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设计了一种用于喷浆机械手的电液伺服系统,在系统满足静态性能的同时进行动态性能的分析,计算出系统的数学模型.利用MATLAB软件及其工具箱sisotool对控制模型进行仿真分析与PID校正,实现了喷浆机械手与受喷面之间的最佳位置控制.结果表明:校正后的电液伺服系统有更好的快速性和稳定性,更能满足喷浆机械手的性能要求.“,”An electro-hydraulic servo system for shotcrete manipulator was designed, the static performance of the device was satisfied while the dynamic performance of the system was analyzed, and the mathematical model of the system was calculated.The mathematical model was simulated and PID corrected based on MATLAB and its toolbox sisotool, and the optimal position control between the shotcrete manipulator and the spray wall was achieved.The results show that the electro-hydraulic servo system after calibration has better fastness and stability, and it could meet the performance requirements of shotcrete manipulator.