機(jī)電液集成共性技術(shù)中機(jī)液綜合控制研究與應(yīng)用.pdf

1、蘭州理工大學(xué)碩士學(xué)位論文機(jī)電液集成共性技術(shù)中機(jī)液綜合控制研究與應(yīng)用姓名：陳乃超申請學(xué)位級別：碩士專業(yè)：機(jī)械制造及其自動化指導(dǎo)教師：黃建龍20051220機(jī)電液集成共性技術(shù)中機(jī)液綜合控制研究與應(yīng)用AbstractThenewresearchdirectiOnthatiscaUedascommorulesstechnoloP拶ofmechatlicaL_elec仃onic_hydmIllicunitintegrated(cTMEHuI)is

2、proposedinthjsp印erC1MHuIisdeeplya11dwh01lyghmied，especiallyaboutthesyrl血esisofmechanicalun“andhY出aulicunitThispapermajorcontentincludes也efollowingpoints1Thecurrentlydevelopmemaboutmechanism，electronandhydraulicsystemiss眥

3、吼arized廳0mbothhereandabroadeyes，BasedonthosesHllsaIlddeveIopment，theC1MHUIconceptanditsdesignmindisproposedThefeasibility，realization印proachandoverallproject，aneranalyzingcIMHUIsystem，aregiVen，2Thehvdrauliccontrolsystcmc

4、haracterisresearchedTherequirememofhvdrauliccomr01usedinCTMEHUIislavoutIIltheviewof廿1eory，somenewtheoriesisⅡlouglltandobtainedsuchasrobustA矗alysisanddesig皿ofstatefeedbackfIor1ineartime—VaryingLmcenainsystem，timedelay颶con

5、trol，robustcomrollerdesignforhydraulicservosbasedon島／Z如control，predictcon訂olrobust，WhichcanestablishthebasisfbrtllefUrtherresearch3ThenormalmechanjsmisintroducedThenewcreatedmechaIlism丘omdevelopingCTMHUIiscategorizedacco

6、rdingwithfeatureofsynthesismechanisma11dhydraulicsystemnissallle，st鼬dingontheory，toproposesomenewmethodsandalgorit№ssuchasle嬲tErroralgorithrnformotionsyn也esisofpl孤arf0Wbarl敞age，leastErroralgorithmformotionsynthesisofslid

7、e卜crarll【linkage，positiona11alysisofplaIlarcomplexmechaIlismsu咖gthetrian91evectorloopmemodThenewconceptofmecha【licaL且ydraulicsyn也esis(MHs)isproposed，givenitscharactcrsdi如red硒mnonnalmechallismFollowing，mepmperarld印tmemods

8、andalgorit№sofdesignaregiVen，ⅥdlichsupposeconducivelynleMHS4PCcon虹olstyleisdiscllssedReasonwhyC刪UIusesPCIbustodcsignconnDlisgivenPCIhaldwareandsoftwareisdescribedtocompileappr0硼ateprogmmforCTMHUI，wtlichwillfuIfillthecomm

9、_I|nicationandcomrolforthe口e內(nèi))heralequipmentfbmPC’sI，05CTMHUIsoftn，areiscompiledonthebaSeofCnmIIIrequirementThesofhⅣaremodulesmainlyindude：hydraulicmodule，mechanicalmodllle，contr01modmeandPCImoduleThe如nctionandutilizatio

10、nisstatedMeaIltimemech趾icalsoRwaremoduledesigniIlg趾dmechanicalinfonnationimegrationisproposedfbrresolvmgtllesof研aremodllleusedinthepmcessofcom口ilin譬sofareAsabovedescription，somenewconceptsanddesi鰣ngmemodsisproposedandstl