液压作动器的MATLAB动力学控制

2021 7th International Conference on Mechanical Engineering and Automation Science (ICMEAS) Pub Date : 2021-10-01 DOI:10.1109/icmeas54189.2021.00012

Yuxin Tian, Changjiang Zhao, Jiang Yang, Lihua Liu

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引用次数: 0

摘要

六足机器人腿部液压系统的设计，对机器人的运动控制和机器人的牵引力至关重要。本文利用ANSYS Workbench对六足机器人液压系统的一个组成部分——负载调节液压缸进行仿真，找出不同的应力和变形区域。建立了液压作动器的数学模型，利用MATLAB对液压作动器的传递函数进行了分析。此外，利用Simulink仿真对系统的可控性和可观测性进行了研究。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Kinetic Control on Hydraulic Actuators with MATLAB

Design on leg hydraulic system of hexapod robot, is of vital importance to robotic kinetic motion control and robotic tractive force. In this paper, ANSYS Workbench simulation is established on loading-conditioned hydraulic cylinder, one component of hexapod robot hydraulic system, in order to find distinct stressed and deformed area. Mathematics models are built on hydraulic actuators and transfer functions on hydraulic actuators are analyzed with MATLAB. In addition, the controllability and observability of the system are studied with Simulink simulation.

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来源期刊

2021 7th International Conference on Mechanical Engineering and Automation Science (ICMEAS)

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