多自由度气动伺服机械手轨迹跟踪控制研究
发布时间：2018-10-08 15:57
【摘要】：近年来,直角坐标型气动机械手也像其它气动机械手一样,在工业生产中的地位越来越重要。但是由于直角坐标型气动机械手存在运动耦合、系统摩擦以及传递介质压缩性强等因素,使得系统的非线性非常强,从而气缸在运动过程中出现停滞以及系统控制精度不高等现象。所以,从这些因素出发,提高气动伺服机械手的运动控制精度,对于以后的工业生产来说具有重要意义。为了提高气动伺服机械手的运动控制精度,本文一方面对多自由度气动伺服机械手进行运动学解耦,并根据气动伺服系统的工作原理建立数学模型,来降低系统的非线性;另一方面,以LabVIEW为上位机运动控制平台,并用NI-7358运动控制卡设计控制器,来减小运动误差,从而提高控制精度。本文在查阅了大量资料的基础上,综述了国内外对多自由度气动伺服机械手的研究现状,并分析它们优缺点,从而确定了本文的研究内容和研究方向。本文根据D-H坐标系法对多轴运动气动伺服机械手进行了运动轨迹规划研究,并根据气动伺服系统的质量流量方程、阀控缸系统方程等建立气动伺服系统的数学模型,最终得出系统传递函数。本文在了解实验台气缸、伺服阀以及光栅位置传感器的工作性能和原理的基础上,对直角坐标型气动机械手实验台进行了重构。根据系统信号传递原理,重新设计了伺服放大器,并完成了系统控制器的设计。接着,为了更好地控制直角坐标型气动机械手轨迹跟踪,分别对基于PID控制和基于扩张状态观测器PID控制的系统跟踪性能进行了理论和仿真研究。通过对比发现,基于PID控制的控制系统跟踪效果不佳,而基于扩张状态观测器PID控制的系统对外界干扰以及系统不确定因素有着很强的鲁棒性,所以其跟踪效果要优于PID控制。最终得出直角坐标型气动机械手的仿真跟踪误差为0.4mm。本文根据直角坐标型气动机械手的工作原理以及扩张状态观测器PID控制的原理,利用LabVIEW软件平台编写上位机控制程序,从而控制机械手运动。为了保证系统信号输入稳定,对控制系统的伺服放大器进行了信号输入输出测试。并在此实验台的基础上,对机械手的多轴定位以及速度控制进行了实验,为直角坐标型气动机械手的轨迹跟踪实验打下基础。在前面已经完成工作的基础上,进行了气动机械手的轨迹跟踪实验。对机械手X、Y两轴进行了实验,通过实验结果与理论研究以及仿真结果进行对比分析,得出直角坐标型气动机械手轨迹跟踪最大误差为0.5mm,并且分析了误差原因。最终表明基于此控制方法的机械手,具有较好的运动控制效果。
[Abstract]:In recent years, Cartesian coordinate Pneumatic manipulators, like other pneumatic manipulators, have become more and more important in industrial production. However, due to some factors, such as kinematic coupling, system friction and strong compressibility of transmission medium, the system is very nonlinear, because of the kinematic coupling of Cartesian coordinate pneumatic manipulator. As a result, the cylinder appears stagnation in the process of motion and the system control accuracy is not high. Therefore, it is of great significance for industrial production to improve the precision of motion control of pneumatic servo manipulator based on these factors. In order to improve the motion control accuracy of pneumatic servo manipulator, on the one hand, the kinematics decoupling of multi-degree-of-freedom pneumatic servo manipulator is carried out in this paper, and the mathematical model is established according to the working principle of pneumatic servo system to reduce the nonlinearity of the system. On the other hand, using LabVIEW as the upper computer motion control platform and using the NI-7358 motion control card to design the controller to reduce the motion error and improve the control accuracy. On the basis of consulting a large amount of data, this paper summarizes the research status of multi-degree-of-freedom pneumatic servo manipulators at home and abroad, analyzes their advantages and disadvantages, and determines the research content and research direction of this paper. Based on the D-H coordinate system method, the motion trajectory planning of multi-axis pneumatic servo manipulator is studied, and the mathematical model of pneumatic servo system is established according to the mass flow equation of pneumatic servo system and the equation of valve controlled cylinder system. Finally, the system transfer function is obtained. On the basis of understanding the working performance and principle of the cylinder, servo valve and grating position sensor of the experimental platform, this paper reconstructs the experimental platform of the Cartesian coordinate pneumatic manipulator. According to the principle of system signal transmission, the servo amplifier is redesigned and the system controller is designed. Then, in order to better control the trajectory tracking of Cartesian coordinate pneumatic manipulator, the tracking performance of the system based on PID control and PID control based on extended state observer is studied in theory and simulation. It is found by comparison that the tracking effect of the control system based on PID control is not good, and that the system based on extended state observer PID control has strong robustness to external disturbance and system uncertainty, so its tracking effect is better than that of PID control. Finally, the simulation tracking error of Cartesian coordinate pneumatic manipulator is 0.4mm. According to the working principle of the Cartesian coordinate pneumatic manipulator and the principle of PID control of the expanding state observer, the control program of the upper computer is compiled by using the LabVIEW software platform to control the motion of the manipulator. In order to ensure the stability of the signal input, the servo amplifier of the control system is tested. On the basis of the experimental platform, the multi-axis positioning and velocity control of the manipulator are experimented, which lays a foundation for the trajectory tracking experiment of the Cartesian coordinate pneumatic manipulator. On the basis of the previous work, the trajectory tracking experiment of pneumatic manipulator is carried out. The experiment on the XY axis of manipulator is carried out. By comparing the experimental results with the theoretical research and simulation results, the maximum tracking error of the Cartesian coordinate pneumatic manipulator is obtained, and the error reasons are analyzed. Finally, it shows that the manipulator based on this control method has better motion control effect.
