摘要
电液混合驱动机械臂是一个多节点耦合的机械自动化装置,针对电液混合驱动系统故障导致机械臂工作不稳定的问题,在机械臂系统结构和动力学模型基础上,设计状态观测器分别观测电驱动和液压驱动系统的动作状态,利用主从式故障检测拓扑结构来检测电液混合驱动系统的故障,在搭建的电液混合驱动机械臂故障检测实验台架通过故障阈值标定技术验证采用的故障检测技术的可行性,实验结果表明所设计的故障检测技术能够快速准确的检测出机械臂工作阶段的故障。
The electro-hydraulic hybrid drive manipulator is a multi node coupling mechanical automation device.Aiming at the problem that the fault of the electro-hydraulic hybrid drive system leads to the instability of the manipulator,a state observer is designed based on the structure and dynamic model of the manipulator system to observe the action state of the electric drive system and the hydraulic drive system respectively,and the distributed fault detection topology is used to detect the fault In order to solve the fault of the electro-hydraulic hybrid drive system,the feasibility of the fault detection technology is verified by the fault threshold calibration technology in the built electro-hydraulic hybrid drive manipulator fault detection experimental platform.The experimental results show that the designed fault detection technology can quickly and accurately detect the fault of the manipulator in the working stage.
作者
淮妮
张小粉
HUAI Ni;ZHANG Xiao-fen(College of Mechanical Electrical of Xianyang Vocational Technical College,Xi'an 712000,China)
出处
《液压气动与密封》
2021年第7期53-56,共4页
Hydraulics Pneumatics & Seals
基金
咸阳职业技术学院课程思政建设研究与实践课题(2020KCSZ067)。
关键词
电液混合驱动
机械臂
状态观测器
故障检测
标定技术
electro-hydraulic hybrid drive
manipulator
state observer
fault detection
calibration technology
