| Every year,a large amount of shells are scraped with research of new weapons.In order to improve the effective utilization of resources,we can remanufacture the waste shells so that they can be used in new weapons.The process of artillery shell requires a high degree of automation.Under this background,we design a set of hydraulic shells transit manipulator to replace the manpower to make packing artillery shells in and out the mould automatically.This paper studies the dynamic characteristics and control performance of the hydraulic system that is of great significance to improve the system's control quality.This paper designed the hydraulic control system of the manipulator,computed related load,selected relevant hydraulic components,checked the performance of the hydraulic system.In order to meet the requirements of manipulator position control accuracy,mechanical arm is controlled by electro-hydraulic proportional.In order to improve the stability of arm movement,the loop used a symmetrical proportional valve to control the asymmetrical hydraulic cylinder.This paper derived its transfer function and established the mathematical model of electro-hydraulic proportional control system.According to the actual working condition of manipulator,PID control strategy is joined to the simulation model,and set the PID parameter,then test the control effect by Simulink.This article also used the hydraulic simulation software DSHplus to build the electro-hydraulic proportional control system model of the manipulator arm.Combined with the PID controller designed by MATLAB/Simulink,Co-simulation work based on hydraulic simulation software DSHplus and Simulink is conducted to test the effect of hydraulic system control again. |
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