摘要
针对多指手指端驱动力控制,提出利用MATLAB语言的Simulink软件包对指端驱动力液压系统进行动态仿真的方法。根据溢流阀控液压缸的工作原理,建立液压系统的数学模型,利用MATLAB/simulink对其动态特性进行仿真分析,考察了系统有无PID控制对系统响应的影响,并且在MATLAB命令窗口绘出了不同参数的对比图。
Dynamic simulation of finger tip driving force control system in multi-fingered hand is carried out based on the software MATLAB/simulink.Based on the working principle of relief valve controlled hydraulic cylinder,a mathematical model of hydraulic system is established.Its Dynamic characteristics are simulated and analyzed by using MATLAB/simulink.The influence of PID control on system response is analyzed.The contrast diagram of different parameter is drawn in MATLAB command window.
出处
《机械工程师》
2012年第12期53-55,共3页
Mechanical Engineer
关键词
多指手
驱动力
仿真
动态特性
multi-fingered hand
driving force
simulation
dynamic characteristics
