Research on Feedforward Compensation Control Strategy of Electro-hydraulic Servo System for Underwater Manipulator
It analyzed an electro-hydraulic servo system of typical high-performance underwater manipulator and established mathematical models of the electro-hydraulic servo system when taking Titan-4 7-function manipulator of Schilling company as an example. According to the working characteristics of the un...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Control and Information Technology
2020-01-01
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| Series: | Kongzhi Yu Xinxi Jishu |
| Subjects: | |
| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2020.03.002 |
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| Summary: | It analyzed an electro-hydraulic servo system of typical high-performance underwater manipulator and established mathematical models of the electro-hydraulic servo system when taking Titan-4 7-function manipulator of Schilling company as an example. According to the working characteristics of the underwater manipulator, by using the three-state control technology widely used in seismic simulation shaking table for reference, a servo control strategy was designed which adopts the method of PID and feed-forward compensation control to achieve fast response and high precision control effect. Matlab/Simulink simulation results show that the feed forward compensation control algorithm based on the three-state control technology can effectively improve response speed of the system and expand operation ability of the manipulator in complex underwater environment. |
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| ISSN: | 2096-5427 |