平衡阀对破拆机器人液压位置闭环系统影响的研究

破拆机器人为提高定位精度其臂系常采用液压位置闭环系统,然而,在负负载情况下当负负载和闭环增益增大时系统存在明显振荡。因此,通过AMESim软件建立了平衡阀及臂系液压位置闭环系统的模型,且实验验证了模型的正确性;仿真分析了不同负负载、闭环增益、平衡阀先导压力和压力流量系数等参数对闭环系统振荡的影响规律,提出了通过平衡阀及其关键性能参数的设置来抑制系统振荡的方法。仿真结果表明了该方法的正确性,为破拆机器人定位精度的提高提供了理论参考和技术途径。

Study on the Influence of Counterbalance Valve on Hydraulic Position Closed Loop System of Broken and Dismantling Robot

 The closed loop system is often used to improve positioning accuracy by demolition robots′ working arm. However, when the negative load and closed-loop gain increase there is a significant oscillation in the system. Therefore, AMESim was used to establish the model of balance valve and working arms hydraulic closed-loop system, and verify the correctness of the models. The oscillation influences of closed-loop system are compared and analyzed from negative load, closed-loop gain, balance valve pilot pressure and pressure flow coefficient. We get the way to suppress the system oscillation by setting the balance valve and its key parameters. The correctness of the method is attested by simulation. It provides a theoretical reference and a technical way for improving the positioning accuracy of the robot.