网络化工业机器人系统的同步控制问题研究

发布时间：2018-05-19 05:10

  本文选题：工业机器人 + 多轴同步控制　； 参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：近年来,对工业机器人在加工和制造中的运动精度的要求越来越高,而机器人各关节运动的同步性又是影响机器人末端运动精度的一个重要因素。针对工业机器人系统非线性、强耦合等控制难点,再考虑到通信网络在控制系统中的广泛应用,本文研究网络化工业机器人系统的同步控制问题,主要开展了以下几个方面的研究工作:(1)利用第二类拉格朗日方程,建立了工业机器人系统的动力学模型,并分析了模型的结构特性;考虑到网络时延的存在,分析了网络控制系统中信息的传输时序,建立了一般网络控制系统的数学模型。(2)研究了无网络时延条件下工业机器人系统的同步控制问题,设计了基于耦合误差的控制系统架构;针对工业机器人系统同步位置控制问题,提出了基于PD+期望重力补偿策略的同步控制算法,并从理论上分析闭环系统的稳定性;针对轨迹跟踪问题,提出了基于PD+前馈期望速度和加速度补偿策略的同步控制算法,并从理论上分析闭环系统的稳定性;通过数值仿真,验证了同步控制算法的同步效果。(3)应用变结构控制算法,解决了时延对网络化工业机器人系统的影响。针对工业机器人同步控制位置问题,引入变结构控制环节,提出了网络化的同步位置控制算法,并从理论上分析了闭环系统的稳定性;针对机器人同步轨迹跟踪问题,提出了滑模同步轨迹跟踪算法,并从理论上分析了闭环系统的稳定性;通过数值仿真,分析了这两种控制算法的时延补偿效果以及算法的优缺点。(4)深入分析了网络时延对控制系统的影响机制和工业机器人动力学模型的特点,提出了基于时滞系统理论和鲁棒H_∞理论的控制算法。通过引入非线性补偿环节,实现了工业机器人系统的线性化,将补偿误差视为外界干扰,将网络化工业机器人系统同步控制问题,转化为存在外界干扰时定常线性系统的鲁棒控制问题;为此,分别设计了鲁棒H_∞状态反馈和动态输出反馈镇定控制律,给出了两种控制律的LMI求解方法;通过数值仿真,验证了两种控制律的时延补偿效果和估计偏差抑制能力。
[Abstract]:In recent years, the requirement of the motion accuracy of the industrial robot in machining and manufacturing is more and more high, and the synchronism of the motion of the robot joints is an important factor that affects the kinematic accuracy of the robot end. Aiming at the control difficulties of industrial robot system such as nonlinear and strong coupling, considering the wide application of communication network in control system, this paper studies the synchronous control problem of networked industrial robot system. This paper mainly studies the following aspects: 1) by using the Lagrange equation of the second kind, the dynamic model of the industrial robot system is established, and the structural characteristics of the model are analyzed, considering the existence of the network delay, In this paper, the time sequence of information transmission in networked control system is analyzed, and the mathematical model of general networked control system is established. The synchronization control problem of industrial robot system without network delay is studied. The control system architecture based on coupling error is designed, and the synchronous control algorithm based on PD expected gravity compensation strategy is proposed for the synchronous position control of industrial robot system, and the stability of the closed-loop system is analyzed theoretically. Aiming at the trajectory tracking problem, a synchronization control algorithm based on PD feedforward expected velocity and acceleration compensation strategy is proposed, and the stability of the closed-loop system is analyzed theoretically. The synchronization effect of the synchronization control algorithm is verified. The variable structure control algorithm is applied to solve the influence of the delay on the networked industrial robot system. Aiming at the problem of synchronous position control of industrial robot, this paper introduces variable structure control link, proposes a networked synchronous position control algorithm, and theoretically analyzes the stability of closed loop system, aiming at the problem of robot synchronous trajectory tracking. A sliding mode synchronous trajectory tracking algorithm is proposed, and the stability of the closed-loop system is theoretically analyzed. The delay compensation effect of the two control algorithms and the advantages and disadvantages of the two control algorithms are analyzed. The influence mechanism of the network delay on the control system and the characteristics of the dynamic model of the industrial robot are analyzed. A control algorithm based on time-delay system theory and robust H _ 鈭，

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