新型磨机更换衬板专用机械手力学性能和运动控制研究
发布时间：2018-08-02 09:59
【摘要】：磨机装备是现代矿山企业生产和加工各类矿石过程中的重要大型设备,其内部衬板长期与物料直接接触,被冲击的损坏率极高。因此,矿山企业会根据内部衬板的磨损破坏情况进行更换磨机内部衬板,不仅费时费力,且大大降低企业的经济效益。本文根据企业实际要求,针对?4.8?13.8m型球磨机进行设计了一款新型磨机更换衬板专用机械手,并让其实现自动化定点安装衬板,研究内容具体如下:(1)根据企业现场安装衬板的实际情况,利用Solidworks设计一款针对?4.8?13.8m型磨机更换衬板的专用机械手,并对其结构做详细讲解。使用D-H参数方法进行建立磨机专用机械手连杆坐标系后,再进一步采用齐次变换矩阵得出专用机械手每个关节坐标系的相对位置和姿态,从而得出磨机专用机械手运动学方程式。最后再通过一系列计算,获得磨机专用机械手末端手抓的具体位置和姿态。选取6组专用机械手不同关节参数值,使用MATLAB中的Robotic Toolbox对磨机专用机械手末端手抓位姿进行仿真。仿真得出结果与理论求解结果一致,从而验证了磨机专用机械手的末端手抓位置矢量的正确性。(2)采用基于数值法的蒙特卡洛法和基于SimMechanics建模的改进混合计算法进行机械手可达工作空间分析与验证。通过编程实现了工作空间仿真,结果显示了两种方法得到的仿真图形相似,满足了所设计的磨机专用机械手所需达到的工作空间位置,验证了所设计的磨机专用机械手结构的正确性。(3)依据牛顿—欧拉法进行建立磨机专用机械手的动力学方程,并对磨机专用机械手的逆动力学问题展开相应的研究。导入简化后的磨机专用机械手模型到ADAMS软件中对其建立虚拟样机模型,并对磨机专用机械手进行动力学的仿真研究。仿真结果与预期的磨机专用机械手的各关节力或力矩变化相近,进一步验证了设计的磨机专用机械手结构的合理性,也进一步为以后磨机专用机械手的控制设计奠定了一定的基础。(4)设计新型磨机专用机械手控制器,实现机械手自动化控制安装衬板,并对其进行机械手轨迹跟踪的控制研究。通过设计重力补偿PD控制器,重力补偿加模糊整定PD控制器,PD的计算力矩法控制器,自适应模糊补偿与计算力矩法控制器进行磨机专用机械手的轨迹跟踪控制。最后通过各控制器仿真对比得出结论:基于自适应模糊补偿计算力矩控制机械手关节曲线平稳,稳态误差较好,可以很好的实现磨机专用机械手定点安装衬板。
[Abstract]:Mill equipment is an important equipment in the production and processing of all kinds of ores in modern mining enterprises. Its inner liner is in direct contact with the material for a long time and the damage rate of impact is very high. Therefore, according to the wear and tear of the internal liner, the mine enterprise will replace the internal liner of the mill, which not only takes time and effort, but also greatly reduces the economic benefit of the enterprise. According to the actual requirements of enterprises, this paper designs a new type mill for replacing special manipulator for lining plate, and makes it realize automatic fixed installation of lining plate. The contents of the research are as follows: (1) according to the actual situation of the installation of lining plate in the enterprise, a special manipulator for replacing the liner plate for the grinding machine is designed by using Solidworks, and the structure of the manipulator is explained in detail. The D-H parameter method is used to establish the coordinate system of the linkage of the special manipulator, and then the relative position and attitude of each joint coordinate system of the special manipulator are obtained by using the homogeneous transformation matrix. Thus the kinematics equation of special manipulator for grinding machine is obtained. Finally, through a series of calculations, the position and posture of the end grip of the special manipulator are obtained. Six groups of special manipulators with different joint parameters were selected, and Robotic Toolbox in MATLAB was used to simulate the position and position of the end hand of the special manipulator. The simulation results are consistent with the theoretical results. Thus the correctness of the position vector of the end grip of the special manipulator is verified. (2) the method of Monte Carlo based on numerical method and the improved hybrid calculation method based on SimMechanics modeling are used to analyze and verify the reachable workspace of the manipulator. The workspace simulation is realized by programming. The results show that the simulation graphics obtained by the two methods are similar and meet the workspace position required by the designed special manipulator of the mill. The structure of the special manipulator is verified. (3) according to Newton-Euler method, the dynamic equation of the special manipulator is established, and the inverse dynamic problem of the special manipulator is studied. The simplified special manipulator model of grinding machine was introduced into ADAMS software to establish a virtual prototype model, and the dynamics of the special manipulator was simulated. The simulation results are similar to the expected changes of the joint force or torque of the special manipulator, which further verifies the rationality of the structure of the special manipulator designed for the mill. It also lays a foundation for the control design of special manipulator for grinding machine. (4) to design the controller of special manipulator for grinding machine, to realize the automatic control and installation of linings of manipulator, and to study the control of manipulator trajectory tracking. Through the design of PD controller for gravity compensation, PD controller for gravity compensation and fuzzy tuning PD controller for PD, and adaptive fuzzy compensation and calculation torque method controller for trajectory tracking control of special manipulator for grinding machine, the controller is designed. Finally, through the simulation and comparison of the controllers, it is concluded that the torque control based on adaptive fuzzy compensation is stable in joint curve and good in steady-state error, which can achieve the fixed point installation of linings for the special manipulator of grinding machine.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD453;TP241.3
