柔性驱动立筒仓清理机器人转动控制方法的研究

发布时间：2018-04-19 09:16

本文选题：变论域 + 模糊PID　；参考：《河南工业大学》2015年硕士论文

【摘要】：立筒仓是一种能够长期存储谷物等多种散装物料的理想设施,不仅机械自动化良好,出入仓方便高效,而且不与地面接触,不会受到地表温度干扰。筒仓长期使用后,由于内外温度差异以及微生物等影响,在侧壁会板结有一定量的物料,无法在重力作用下流动到底部,不但会阻碍物料的物流,进而会影响到物料的质量。由于立筒仓内部是一种具有非结构特征的封闭储藏环境,清理板结的物料时具有高度危险性,所以本课题拟采用机器人清理板结在立筒仓侧壁上的物料。本课题通过对立筒仓构造及其特点的研究,使用吊索悬挂机器人的方式由立筒仓上方的进料口垂直放入。清理过程中,机器人既要在重力和吊索作用下垂直移动,也需要在吊索牵引下沿着圆周方向转动,并通过安装在可伸缩操作臂上的清理执行器将板结物料从侧壁上剥离。由于本文所设计的立筒仓清理机器人构造较为复杂,需要多体动力学知识建立其精准的数学结构模型。ADAMS是一款将系统动力学的机理应用于多体动力学机械系统的建模的设计分析软件。论文中采用ADAMS与MATLAB/SIMULINK配合,对系统的各种控制方案进行仿真运算。在ADAMS中,采用了Solids模块构建了包括悬吊臂、操作臂和吊索等具有变拓扑结构的机器人动力学系统,并通过对比计算确定了满足计算准确性和效率要求的吊索有限段模型。由于清理机器人采用吊索进行悬吊控制,针对运动过程中具有非线性和欠驱动运动方式的特点,对其控制方法进行了系统研究。在控制方法的使用上,本文以经典PID控制为基础首先验证该机器人模型的可控性和采用悬吊方式进行清扫的可行性;其次,根据在分析计算中发现的PID参数无法调节的问题,在经典PID控制的基础上,设计了变论域自整定模糊PI控制法。针对机器人非线性欠驱动控制的特点,从仿真结果出发分析对比了不同控制方法对清理机器人模型的控制效果,通过对系统参数的优化,最终实现了机器人工作时所需的转动控制,并给出相应结论。本文的研究成果对于采用柔性驱动的控制系统具有一定的参考意义。
[Abstract]:Vertical silo is an ideal facility for storing grain and other bulk materials for a long time. It not only has good mechanical automation, convenient and efficient access, but also has no contact with the ground and will not be disturbed by surface temperature.After long term use of silos, due to the difference of internal and external temperature and the influence of microorganism, there will be a certain amount of materials on the side wall, which can not flow to the bottom under the action of gravity, which will not only hinder the material flow, but also affect the quality of the material.Because the silo interior is a closed storage environment with unstructured characteristics, it is highly dangerous to clean up the materials of board junction, so this subject intends to use robot to clean up the materials on the side wall of vertical silo.Based on the research of the structure and characteristics of the opposite silo, the hoisting robot is used to put the feed port vertically over the silo.In the process of cleaning, the robot not only moves vertically under the action of gravity and sling, but also rotates along the circumference direction under the traction of the sling, and strips the plate material from the side wall through the cleaning actuator mounted on the telescopic manipulator.Because the structure of the vertical silo cleaning robot designed in this paper is more complicated,It is necessary to establish a precise mathematical structure model of multi-body dynamics. Adams is a design and analysis software which applies the mechanism of system dynamics to the modeling of multi-body dynamics mechanical system.In this paper, ADAMS and MATLAB/SIMULINK are used to simulate various control schemes of the system.In ADAMS, the dynamic system of robot with variable topology, including cantilever, operating arm and sling, is constructed by using Solids module, and the finite segment model of sling which meets the requirements of accuracy and efficiency is determined by comparing calculation.In view of the characteristics of nonlinear and underactuated motion mode in the process of motion, the control method of the cleaning robot is studied systematically because of the suspension control by slings.On the basis of classical PID control, this paper first verifies the controllability of the robot model and the feasibility of using suspension method to clean the robot. Secondly, according to the problems found in the analysis and calculation, the PID parameters can not be adjusted.Based on the classical PID control, a variable domain self tuning fuzzy Pi control method is designed.According to the characteristics of robot nonlinear underactuation control, the control effect of different control methods on cleaning robot model is analyzed and compared from the simulation results, and the system parameters are optimized.Finally, the rotation control of the robot is realized, and the corresponding conclusions are given.The research results of this paper have certain reference significance for the control system with flexible drive.
【学位授予单位】：河南工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242

【共引文献】