Affiliations: [a] School of Mechanical and Aerospace Engineering, Jilin University, Changchun, China
| [b] School of Mechanical Engineering, Yanshan University, Qinhuangdao, China
| [c] School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China
Correspondence:
[*]
Corresponding author. Chunbo Xu, School of Mechanical and Aerospace Engineering, Jilin University, Changchun, China. E-mail: xucb13@mails.jlu.edu.cn
Abstract: Marine hydraulic manipulator is limited by its size, weight and environment, so traditional hydraulic manipulator cannot be used for marine equipment. In this paper, large displacement pump is replaced by small displacement pump, accumulator is used as absorption pulsation replace by power source, and servo valve is replaced by solenoid valve. In order to improve the dynamic response and control accuracy of the marine hydraulic manipulator. Firstly, the bond graphs model of hydraulic manipulator supplied by oil are established and analyzed. Secondly, the dynamic response characteristics of solenoid valve under different supply voltage are analyzed. Thirdly, the piecewise P optimization of dynamic response and the fuzzy PI optimization of position control of hydraulic manipulator are carried out. Through piecewise P and fuzzy PI algorithms, not only the dynamic response of the marine manipulator is improved, but also the control accuracy of the marine manipulator is improved. Compared with the traditional hydraulic manipulator, the marine hydraulic manipulator installed volume reduced by 49%, the opening time of solenoid valve is increased by 36%, the response speed is increased by 73%, and the control accuracy is improved by 35%.
Keywords: Piecewise P and fuzzy PI algorithms, accumulator, control accuracy, dynamic response, power bond graph, marine hydraulic manipulator, small pump