【学位授予单位】：昆明理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241
本文编号：2257361
[Abstract]:In recent years, Cartesian coordinate Pneumatic manipulators, like other pneumatic manipulators, have become more and more important in industrial production. However, due to some factors, such as kinematic coupling, system friction and strong compressibility of transmission medium, the system is very nonlinear, because of the kinematic coupling of Cartesian coordinate pneumatic manipulator. As a result, the cylinder appears stagnation in the process of motion and the system control accuracy is not high. Therefore, it is of great significance for industrial production to improve the precision of motion control of pneumatic servo manipulator based on these factors. In order to improve the motion control accuracy of pneumatic servo manipulator, on the one hand, the kinematics decoupling of multi-degree-of-freedom pneumatic servo manipulator is carried out in this paper, and the mathematical model is established according to the working principle of pneumatic servo system to reduce the nonlinearity of the system. On the other hand, using LabVIEW as the upper computer motion control platform and using the NI-7358 motion control card to design the controller to reduce the motion error and improve the control accuracy. On the basis of consulting a large amount of data, this paper summarizes the research status of multi-degree-of-freedom pneumatic servo manipulators at home and abroad, analyzes their advantages and disadvantages, and determines the research content and research direction of this paper. Based on the D-H coordinate system method, the motion trajectory planning of multi-axis pneumatic servo manipulator is studied, and the mathematical model of pneumatic servo system is established according to the mass flow equation of pneumatic servo system and the equation of valve controlled cylinder system. Finally, the system transfer function is obtained. On the basis of understanding the working performance and principle of the cylinder, servo valve and grating position sensor of the experimental platform, this paper reconstructs the experimental platform of the Cartesian coordinate pneumatic manipulator. According to the principle of system signal transmission, the servo amplifier is redesigned and the system controller is designed. Then, in order to better control the trajectory tracking of Cartesian coordinate pneumatic manipulator, the tracking performance of the system based on PID control and PID control based on extended state observer is studied in theory and simulation. It is found by comparison that the tracking effect of the control system based on PID control is not good, and that the system based on extended state observer PID control has strong robustness to external disturbance and system uncertainty, so its tracking effect is better than that of PID control. Finally, the simulation tracking error of Cartesian coordinate pneumatic manipulator is 0.4mm. According to the working principle of the Cartesian coordinate pneumatic manipulator and the principle of PID control of the expanding state observer, the control program of the upper computer is compiled by using the LabVIEW software platform to control the motion of the manipulator. In order to ensure the stability of the signal input, the servo amplifier of the control system is tested. On the basis of the experimental platform, the multi-axis positioning and velocity control of the manipulator are experimented, which lays a foundation for the trajectory tracking experiment of the Cartesian coordinate pneumatic manipulator. On the basis of the previous work, the trajectory tracking experiment of pneumatic manipulator is carried out. The experiment on the XY axis of manipulator is carried out. By comparing the experimental results with the theoretical research and simulation results, the maximum tracking error of the Cartesian coordinate pneumatic manipulator is obtained, and the error reasons are analyzed. Finally, it shows that the manipulator based on this control method has better motion control effect.
【学位授予单位】：昆明理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241
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