| 一种液压伺服关节稳定性及其稳态误差分析 |
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| 引用本文： | 朱兴龙,周骥平. 一种液压伺服关节稳定性及其稳态误差分析[J]. 控制工程, 2006, 13(1): 87-90 |
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| 作者姓名： | 朱兴龙 周骥平 |
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| 作者单位： | 扬州大学,机械工程学院,江苏,扬州,225009;扬州大学,机械工程学院,江苏,扬州,225009 |
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| 基金项目： | 江苏省高校自然科学基金;江苏省333新世纪科学技术带头人培养工程;江苏省自然科学基金 |
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| 摘 要： | 针对液压伺服关节存在的稳态误差，使得由该关节组成的机器人操作臂跟踪目标时存在位置跟踪误差问题，分析了其产生的原因，阐述了三自由度垂直相交运动解耦液压伺服关节的工作原理，采用拉格朗日法建立了该关节的动力学模型，对该关节的动力学模型进行了简化。从理论上分析了重力矩是产生稳态误差的根源，并通过仿真试验证明了这一模型简化是可行的，关节是稳定的，从而验证了结论的正确性。
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| 关 键 词： | 液压伺服关节 动特性分析 数学模型 稳定性 稳态误差 |
| 文章编号： | 1671-7848（2006）01-0087-04 |
| 收稿时间： | 2004-12-14 |
| 修稿时间： | 2005-01-07 |
Analyzing of Stability and Steady State Error of a Kind of Hydraulic Servo Joint |
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| ZHU Xing-long,Zhou Ji-ping. Analyzing of Stability and Steady State Error of a Kind of Hydraulic Servo Joint[J]. Control Engineering of China, 2006, 13(1): 87-90 |
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| Authors: | ZHU Xing-long Zhou Ji-ping |
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| Affiliation: | Mechanical Engineering College, Yangzhou University, Yangzhou 225009, China |
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| Abstract: | The steady state error problem of hydraulic servo joint(HSJ) is investigated.This problem causes position tracking error when manipulators trace objective.In order to analyze the causes,the principle of HSJ with three degree of freedom is described.The dynamic model of HSJ is established by Lagrangian equation.The stability of HSJ is proved by Routh theorem.From theoretically analyzing,it is shown that the gravitation torque causes the steady state errors of HSJ.Simulation results indicate that the simplification is feasible,and the conclusion is proved available. |
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| Keywords: | hydraulic servo joint analysis of dynamic characteristics mathematical model stability steady state error |
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