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Modeling and Simulation of Large-Scale Manipulators with Hydraulic Actuation

机译：液压驱动大型机械手的建模与仿真

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摘要

Due to the light-weight construction of modern large-scale manipulators used e.g., in concrete pumps or maritime crane systems, the elasticity of the construction elements plays a significant role in the dynamic behaviour of the overall system. These systems are vulnerable to vibrations caused by external disturbances like the pumping of wet concrete, the wave motions on the sea or disturbances induced by the manual control of the operator. Therefore, current research is concerned with control strategies for active damping of elastic vibrations, trajectory planning and the computation of the inverse kinematics. For the development of such control methods, tailored mathematical models are required. In the considered applications, the inhomogeneous distribution of mass and of the geometrical moment of inertia over the length of the segments of the boom has to be explicitly considered in the model which makes the problem more involved. Furthermore, it is known that significant static friction occurs in the hydraulic cylinders used to actuate the boom. Since this can be a major problem in the design of a control strategy, this effect has to be taken into account in the model. This paper presents a systematic approach for the mathematical modeling of hydraulically actuated large-scale manipulators, taking into account both elasticity and static friction. The feasibility of the modeling approach will be proven by measurement results of an industrial mobile concrete pump.
机译：由于使用的现代大型操纵器的轻量级构造，例如，在混凝土泵或海上起重机系统中，建筑元件的弹性在整个系统的动态行为中起着重要作用。这些系统容易受到由湿混凝土泵送的外部干扰引起的振动，通过操作者的手动控制引起的海或干扰上的波动动作。因此，目前的研究涉及用于积极损害弹性振动，轨迹规划和逆运动学计算的控制策略。为了开发这种控制方法，需要定制数学模型。在所考虑的应用中，必须在模型中明确考虑在繁荣的段长度上弥撒的不均匀分布和惯性的几何时刻。此外，已知在用于致动臂的液压缸中发生显着的静摩擦。由于这可以是控制策略的设计中的一个主要问题，因此必须在模型中考虑这种效果。本文介绍了液压驱动大型操纵器的数学建模的系统方法，考虑到弹性和静摩擦。建模方法的可行性将通过工业移动混凝土泵的测量结果证明。

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