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本文讨论了发电厂风扇磨工作轮的装卸机械手驾驶系统。该系统不同于一般四轮驾驶系统,阀是采用开关式工作方式的。计算机根据驾驶盘的输入信号计算出各轮应转的角度,同时发出控制信号使液压阀打开,以控制各轮的回转油缸的动作,当各轮到达预定的位置时停止旋转。计算机软件保证各轮速度同步的误差小于2.1°。最后还用描述函数分析了系统的稳定性。
This article discusses the loading and unloading robot driving system for the fan wheel of a power plant. The system is different from the general four-wheel drive system, the valve is the use of switch-mode work. According to the input signal from the steering wheel, the computer calculates the angle that each wheel should turn. At the same time, a control signal is issued to open the hydraulic valve to control the operation of the rotary cylinders of each wheel. When each wheel reaches a predetermined position, the rotation is stopped. Computer software to ensure that the error of each wheel speed synchronization is less than 2.1 °. Finally, the stability of the system is also analyzed using the description function.