摘要
传统伸缩臂大多使用液压驱动,使得伸缩臂体积质量较大、稳定性较差。针对此问题,设计一种电力驱动的绳索滑轮伸缩臂,通过运动学仿真分析,验证三节臂运动稳定性。在此基础上,将绳索模型简化为无质量的弹簧模型,并引入摩擦项,建立伸缩机构驱动单元的动力学精确模型。运用建立的动力学模型对所设计的伸缩臂进行控制系统稳定性分析,结果显示,系统在陷波频率点处存在谐振情况。通过引入双T网络和比例环节对系统传递函数进行校正,分析结果表明,改进后的系统谐振峰值减弱,绳驱动伸缩臂系统稳定。
The traditional telescopic boom is mostly driven by hydraulic pressure,which makes the telescopic boom have large volume and poor stability.To solve this problem,an electrically driven rope pulley telescopic arm is designed.Through kinematics simulation analysis,the movement stability of the three arms is verified.On this basis,the model is simplified into a massless spring model into which the friction term is introduced to establish the dynamic accurate model of the driving unit of the telescopic mechanism.The established dynamic model is used to analyze the stability of the control system of the designed telescopic boom.The results show that the system has resonance at the notch frequency points.By introducing double T network and proportional link we,correct the system transfer function.The analysis shows that the resonance peak value of the improved system is weakened,and the rope driven telescopic boom system is stable.
作者
刘永明
付磊
赵帅帅
赵转哲
张振
Liu Yongming;Fu Lei;Zhao Shuaishuai;Zhao Zhuanzhe;Zhang Zhen(School of Mechanical Engineering,Anhui Polytechnic University,Wuhu,Anhui 241000,China;Anhui New R&D Institutions of Human-Machine Interaction and Collaboration,Wuhu,Anhui 241000,China;Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot,Wuhu,Anhui 241002,China)
出处
《黑龙江工业学院学报（综合版）》
2021年第2期78-86,共9页
Journal of Heilongjiang University of Technology(Comprehensive Edition)
基金
安徽省自然科学基金面上项目(项目编号:1808085ME127)
安徽工程大学引进人才科研启动基金项目(项目编号:2019YQQ004)
安徽工程大学科研项目(项目编号:Xjky019201905)
安徽工程大学-鸠江区产业协同创新专项基金项目(项目编号:2021cyxtb9)
安徽省智能机器人信息融合与控制工程实验室开放课题(项目编号:IFCIR2020001)。
关键词
伸缩臂
绳驱动
动力学方程
控制策略
telescopic boom
cable-driven
kinetic equation
control strategy
