Modeling and control for hydraulic nonholonomic constraint transmission system
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摘要: 目前不完全约束传动机构(NCT,Nonholonomic Constraint Transmission)全部采用电机驱动,存在结构复杂、造价昂贵等不足.在变量泵串连组成的闭式液压系统中液体流量具有连续性,泵的转速和排量成反比,通过调节变量泵排量可以达到调节变量泵转速的目的,据此原理提出液压不完全约束传动系统(HNCTS,Hydraulic Nonholonomic Constraint Transmission System).介绍了由变量泵串连组成的HNCTS原理方案,阐述了HNCTS的优点,建立了基于HNCTS的两自由度平面Cobot数学模型,使用模糊控制算法实现了HNCTS的控制,最后进行仿真研究.仿真结果表明:①模糊控制算法可以实现HNCTS的解耦控制;②HNCTS可以实现Cobot的被动约束控制、跟踪期望轨迹.Abstract: Nonholonomic constraint transmission (NCT) is currently driven by a motor, which leads NCT complex and expensive. In the closed hydraulic system composed of concatenate variable pumps, liquid flows continuously and the pump rotate speed is inversely proportional to its displacement. The pump rotate speed can be adjusted by changing its displacement and according to this theory, hydraulic nonholonomic constraint transmission system (HNCTS) was proposed for Cobot. HNCTS had many merits, such as fast response, load stiffness and so on. The mathematical model of 2-DOF plane Cobot based on HNCTS was built for simulation. The fuzzy control algorithm, one input and two outputs, was introduced to control HNCTS. The validity of HNCTS was proved by simulations. Simulation results show that the HNCTS can be decoupling controlled by fuzzy control algorithm, and the HNCTS has the ability to achieve passive constrained control and desired trajectory tracking for Cobot.
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Key words:
- hydraulic /
- Cobot /
- nonholonomic constraint /
- fuzzy control
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