大跨度重负载桁架机器人双驱动横梁同步与抑振控制研究

发布时间：2018-05-15 16:40

本文选题：轮轨接触 + 偏差耦合　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：随着轮胎行业的迅速发展,对轮胎搬运分拣的准确性和效率提出了更高的要求。为提高自动化水平,桁架机器人得到了更加广泛的应用。但为获得大的跨度和驱动力,桁架机器人横梁通常采用两端分别驱动的方式,这就产生了同步控制问题;而且在双驱动横梁到达指定点后的残余振动也严重降低机器人的使用效率。这些问题的出现给桁架机器人的控制算法提出了新的挑战。针对这些问题,本文以自主开发的桁架式轮胎搬运机器人为研究对象,开展了大跨度重负载桁架机器人双驱动横梁同步及抑振控制研究。提出了一种具有力矩补偿的偏差耦合模糊滑模同步控制方法,设计了一种具有时变性的输入整形器,并对横梁运动进行非对称S型轨迹规划,最后搭建了基于EtherCAT现场总线的实验控制平台,从而对理论分析进行实验验证。首先,分析了桁架机器人双驱动横梁的结构特点,在考虑减速器柔性及轮轨接触特点的基础上建立了桁架机器人双驱动横梁的动力学模型;并利用ADAMS建立了双驱动横梁的虚拟样机模型,通过仿真验证动力学模型的准确性。其次,针对大跨度重负载双驱动横梁需求系统具有抗干扰能力强,响应迅速等要求,结合其模型特点,提出了一种基于偏差耦合的模糊滑模控制算法,并引入力矩补偿的方式来减小因悬臂梁运动对横梁同步性能的影响。仿真结果表明,该控制算法具有响应速度快、超调量小、鲁棒性强等特点。再次,分析了双驱动横梁与悬臂梁耦合系统的固有频率随质量比与位置比的变化关系,提出了具有时变性的输入整形器来抑制横梁到达指定位置的残余振动。并从轨迹规划的角度,设计了非对称S型曲线,使横梁运动具有高加速启动和低加速定位的能力,从而抑制横梁的残余振动。最后,搭建了基于EtherCAT现场总线的桁架机器人运动控制实验平台,开展了大跨度重负载桁架机器人双驱动横梁的同步与抑振控制实验研究。实验结果表明,相比于传统同步控制方法,本文提出的同步控制算法能够有效减少横梁两端同步误差,使同步误差精度达到11.6mm,重复定位精度达?0.4mm;时变的输入整形器与非对称S型轨迹规划,对横梁的残余振动起到了明显的抑制作用,使残余振动从需要3s消除最大振幅2.6mm的振动,抑制到仅需0.5s即到达稳定位置且最大振幅为0.6mm的振动。综上,说明本文提出的同步与抑振控制方法的有效性。
[Abstract]:With the rapid development of tire industry, higher requirements for accuracy and efficiency of tire handling and sorting are put forward. In order to improve the level of automation, truss robots have been more widely used. However, in order to obtain the large span and driving force, the truss robot beam is usually driven by two ends, which leads to the problem of synchronous control. The residual vibration of the double drive beam at the specified point also reduces the efficiency of the robot. These problems pose a new challenge to the control algorithm of truss robot. Aiming at these problems, this paper takes the self-developed truss tire handling robot as the research object, and carries out the research on the synchronization and vibration suppression control of the dual-drive cross-beam of the large-span and heavy-load truss robot. In this paper, a deviation coupled fuzzy sliding mode synchronous control method with torque compensation is proposed. An input shaper with time-varying property is designed, and asymmetric S-shaped trajectory planning for the beam motion is carried out. Finally, the experimental control platform based on EtherCAT fieldbus is built to verify the theoretical analysis. Firstly, the structural characteristics of dual-drive truss robot crossbeam are analyzed, and the dynamic model of dual-drive truss robot crossbeam is established on the basis of considering the reducer flexibility and wheel-rail contact characteristics. The virtual prototype model of double drive beam is established by using ADAMS, and the accuracy of the dynamic model is verified by simulation. Secondly, a fuzzy sliding mode control algorithm based on deviation coupling is proposed to meet the requirements of strong anti-interference ability and rapid response of large-span double-drive beam system with heavy load. Torque compensation is introduced to reduce the effect of cantilever motion on beam synchronization. Simulation results show that the proposed control algorithm has the advantages of fast response, small overshoot and strong robustness. Thirdly, the relationship between the natural frequency and the ratio of mass to position of the coupling system is analyzed, and a time-varying input shaper is proposed to suppress the residual vibration of the beam to the specified position. From the point of view of trajectory planning, the asymmetrical S-shaped curve is designed, which makes the beam motion have the ability of high acceleration starting and low acceleration positioning, so as to restrain the residual vibration of the beam. Finally, the experimental platform of truss robot motion control based on EtherCAT fieldbus is built, and the synchronization and vibration suppression control experiment of dual-drive cross-beam of large-span and heavy-load truss robot is carried out. The experimental results show that the proposed synchronization control algorithm can effectively reduce the synchronization error between the two ends of the beam compared with the traditional synchronization control method. The precision of synchronization error reaches 11.6 mm, and the precision of repeat positioning reaches 0.4mm. The time-varying input shaper and asymmetric S-shaped trajectory planning play an obvious role in restraining the residual vibration of the beam, and the residual vibration can be eliminated from 3s to the maximum amplitude 2.6mm vibration. The vibration with a maximum amplitude of 0.6mm is suppressed to a stable position in only 0.5 s. In summary, the effectiveness of the proposed synchronization and vibration suppression control method is demonstrated.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242.2

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