王贤超毕业研发计[][]doc.docVIP

攀枝花学院本科毕业设计（论文） 摘 要 PAGE PAGE 13 摘要 以主-从遥操作工程控制机器人为核心的电液比例位置控制操作系统在人为难以靠近的危险环境下进行复杂的作业，当机器人与环境相互作用使操作者就能完成复杂且精细的任务。力和位移的反馈经电液比例位置控制系统的PID控制算法转换成PWM控制信号给电液比例阀驱动液压缸运动使工程的效率和精确性得到了大大的提升。所以进行“主从遥操作工程控制机器人系统的研究”有十分重要的意义 本文在遥操作机器人双向伺服控制的基础上，建立了力觉反馈的单自由度双向液压伺服控制机器人系统；并设计了电液比例控制的核心部位—电液比例阀PID串联校正控制器；还设计了基于8098单片机的电液比例位置控制软件，针对遥操作系统中的位移反馈问题，进行了主从电液比例位置控制系统的仿真试验研究。 仿真结果表明：从手对助手良好的随动性，从手和主手的相互作用，使操作者能够轻松完成复杂的工程作业，从而大大提高操作工程的工作效率 关键词 主-从遥操作机器人，双向伺服，电液比例位置伺服控制，PID控制， Simulink仿真 攀枝花学院本科毕业设计（论文） ABSTRACT ABSTRACT From the remote operation with the Lord - engineering control robot as the core of the electro-hydraulic proportional position control operating system in the dangerous environment for forbidding under complex homework, when robot interaction with the environment that the operator can finish complex and delicate task. Force and displacement of the feedback via electrohydraulic proportional position control system of PID control algorithm is converted into a PWM controlsignal give electrohydraulic proportional valve drive hydraulic cylinder exercise makes project efficiency and accuracy got big ascension. So for master-slave remote operation of engineering control robot system research has the extremely vital significance Based on the remote operation robot two-way servo control is established, on the basis of force feedback single-degree-of-freedoms two-way hydraulic servo control robot system; And designed a electrohydraulic proportional control core parts - electrohydraulic proportional valve PID series correction controller; Also devised a 8098 MCU based electrohydraulic proportional position control software, the operating system for remote displacement, the feedback of the subordinate electro-hydraulic proportional position control system simulation experimental studies. Simulation results show that the assistant from hand to move sex, with good hands and main h