Dual Motor Synchronous Driving System Development Of Hydraulic Manipulator

Mechanical coupled factors exist in the process of driving hydraulic manipulator rotating platform and the nonlinear characteristics of the hydraulic system itself not easily being real-time detected and compensated. A dual synchronous motor servo drive system, basing on the analysis of the characteristics in coupled motion system of the planetary gear train, establishes the nonlinear model of the system. Depending on tracking performance indicators and synchronization performance indicators of this system, this paper introduces the quantitative feedback control methods (QFT), and proposes QFT servo synchronization control strategy. The practical application results of hydraulic manipulator show that this control strategy has better driving performance and synchronization tracking performance compared with the conventional synchronous PID control strategy, and can better resolve the problems of synchronous drive rotating platform on the dual motor hydraulic manipulator.The first chapter, introduces the background and research significance of synchronous drive system, and introduces the development status of synchronous drive electrohydraulic servo system research at home and abroad. Finally, the electro-hydraulic servo synchronization control strategy of QFT is studied in this paper, and explains the research content.The second chapter, introduces the system composition and working principle of hydraulic manipulator double motor synchronous drive system; mechanical part describes system constitution and installation; hydraulic part explains the principles of hydraulic system, the calculation and selection of the important components; electrical part explains the position module and the encoder information principle, extension of the electrical system.The third chapter, analysis a process of single channel electro-hydraulic servo modeling, and build a non symmetric valve spool displacement motor load flow mathematical model and non symmetrical valve controlled hydraulic motor mathematical model. In consideration of the mutual coupling between two motor, build a dual motor driving system mathematical model.The fourth chapter, introduces the quantitative feedback theory, application of single channel and multi-channel electrohydraulic servo control system, and puts forward the control strategy applied to the actual manipulator double motor drive system, and makes the computer simulation.The fifth chapter, combining with the actual production environment of enterprise, sets up the mechanical hand system platform, write the PLC control program, using the PC monitoring program carried out experimental study on double motor electro-hydraulic servo drive system of hydraulic manipulator, and finally through the analysis of the experimental results discussed the synchronization control strategy is effective.The sixth chapter, the contents of this work are analyzed and summarized, and the future research direction of double motor synchronous drive electrohydraulic servo system of hydraulic manipulator is pointed out.