerespectivelyusedtothesimulationoftheworkspace.ThecharacteristicsofthesetwomethodsarecomparedinthesimulationinterfaceofMATLABGUIinthispaper.Electro-hydraulicpositionservocontrolsystemoftheunderwatermanipulatorisdesignedbasedontheanalysisandresearchofthehydraulicsystem.Becausethemanipulatorusetheasymmetriccylinderasdrivingsource,fundamentalequationsofthevalvecontrolledasymmetriccylindersystemarededuced.Theparameterofthehydraulicpowercomponentsisdeterminedandthecomponentsarechosenbystaticdesign.Transferfunctionsofthecomponentsareconfirmedinthedynamicdesign,obtainingthetransferfunctionmodeloftheelectro-hydraulicpositionservocontrolsystem.Themodelsofelectro-hydraulicservosystemofthearmandforearmaresimulatedunderthesimulationenvironmentoftheSimulink.Thestabilityandfrequencycharacteristicareanalyzedaccordingtothesimulationresults.ThemethodoffuzzyPIDisappliedtothecontrolsystemofthemanipulatorinthepaperatlast.Comparedwithelectro-hydraulicservosystemusingtraditionalPIDcontroller,thesystemwhichadoptsthefuzzyPIDcontrollershowsmoreadaptiveinthecircumstanceoftheloaddisturbance.Theelectro-hydraulicservosystemoftheunderwatermanipulator,whichusesthefuzzyPIDcontrolmethodoftheunder
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