破拆机器人工作装置的动态特性与控制研究

发布时间：2018-10-10 12:04

【摘要】：破拆机器人是一种远距离遥控并具备精确定点定位作业能力的大型多功能工程机械装备,在各类灾害环境下展开破拆、挖掘、剪切、搬运等作业。破拆机器人实现智能拆除的基础是工作装置的运动控制,而破拆机器人工作装置的驱动机构是非对称液压缸,实现自动拆除的关键在于对其进行电液比例控制。因此,本课题基于电液比例控制技术、机器人学、机械建模和智能控制理论等知识,对破拆机器人工作装置驱动机构的控制系统进行了研究,目标是在考虑一些非线性因素下研究破拆机器人液压系统的动态特性和控制策略。本论文的主要内容如下:⑴简单介绍破拆机器人,并对国内外液压非线性控制研究状况进行了概述。⑵建立了破拆机器人ADAMS机械模型并进行了运动学和动力学仿真分析。⑶根据对闭环位置控制系统分析,分别对破拆机器人工作装置的液压系统各元件建立基本数学模型,进而建立液压系统的传递函数,研究系统的一些关键参数等效质量、固有频率等对整个系统动态特性的影响,以及估算系统的其他参数。⑷由于存在摩擦力、外界干扰力、死区等不确定因素,使液压系统是个非线性系统,动态特性十分复杂,因而采用基于线性系统的传统控制理论设计的控制器的鲁棒性和抗干扰能力较差,难以得到好的控制效果,而人们所期望的控制系统要求稳态误差小、响应快速、鲁棒性强,可靠性高,因此本文将建立基于SimuLnki的电液比例位置控制系统的离线仿真模型,针对系统参数变化与干扰力的影响,分别采用了PID控制算法与滑模变结构控制算法对电液比例位置控制系统进行了对比仿真和动态特性分析。⑸死区是液压系统的一个重要非线性因素,所以建立死区非线性补偿模型,以降低死区对系统控制品质的影响。⑹ADAMS和SimuLnki联合仿真技术能更加准确的模拟实际系统的工作状态,因而本文对系统又进行了ADAMS和Matlab/SimuLnki联合仿真分析。在系统参数变化、施加外干扰力及死区非线性因素存在的情况下,对电液比例位置控制系统进行联合仿真。与PID控制相比,滑模变结构控制具有更好的动态特性,对被控对象的结构和参数变化以、外干扰力以及非线性因素,具有很强的鲁棒性和自适应能力,取得了较高的比例位置控制精度。
[Abstract]:Breaking and dismantling robot is a kind of large multifunctional construction machinery equipment with the ability of remote control and precise fixed point positioning. It can carry out breaking, digging, cutting and handling operations in various disaster environments. The motion control of the working device is the basis of the intelligent demolition of the breaking and dismantling robot, and the driving mechanism of the work device of the breaking and dismantling robot is asymmetric hydraulic cylinder. The key to realize automatic demolition is to control the electro-hydraulic proportional control of the device. Therefore, based on the knowledge of electro-hydraulic proportional control technology, robotics, mechanical modeling and intelligent control theory, the control system of the driving mechanism of the broken robot is studied. The aim of this paper is to study the dynamic characteristics and control strategy of the hydraulic system of the broken robot considering some nonlinear factors. The main contents of this thesis are as follows: 1. The research status of hydraulic nonlinear control at home and abroad is summarized. (2) the ADAMS mechanical model of breaking down robot is established and the kinematics and dynamics simulation analysis is carried out. 3 according to the analysis of closed loop position control system, The basic mathematical model of each component of hydraulic system is established, and the transfer function of hydraulic system is established. The effects of some key parameters, such as equivalent mass and natural frequency, on the dynamic characteristics of the whole system are studied. And other parameters of the system. 4 because of the existence of friction, external interference, dead zone and other uncertain factors, the hydraulic system is a nonlinear system, and the dynamic characteristics are very complex. Therefore, the controller designed by the traditional control theory based on linear system has poor robustness and anti-jamming ability, and it is difficult to obtain good control effect. However, the expected control system requires small steady-state error, fast response and strong robustness. Because of the high reliability, the off-line simulation model of electro-hydraulic proportional position control system based on SimuLnki will be established in this paper. PID control algorithm and sliding mode variable structure control algorithm are used to simulate and analyze the dynamic characteristics of electro-hydraulic proportional position control system. 5 Dead-time is an important nonlinear factor in hydraulic system. Therefore, a dead-time nonlinear compensation model is established to reduce the influence of dead-time on the control quality of the system. The joint simulation technology of 6ADAMS and SimuLnki can more accurately simulate the working state of the actual system. Therefore, the system is analyzed by ADAMS and Matlab/SimuLnki. The electro-hydraulic proportional position control system is simulated in the presence of system parameters, external interference and dead zone nonlinear factors. Compared with the PID control, the sliding mode variable structure control has better dynamic characteristics, and it has strong robustness and adaptive ability to the change of structure and parameters of the controlled object, the external disturbance force and the nonlinear factor. High precision of proportional position control is obtained.
【学位授予单位】：安徽工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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