[Abstract]:Mill equipment is an important equipment in the production and processing of all kinds of ores in modern mining enterprises. Its inner liner is in direct contact with the material for a long time and the damage rate of impact is very high. Therefore, according to the wear and tear of the internal liner, the mine enterprise will replace the internal liner of the mill, which not only takes time and effort, but also greatly reduces the economic benefit of the enterprise. According to the actual requirements of enterprises, this paper designs a new type mill for replacing special manipulator for lining plate, and makes it realize automatic fixed installation of lining plate. The contents of the research are as follows: (1) according to the actual situation of the installation of lining plate in the enterprise, a special manipulator for replacing the liner plate for the grinding machine is designed by using Solidworks, and the structure of the manipulator is explained in detail. The D-H parameter method is used to establish the coordinate system of the linkage of the special manipulator, and then the relative position and attitude of each joint coordinate system of the special manipulator are obtained by using the homogeneous transformation matrix. Thus the kinematics equation of special manipulator for grinding machine is obtained. Finally, through a series of calculations, the position and posture of the end grip of the special manipulator are obtained. Six groups of special manipulators with different joint parameters were selected, and Robotic Toolbox in MATLAB was used to simulate the position and position of the end hand of the special manipulator. The simulation results are consistent with the theoretical results. Thus the correctness of the position vector of the end grip of the special manipulator is verified. (2) the method of Monte Carlo based on numerical method and the improved hybrid calculation method based on SimMechanics modeling are used to analyze and verify the reachable workspace of the manipulator. The workspace simulation is realized by programming. The results show that the simulation graphics obtained by the two methods are similar and meet the workspace position required by the designed special manipulator of the mill. The structure of the special manipulator is verified. (3) according to Newton-Euler method, the dynamic equation of the special manipulator is established, and the inverse dynamic problem of the special manipulator is studied. The simplified special manipulator model of grinding machine was introduced into ADAMS software to establish a virtual prototype model, and the dynamics of the special manipulator was simulated. The simulation results are similar to the expected changes of the joint force or torque of the special manipulator, which further verifies the rationality of the structure of the special manipulator designed for the mill. It also lays a foundation for the control design of special manipulator for grinding machine. (4) to design the controller of special manipulator for grinding machine, to realize the automatic control and installation of linings of manipulator, and to study the control of manipulator trajectory tracking. Through the design of PD controller for gravity compensation, PD controller for gravity compensation and fuzzy tuning PD controller for PD, and adaptive fuzzy compensation and calculation torque method controller for trajectory tracking control of special manipulator for grinding machine, the controller is designed. Finally, through the simulation and comparison of the controllers, it is concluded that the torque control based on adaptive fuzzy compensation is stable in joint curve and good in steady-state error, which can achieve the fixed point installation of linings for the special manipulator of grinding machine.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD453;TP241.3
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