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用于液压机械手的油缸缓冲定位方法有多种,对它们各自的特点作了比较。提出一种新型的自组织模糊控制缓冲定位方案。设计、实现了用单板机控制的比例阀—油缸缓冲定位系统。该系统价格低、精度高、对油液污染不敏感,可实现活塞在油缸全行程内任意点的缓冲定位。使用自组织模糊控制器,避免了建立精确复杂数学模型的困难,并采用模糊控制器参数自调整的方法以满足过程响应在不同工作状态下对参数的不同要求,可得到最佳的响应特性。该控制器模拟了人的“粗调”和“细调”的操作方法,以压力冲击值的大小为判据,自动修正控制参数,表现了一定的智能。实验结果表明,自组织模糊控制器对不同的工况有较强的适应性,并实现了可变的缓冲行程。系统稳态误差不大于±0.02mm,定位时冲击压力可减少44％。
There are many ways to buffer the positioning of hydraulic cylinders for hydraulic manipulators and compare their respective characteristics. A new self-organizing fuzzy control buffer positioning scheme is proposed. Design and implementation of a proportional valve controlled by a single-board computer-cylinder buffer positioning system. The system is low in price, high in precision and insensitive to oil pollution, and can achieve the buffer positioning of the piston at any point within the entire stroke of the cylinder. The self-organizing fuzzy controller avoids the difficulty of establishing accurate and complex mathematical models. The fuzzy controller self-adjusting method is adopted to meet the different requirements of the process response under different working conditions and the best response characteristic can be obtained. The controller simulates the human “rough” and “fine” operation method, according to the size of the pressure impact value as a criterion, automatic correction of control parameters, showing a certain degree of intelligence. The experimental results show that the self-organizing fuzzy controller has strong adaptability to different working conditions and achieves a variable buffer stroke. System steady-state error is not greater than ± 0.02mm, positioning impact pressure can be reduced by 44%.