Study On Surplus Force Compensation And Control Algorithm Of Grasping Synchronization Control System

The thesis is focused on a scientific research item of Beijing Municipal Science&Technology Commission. It establishes the grasping synchronization control experiment platform. Taking advantage of electro-hydraulic servo digital control technology, the surplus force of loading system is researched. Then combined grasping synchronization control system with its own characteristics, the control algorithm is designed. The grasping synchronization control system achieves a high-accuracy.Firstly, according to system structure and movement characteristics, the critical problem in grasping synchronization control procedure is analyzed and lodged. Based on numerous related literatures and reference materials at home and abroad, it summarizes the various correction methods for surplus force, and introduces the control strategy development of electro-hydraulic force control system.Secondly, on the basis of working principle and process of grasping synchronization control system, the mathematical models of system are built and the correlative parameters of system model are estimated and calculated. Then the time simulation and frequency simulation study of position control system and force control system are carried out. Furthermore, the mechanism and operating features of surplus force are deeply analyzed and researched. The design method of structure vector control has been raised in connection with the problems that surplus force correction by structure -invariable theory and the estimate of velocity phase lag in practical application. Thinking of ILC theory, the structure vector learning method is put forward, in order to complete the automatic design and optimization process of the structure vector correction controller.Thirdly, the digital hardware interface of grasping synchronization control system is designed. The implementing technology about real-time discontinuity, data acquisition, real-time data display and data storage in Windows are studied. The design of control process and strategy with object-oriented methods are completed.Finally, experiment study for grasping synchronization control system is performed. With the realization of grasping synchronization force loading digital control, some experiments and researches have been done, such as the experiment of structure-invariable theory compensation and structure vector correction compensation, as well as the method of structure vector control basing on ILC.