共查询到19条相似文献,搜索用时 46 毫秒
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针对电液伺服控制装置在常规运行中电液伺服阀的堵、卡、零偏、断线等容易产生的误动作问题,对电液伺服控制装置的开发、改进做了一些相关的探讨,以期提高机组的控制水平,优化机组流程配置,降低机组运行成本,提高机组运行的安全可靠性。 相似文献
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在上海科技城展示的皮筏艇漂流模拟装置 ,是集机、电、液、计算机控制一体化的产品 ,它通过专用影视播放机的图像信号和六自由度控制的筏艇动作的动感世界 ,使乘坐者有亲临其境的感受。1 基本技术参数1)液压站额定工作压力 :p =7MPa ;额定工作流量 :Q =36L/min ;电动机功率 :N =5 5kW ;介质 :ISOVG32抗磨液压油。2 )平台底盘 :10 0 0× 10 0 0mm2 ;上平台 :10 0 0× 10 0 0mm2 。3)伺服系统伺服缸行程 :30 0mm ;伺服缸活塞最高速度 :80mm/s ;伺服缸最大输出力 :5kN ;电液伺服阀额定电流 :± 8mA电液伺服阀… 相似文献
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六自由度并联电液伺服平台的特点及应用 总被引:3,自引:0,他引:3
本文从结构、性能、技术、检测和控制等方面对六自由度并联电液伺服驱动平台进行了特点的归纳分析,综述了其在航空航天、机器人及游乐机械等方面的应用。 相似文献
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针对电液伺服系统中存在的柔性环节,提出了一种综合负载模拟器,在对伺服机构安装基础和负载的柔性特征进行模拟的基础上,进行惯性、弹性、摩擦和常值负载的加载。该系统采用机械机构来模拟柔性安装基础、柔性负载以及惯性和弹性负载,摩擦负载和常值负载则采用液压系统来实现。仿真和试验表明,伺服机构安装基础柔性在频域上将产生主谐振峰,负载柔性将产生附加的扰动谐振峰,而较轻的缸筒在高频段也将产生一个谐振峰。由于柔性结构的存在,采用液压系统进行加载时,可以把活塞杆的绝对速度用于多余力抑制。 相似文献
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在六自由度并联运动平台运动控制中,可转化为对各个支链的运动控制,每条支链采用电液伺服运动系统。针对并联运动平台支链位置控制中存在的抗干扰和控制精度问题,提出了一种基于自适应反演滑模控制算法。该算法利用自适应控制策略,以此对系统的建模误差和外加干扰等不确定性进行估计,再结合反演滑模控制算法设计平台支链位置控制器,解决并联运动平台位置精确控制问题。仿真结果和试验表明,该控制策略能够很好的实现支链电液伺服运动快速、稳定、高精度位置控制,并对系统的外加干扰具有很强的鲁棒性和自适应性。 相似文献
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采用加载夹具对中央翼接头加载过程中,由于中央翼发生航向变形,垂向和侧向载荷在航向产生载荷分量,容易对接头造成损伤。因此设计一种局部约束装置,通过卡板把该装置安装在中央翼上,限制夹具与接头之间的相对变形,使航向载荷分量通过约束装置传递至中央翼盒段,以保证接头的安全。 相似文献
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《机械工程学报(英文版)》2020,33(1):73-83
Conventional manipulators with rigid structures and sti ness actuators have poor flexibility, limited obstacle avoidance capability, and constrained workspace. Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom, high flexibility, environmental adaptability, and extended manipulation capability. However, these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals, which hinders their applications. In this paper, a flexible bio-tensegrity manipulator, inspired by the longitudinal and transversal muscles of octopus tentacles, was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment. Such proposed manipulator uses the elastic spring as the backbone, which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment. The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment. After the kinematic modeling and analysis, one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed. Some proof-of-concept experiments, including the shrinking motion, bending motion, and variable structure motion, were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism, which validate the feasibility and validity of our proposed prototype. Meanwhile, the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8% through the simple independent control of each segment using the variable structure mechanism. This proposed manipulator has the features of controllable degree-of-freedom in each segment, which extend their environmental adaptability, and manipulation capability. 相似文献
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