A study on the dual servo valve drive control method for fully automatic hydraulic heavy-duty manipulators

Abstract

Aiming at the problems of high energy consumption and large tracking error in the dual servo valve drive control of fully automatic hydraulic heavy-duty manipulator, a dual servo valve drive control method for fully automatic hydraulic heavy-duty manipulator was studied. Based on the two port theory, generate a dual servo valve drive control strategy for a fully automatic hydraulic heavy-duty robotic arm. Taking control accuracy and control response time as necessary conditions for servo control, control inference simulation, design a dual servo valve drive controller for fully automatic hydraulic heavy-duty manipulator, and achieve dual servo valve drive control for fully automatic hydraulic heavy-duty manipulator. The experimental results show that the average control tracking errors of the A-level and B-level dual servo valve drivers of the proposed method are 0.1386m and 0.1434m, respectively, and the average servo drive energy consumption is 1.4257×10 4 J and 1.5257×10 4 J has good control performance, can reduce driving control energy consumption, and reduce tracking errors.