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本文对哈尔滨工程大学机电工程学院所研制的SIWR -II水下作业机械手的动力机构—对称阀控单出杆液压缸进行了系统分析。比较了活塞杆向两个不同方向运动时的控制性能 ,通过对零位特性的分析 ,找出了该动力机构在零位附近控制性能恶化的原因 ,并提出了解决方案
In this paper, Harbin Institute of Technology Institute of Mechanical and Electrical Engineering developed by SIWR-II underwater operating manipulator powerhouse - symmetrical valve-controlled single-rod hydraulic cylinder system analysis. The control performance of the piston rod in two different directions is compared. By analyzing the zero position characteristic, the reason of the deterioration of control performance of the power unit near zero position is found and the solution is proposed