矩形盾构管片拼装机同步控制系统的设计
发布时间：2018-07-21 09:17
【摘要】：针对矩形盾构管片拼装机拼装拱顶块和拱底块时需要同步控制两台机械手的问题,设计了基于CAN(Controller Area Network)总线的同步控制系统并采用同步PID(Proportion Integral Derivative)算法实现对同步误差的控制.对同步控制系统的工作原理以及系统的网络架构做了分析.建立了矩形盾构管片拼装机两台机械手沿径向的立柱同步升降和沿轴向的同步拼装头移动同步控制系统的仿真模型,并对这两个动作的同步PID控制性能进行仿真分析.通过矩形盾构管片同步立柱升降和同步拼装头移动的实验对同步控制性能进行验证,结果表明,同步PID算法可减小同步误差并将立柱升降同步误差控制在±3 mm之间,拼装头移动同步误差控制在不超过±1 mm,显示了同步PID控制在矩形盾构管片拼装过程中的有效性与可实现性.
[Abstract]:In order to solve the problem that the rectangular shield segment assembly machine needs to control two manipulators synchronously, a synchronous control system based on can (Controller Area Network) bus is designed and the synchronization error is controlled by using the synchronous pid (proportion integral Derivative) algorithm. The working principle of the synchronous control system and the network structure of the system are analyzed. A simulation model of synchronous control system for two manipulators of rectangular shield segment assembly machine is established. The synchronous pid control performance of the two manipulators is simulated and analyzed. The synchronous control performance is verified by the experiments of synchronous column lift and synchronous assembly head movement of rectangular shield segment. The results show that the synchronous pid algorithm can reduce the synchronization error and control the column lift synchronization error to 卤3 mm. The synchronization error of the assembly head is controlled within 卤1 mm, which shows the validity and realizability of the synchronous pid control in the assembling process of rectangular shield segment.
【作者单位】： 同济大学机械与能源工程学院;上海同新机电控制技术有限公司;
【基金】：上海市引进技术的吸收与创新项目(14XI-2-12)
【分类号】：U455.39
，
本文编号：2135057
[Abstract]:In order to solve the problem that the rectangular shield segment assembly machine needs to control two manipulators synchronously, a synchronous control system based on can (Controller Area Network) bus is designed and the synchronization error is controlled by using the synchronous pid (proportion integral Derivative) algorithm. The working principle of the synchronous control system and the network structure of the system are analyzed. A simulation model of synchronous control system for two manipulators of rectangular shield segment assembly machine is established. The synchronous pid control performance of the two manipulators is simulated and analyzed. The synchronous control performance is verified by the experiments of synchronous column lift and synchronous assembly head movement of rectangular shield segment. The results show that the synchronous pid algorithm can reduce the synchronization error and control the column lift synchronization error to 卤3 mm. The synchronization error of the assembly head is controlled within 卤1 mm, which shows the validity and realizability of the synchronous pid control in the assembling process of rectangular shield segment.
【作者单位】： 同济大学机械与能源工程学院;上海同新机电控制技术有限公司;
【基金】：上海市引进技术的吸收与创新项目(14XI-2-12)
【分类号】：U455.39
，
本文编号：2135057
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