| 磨机换衬板机械臂多关节联动控制联合仿真研究 |
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| 引用本文： | 楚旭,徐莉萍,孙富强,李健,彭建军,张宇晖.磨机换衬板机械臂多关节联动控制联合仿真研究[J].矿山机械,2021,49(2):24-28. |
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| 作者姓名： | 楚旭 徐莉萍 孙富强 李健 彭建军 张宇晖 |
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| 作者单位： | 河南科技大学机电工程学院 河南洛阳 471003;洛阳中重自动化工程有限责任公司 河南洛阳 471039 |
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| 摘 要： | 针对磨机换衬板机械臂多关节联动过程中运动平稳性低和定位精度差的问题,提出一种重载机械臂多关节联动控制策略,以AMESim和Simulink为平台建立磨机换衬板机械臂电液比例液压系统联合仿真模型并进行仿真试验.结果表明,所设计的控制策略提高了磨机换衬板机械臂多关节联动的控制精度和运动平稳性,使得执行元件的运动轨迹与规划的...
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| 关 键 词： | 磨机 换衬板机械臂 多关节联动 液压系统 联合仿真 |
Combined simulation research on multi-joint linkage control for manipulator of changing mill liner |
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| CHU Xu,XU Liping,SUN Fuqiang,LI Jian,PENG Jianjun,ZHANG Yuhui.Combined simulation research on multi-joint linkage control for manipulator of changing mill liner[J].Mining & Processing Equipment,2021,49(2):24-28. |
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| Authors: | CHU Xu XU Liping SUN Fuqiang LI Jian PENG Jianjun ZHANG Yuhui |
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| Affiliation: | (School of Mechatronics Engineering,Henan University of Science&Technology,Luoyang 471003,Henan,China;Luoyang CITICHIC Automation Engineering Co.,Ltd.,Luoyang 471039,Henan,China) |
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| Abstract: | In view of low motion stability and poor positioning accuracy in the multi-joint linkage process of the manipulator of changing mill liner,a multi-joint linkage control strategy for heavy-loaded manipulator was proposed.The combined simulation model of the electro-hydraulic proportional hydraulic system of the manipulator of changing mill liner was established based on AMESim and Simulink,and the simulation was conducted.The results showed the designed control strategy improved the control accuracy and the motion stability of the multi-joint linkage of the manipulator of changing mill liner,which made the motion trajectory of the actuators basically consist with planned one. |
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| Keywords: | mill manipulator of changing liner multi-joint linkage hydraulic system combined simulation |
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