摘要
针对气动软体空间机械臂的压力控制需求,提出了基于脉宽调制(PWM)的软体臂压力控制技术。设计了气动软体空间机械臂的气动系统结构,并建立了各部分的数学模型。根据开关阀和PWM控制的特性,提出了基于零位补偿和双阀同步PWM的软体臂压力控制系统结构,并阐述了各部分设计方法。利用Python建立了整个系统的仿真模型,并将仿真结果与实验结果进行了对比,对比结果表明,模型具有一定的准确性。对该压力控制系统进行了正弦跟踪实验,实验结果表明,该系统可以进行低频跟随,能够满足气动软体空间机械臂的压力控制需求。
Aiming at the pressure control requirement of the pneumatic soft space manipulator, a PWM-based soft arm pressure control technology is proposed. The pneumatic system structure of the manipulator is designed, and the mathematical model of each part is established. According to the characteristics of on-off valve and PWM control, the structure of the soft manipulator pressure control system that is based on zero position compensation and double valve synchronous PWM is proposed, and the design method of each part is explained. The simulation model of the whole system is established by using Python, and the simulation results are compared with the experimental results. The comparison results show that the model has a certain accuracy. A sinusoidal tracking experiment was performed on the pressure control system. The experimental results show that the system can perform low-frequency tracking and meet the pressure control requirements of a pneumatic soft space manipulator.
作者
石凯
李军
王树兵
赵怡铭
SHI Kai;LI Jun;WANG Shubing;ZHAO Yiming(School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001)
出处
《飞控与探测》
2021年第6期61-69,共9页
Flight Control & Detection
作者简介
石凯(1990—),男,博士生。E-mail:mokenali@foxmail.com;通信作者:李军(1972—),男,博士,副教授,硕士生导师。E-mail:lijun@hit.edu.cn。
