智能PID控制在攀爬机器人夹紧机构中的应用

发布时间：2018-06-17 17:03

  本文选题：攀爬机器人 + 夹紧机构　； 参考：《木材加工机械》2016年05期

【摘要】：提出团队开发的基于木结构古建筑和活立木的攀爬机器人攀爬作业时整体抖动问题解决方案。针对攀爬机器人夹紧机构夹紧力不易精确控制,机器人攀爬过程中易抖动、运动状态不稳定等问题,提出一种智能PID控制算法,通过自动调整PID增益参数,智能控制横向液压推杆进给速率,同时有效控制与调节了夹紧力度,克服传统控制方式带来的机器人行进步长控制不精,行进过程抖动幅度大和运动不稳定的问题。实际应用与测试结果表明:智能PID控制算法可及时响应攀爬机器人夹紧动作,并使抖动幅度≤0.1mm,夹紧控制误差在≤0.2mm,运动状态稳定,达到承载检测设备沿杆状物稳定攀爬的工作目的。
[Abstract]:This paper presents a solution to the problem of global jitter of climbing robot based on wooden structure ancient building and living wood developed by team. Aiming at the problems that clamping force of clamping mechanism of climbing robot is not easy to control accurately, easy to jitter and unstable motion during climbing, an intelligent pid control algorithm is put forward, and pid gain parameters are automatically adjusted. Intelligent control of lateral hydraulic push rod feed rate, and effectively control and adjust the clamping force, to overcome the traditional control of the robot's walking step control is not accurate, the moving process jitter amplitude and movement instability. The practical application and test results show that the intelligent pid control algorithm can respond to clamping action of climbing robot in time, and make the amplitude of jitter 鈮，

本文编号：2031753