带磁流变阻尼器的气动伺服旋转执行器

Zongchun Bai, Xiaoning Li, Zhongsheng Sun
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引用次数: 2

摘要

传统的气动回转执行机构难以实现高精度的伺服定位控制。介绍了磁流变液(MRF)技术,设计了一种新型伺服阻尼气动回转作动器的机械结构。本文构建了新型气动回转执行机构的定位伺服系统,并建立了其数学模型。通过实验研究了磁流变阻尼器的转矩特性和动态响应特性。实验表明,采用制动角补偿控制算法的定位伺服系统对压力波动具有较强的鲁棒性,可以在任意速度和任意点的不同负载下实现精确定位。研究为磁流变液技术在气动旋转定位伺服控制中的应用提供了理论和实验依据。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Pneumatic servo rotary actuator with a MRF-damper
It is difficult to implement high-precision positioning servo control for the traditional pneumatic rotary actuator. We introduced the magneto-rheological fluid (MRF) technology, and the mechanical structure of a new servo-controlled damping pneumatic rotary actuator is designed. The positioning servo system of the new pneumatic rotary actuator is constructed and the mathematical model is established in this paper. The MRF damper characteristics of torque and dynamic response are investigated through experiments. The experiments show that the positioning servo system using control algorithms of braking angle compensation provides more robust against the pressure fluctuation and it can provide the precision positioning under different loads with arbitrary speed and point. The research provides theoretical and experimental basis for the MRF technology application in the pneumatic rotary positioning servo control.
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