Research on Synchronous Control of Parallel Manipulator Integrated Electro-Hydraulic Servo System
In order to improve the control response speed of the integrated electro-hydraulic servo drive system of the parallel ma-nipulator and reduce the output error of the end effector.An integrated electro-hydraulic servo driver with three independent con-trols is introduced.Using the expression of inverse kinematics of parallel manipulator,the mechanical model of translational paral-lel manipulator driven by integrated electro-hydraulic servo is derived.Two independent discrete PI and PD controllers are used to control the output force and position of the parallel manipulator to keep the input voltage control signals of the three hydraulic cyl-inders driving the parallel manipulator synchronized.The voltage input signal of the hydraulic cylinder and the position output re-sult of the end effector are simulated by the control system simulation software.The results show that using the synchronous control method,the voltage input control signal and the position tracking error of the end effector of the parallel manipulator integrated electro-hydraulic servo system are small.The synchronous control method can improve the adaptive adjustment speed of the inte-grated electro-hydraulic servo system of the parallel manipulator and improve the trajectory tracking accuracy of the end effector.
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