Research On Modeling And Single Neuron Control Of Finger Manipulators’Electrohydraulic System

With construction and reconstruction of our cities speeding up, engineer mechanism arms are widely used for architecture engineering and municipal works, such as concrete pump truck and demolishing robot and so on. The working effects depend on the driving system. Hydraulic driving system is wide-ranging applicated in engineering devices, particularly in large-scale robot reciprocating motion and revolting motion of engineering arms support for due to its lower dimension power rate and strong force and torque output.Using two finger manipulators as the research object, this paper presents a new hydraulic drive system scheme firstly which is based on high-speed on/off vavle pilot control technology of electro-hydraulic position control system,besides this system introduces single neuron intelligent control strategy and this paper develops novel single neuron control strategy of electro-hydraulic control technology investigation, which make the two manipulators’ system have quickly response、small overshooting、good robust、big hydraulic control power、easy computer numerical control, and so on.it not only provides a integrated and forthright theoretic basis but also control method for design and control of large scale engineering manipulators. Its main contents include: according to the mechanical energy analysis of a two-manipulator model based on the Lagrange equation, establish the dynamical matrix equation and speed matrix were described; To build a full-bridge electro-hydraulic drive circuit as AMESim simulation model, a PWM control technique is adopted. Elaborating the importance of the hydraulic lock and correction strategy of duty cycle in the PWM position control, verifying the superiority of electrohydraulic drive program used in position control; To carry out the electro-hydraulic control technology based on single neuron control strategy by AMESim/Simulink co-simulation interface, The results demonstrate the modulation stability of error signal and the better response performance under the varying load conditions; A high-power hydraulic drive station whose executive can be removable was designed, Made a set experimental system program of a two-manipulator model including rotary device, according to mechanical analysis of boom luffing mechanism, the calculating and deducing for the relationship between the cylinder stroke and boom angle, while its component strength analysis and structural optimization could be done by Hypermesh/Abaqus. That has provided the important significance of theoretical analysis and design basis of the experimental system, for the key technology research including the structural design of the manipulators and electro-hydraulic system control strategy, as well as the promotion and application of multi-link.