Dynamical Property Analysis And Control Research Of The Vane Type Swing Joint Of Deep-sea Hydraulic Manipulator

Marine resources are rich.With the continuous exploitation of land resources,the world gradually turns its attention to the deep sea.Underwater robot is an indispensable tool for underwater exploration and operation.Rapid development in recent years,the underwater robot,homework underwater robot plays a more and more important role in the deep sea,carry on the practical underwater robot,hydraulic manipulator is the core of the underwater operation tools,as the demand of the deep-sea operation,ability of deep-sea hydraulic manipulator in homework,working efficiency,higher requirements are put forward.The development of deep-sea manipulator started late in China.At present,the widely used 7-function deep-sea hydraulic manipulator has problems such as small working space and slow response speed in the deep sea.Research on this problem has become a problem that must be faced in the development of a new generation of hydraulic manipulator.Compared with the traditional linear cylinder joint,the vane swinging joint has many advantages.Combined with the special working environment of the deep-sea hydraulic manipulator,the dynamic characteristics of the vane swinging joint of the deep-sea hydraulic manipulator are analyzed.Based on MATLAB/Simulink environment,the PID and fuzzy adaptive PID controller are simulated and analyzed,and the experimental platform is built.The simulation system tracks the given signal under different loads and different ocean depths.The control effects of the two controllers are compared and analyzed.The main research contents of this paper are as follows:(1)The dynamic modeling of the vane type swing cylinder was completed.Due to the difference between the deep-sea environment and the land environment,the part of the mathematical model of the vane controlled cylinder affected by the changing parameters was discussed in view of the change of oil viscosity and elastic modulus.The mathematical model of electro-hydraulic servo valve in the system is discussed and analyzed,and the transfer function of other links is established,and the control block diagram of hydraulic position servo system is completed.(2)this paper introduces the basic structure,working principle of vane oscillating cylinder and sealing structure,analyzes the main leakage location,using the ANSYS finite element analysis and the theory of fluid mechanics theory with the method of complete leakage calculation,according to two kinds of working conditions,the influence of different seal compression rate of leakage of theory and experiment comparison analysis,It is proved that the calculation method of theoretical leakage is reasonable to some extent.Finally,the influence of different sealing performance on the VCC system is analyzed.(3)Based on the established dynamic model,the system under different sea depths was simulated and the open-loop Bode diagram was drawn;The PID controller is simulated based on MATLAB/Simulink environment,the step signal and sinusoidal signal are tracked and the dynamic characteristics of the electro-hydraulic servo system under PID control are analyzed.This paper describes the basic principle of fuzzy adaptive PID control.Based on MATLAB/Simulink environment,the fuzzy adaptive PID controller is designed and the step signal and sinusoidal signal are tracked,and compared with PID controller.(4)Build an experimental platform to simulate the tracking performance of the electrohydraulic servo system to the given signal under different loads and different ocean depths;The experimental results were compared and analyzed,and the control effects of the vane swinging joint under the PID controller and the fuzzy adaptive PID controller were analyzed.