Study Of Electrohydrau Control System For Raise-Rise Arm Of High Task Vehicle

This paper takes the state 863 program-hot line robot for background, whichwas assumed by the robot center of Shandong University of Science and Technology.Through analyzing the Raise to rise arm of the high altitude vehicle, using robottechnology, SCM technology and electrohydraulic proportional technology, studythe electrohydraulic system and control system for waist turning joint and flexjoint of the raise-rise arm. The main content involve 6 parts, kinematic modelof the raise-rise arm, the analysis of electrohydraulic proportional controlsystems, mathematic model of the proportional valve control motor positionalclose loop system, PID control & analysis for dead section of the proportionalvalve, design of the control system, experimentation.The paper first build up the kinematic model for the raise-rise arm of thehigh task vehicle by the D-H notation. Select the electrohydraulic control systemproject for the waist turning joint and flex joint. The hydraulic system providedrive power for each joint of the raise-rise arm, so the capability of hydraulicsystem directly affect the performance of the whole system, and choose thehydraulic system which select electrohydraulic proportional valve as the maincontrol component.Through analyzing the function of each component of the electrohydraulicproportional valve controlled hydraulic motor positional closed-loop system, setup its mathematic model. The control plan of the positional closed-loopproportional valve controlled motor system select PID control. The proportionalvalve exit zero dead section, we should manage to decrease the effect of the deadsection, This paper bring forward linearity compensation method., and use inPID control system.The input control voltage imported to the valve choose PWM control mode.select SST89E564RD(one CMOS chip of SCM) which can bring five PWM signal, and introduce the method about how can bring PWM signal, means of calculating high-lowratio & the software and hardware of the proportional controller in this part.At last we set up the hydraulic experiment setting of the two joints. Throughthe experiment setting, we validate the performance of the positional closed loopvalve controlled hydraulic motor system, validate the linearization compensatemethod and validate the feasibility of the scale valve-common direction valvecontrolled two loop hydraulic motor system.