控制理论(社会学)
水力机械
螺线管
电磁阀
流离失所(心理学)
计算机科学
阶跃响应
分段
伺服
控制工程
工程类
数学
机械工程
控制(管理)
数学分析
人工智能
心理治疗师
心理学
作者
Ding Zhao,XU Chun-bo,Tao Ni,Hongyan Zhang,Ruibo Qiao
出处
期刊:Journal of Intelligent and Fuzzy Systems
[IOS Press]
日期:2020-01-09
卷期号:38 (1): 75-88
被引量:1
摘要
Marine hydraulic manipulator is limited by its size, weight and environment, so traditional hydraulic manipulator cannot be used for marine equipment. In this paper, large displacement pump is replaced by small displacement pump, accumulator is used as absorption pulsation replace by power source, and servo valve is replaced by solenoid valve. In order to improve the dynamic response and control accuracy of the marine hydraulic manipulator. Firstly, the bond graphs model of hydraulic manipulator supplied by oil are established and analyzed. Secondly, the dynamic response characteristics of solenoid valve under different supply voltage are analyzed. Thirdly, the piecewise P optimization of dynamic response and the fuzzy PI optimization of position control of hydraulic manipulator are carried out. Through piecewise P and fuzzy PI algorithms, not only the dynamic response of the marine manipulator is improved, but also the control accuracy of the marine manipulator is improved. Compared with the traditional hydraulic manipulator, the marine hydraulic manipulator installed volume reduced by 49%, the opening time of solenoid valve is increased by 36%, the response speed is increased by 73%, and the control accuracy is improved by 35%.
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