| In this paper, by aiming at the hydraulic manipulator as an entity control object, completed the design of mechanical and hydraulic system, described the structure and principle of the control system of electro-hydraulic servo valve. Mainly studied the electro-hydraulic servo valve position closed-loop control system of manipulator hydraulic drive system,established a hydro-mechanical model of valve controlled asymmetrical cylinder in AMESim environment, and through the software platform of AMESim/Simulink for co-simulation analysis, solved the problem of that it’s difficult to build electro-hydraulic servo control system model in AMESim platform; for the non-linear, time-variability parameters and hydraulic systems oscillation problems of electro-hydraulic servo valve valve system, fuzzy PID control algorithm was put forward to optimize the performance of system, and then focusing on the electro-hydraulic servo position closed-loop control system research.Firstly, according to the conditions required to complete the body structure design of hydraulic manipulator mechanical, analysis of the manipulator degrees of freedom and movement space,determined the 5 DOF articulated hydraulic manipulator. Multi-channel valve control system was chosen as the manipulator hydraulic drive, while the closed-loop position control system as a core part of the hydraulic manipulator, and the simulation analysis was carried out under the AMESim platform.Secondly, research and development the electro-hydraulic servo position closed-loop control system, established the valve controlled asymmetrical cylinder system model under the AMESim platform,calculated the electro-hydraulic servo transfer function of hydraulic manipulator system, and draw the bode diagram in MATLAB platform, verify the dynamic stability of the system, thus put forward the improvement and research direction of electro-hydraulic servo system performance.In addition,analyzed the main performance indicators for the servo valve, for the character of non-linear, parameter degeneration and hydraulic system oscillation of electro-hydraulic servo valve control system and the actual situation of external perturbations exist in this system, studying the control principle and structure of fuzzy controller and PID controller, analysis and comparison of the advantages and disadvantages of respective control,then put forward the optimization algorithm of electro-hydraulic servo position closed-loop control system based on fuzzy PID control.Finally, with the valve system of mechanical arm as study object, established the hydraulic control system model of the first arm in AMESim platform, and analysis and simulation of the system stability.Aiming at the problem of modeling hard of the electro-hydraulic servo control system in AMESim platform,established the fuzzy PID controller system model of the large arm’s electro-hydraulic servo position closed-loop control system in MATLAB/Simulink, made co-simulation,analyzed and proofread the experimental results. The results show that the control optimization effect is obvious, the response speed of the system is significantly accelerated, displacement error is within 10%., which can meet the expected effect. |
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