Hydraulic Control System Of Underwater Manipulator Design And Research

As human exploration and development of the marine's assistant, underwater robots in the field of ocean development has many uses. Underwater Manipulator is an important part of underwater robot. It's hydraulic control system is now mostly controlled by the electro-hydraulic servo control, but the cost of expensive servo valves,demanding work environment and other defects, this paper attempts to apply electro-hydraulic proportional control hydraulic underwater manipulator control system, by analyzing their design and research.Based on the underwater manipulator analysis of domestic and international research,the overall structure of their external layout and design.According to job requirements,conducted underwater manipulator kinematic degrees of freedom and studied to determine the six degrees of freedom manipulator as this study.Design of the joint model,using three-dimensional drawing software PRO / E model of its three-dimensional graphics,and according to model the internal hydraulic system of underwater robot design research,design underwater manipulator of electro-hydraulic proportional control system.Through the electro-hydraulic proportional valve in the proportion of amplifiers, pilot valve,the main slide valve construction of mathematical models derived electro-hydraulic proportional valve transfer function, but also through the slide valve flow equation,continuity equation and the flow of hydraulic cylinders and hydraulic cylinders load force balance equation,the creation of mathematical models, derived hydraulic cylinder and load transfer function, combined with the displacement sensor feedback equation, for the purpose of simulation after the construction of underwater flashlight mechanical-hydraulic proportional control system transfer function, and according to the actual situation on the mathematical model a reasonable simplification.Existing robot control methods to analyze, control mode selected mainly from the symmetric Bi-directional control system, establishing a large master arm to control the system from a mathematical model to calculate the relevant parameters and the selection,use of Matlab / Simulink software on system performance simulation analysis,using PID correction to improve the dynamic performance, control accuracy and stability, and finally through the analysis of simulation results to verify the electro-hydraulic proportional control system in the hydraulic system of underwater robot feasibility to meet the water manipulator precision positioning and control, and has its unique advantages.