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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 Trans-mission 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.
At present, Nonholonomic Constraint Transmission (NCT) is all driven by a motor, which has the disadvantages of complicated structure and high cost, etc. In the closed hydraulic system composed of variable displacement pumps in series, liquid flow is continuous, the speed and row of the pump Inversely proportional to the amount, variable pump displacement can be adjusted to achieve the purpose of variable speed pump. Based on this principle, a Hydraulic Nonholonomic Constraint Trans-mission System (HNCTS) is proposed. HNCTS principle scheme, the advantages of HNCTS are expounded, a two degree of freedom plane Cobot mathematical model based on HNCTS is established, the HNCTS control is achieved by using fuzzy control algorithm, and the simulation is carried out finally.The simulation results show that: ① Fuzzy control algorithm can realize HNCTS Decoupling control; ②HNCTS can achieve Cobot’s passive constraint control, tracking the desired trajectory.