| Parameter Identification for the Valve Control Cylinder System of a Hydraulic Manipulator |
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| 作者姓名： | 谢庆华 裴文开 姜斌 张琦 |
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| 作者单位： | [1]Nanjing University of Aeronautics and astronautics, Nanjing 210016 Jiangsu, China; [2]Science Institution, PLA University of Science and Technology, Nanjing 210007 Jiangsu, China |
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| 摘 要： |
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| 关 键 词： | 液力机械手 阀门控制汽缸系统 参数辩识 PID控制 |
| 文章编号： | 1673-002X（2006）04-0306-04 |
| 收稿时间： | 2005-09-20 |
Parameter Identification for the Valve Control Cylinder System of a Hydraulic Manipulator |
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| XIE Qing-hua,PEI Wen-kai,JIANG Bin,ZHANG Qi.Parameter Identification for the Valve Control Cylinder System of a Hydraulic Manipulator[J].Journal of China Ordnance,2006,2(4):306-309. |
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| Authors: | XIE Qing-hua PEI Wen-kai JIANG Bin ZHANG Qi |
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| Abstract: | In mechanical, hydraulic and electronic systems, the determination of system parameters is often challenging because liquid parameters often change significantly, due to variations in working and environmental conditions. Therefore, it is of significant practical importance to identify those parameters through experimental procedures. A systematic approach to identifying parameters in the valve controlling cylinder system of hydraulic manipulators is provided. It first derives the transfer function of the system, and then uses P control of PID control to predict system parameters. The predicted parameters are further validated using PID control. The prediction through simulation using MatLab language is utilized, which agrees well with experimental results. |
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| Keywords: | mechatronics manipulator hydraulics parameter identification PID control Manipulator System Cylinder Control Valve Identification results prediction simulation MatLab language PID control transfer function systematic approach valve controlling cylinder provided significant practical importance |
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