大型串联臂架系统工作端轨迹控制研究

发布时间：2018-02-27 16:01

本文关键词： 大型臂架系统轨迹控制区域划分仿人智能控制双向死区补偿抗流量饱和控制位置恒定无指令输入整形　出处：《燕山大学》2016年博士论文　论文类型：学位论文

【摘要】：随着城市化进程的加快以及基础交通工程建设的需求,大型臂架系统得到越来越广泛的应用,例如高空作业车的臂架系统,用于混凝土输送的混凝土泵车臂架系统等。目前,这类大型臂架系统的自动化程度较低,严重制约了施工效率以及整体施工水平的提高,因此开展大型臂架系统工作端轨迹控制的研究具有重要的理论与现实意义。大型臂架系统多为冗余度系统,具有强的非线性和柔性特性,而且在实际应用中大型臂架的轨迹运动具有任意性和高实时性的要求,这些客观的因素给大型臂架系统工作端轨迹运动的实现带来挑战。本课题以混凝土泵车臂架系统为具体研究对象,分别从具有冗余度臂架系统的轨迹规划,关节的伺服控制,轨迹的控制试验,以及臂架振动的主动控制等方面展开研究,研究的内容主要包括:(1)建立臂架系统的D-H坐标系并进行正运动学分析。针对多冗余度的臂架系统,提出一种基于区域划分的轨迹规划方法,通过将臂架系统工作端的工作空间划分成若干个规则子区域,并在各子区域中给定前三关节的优化规则,将原冗余度系统转换为非冗余度系统,实现臂架系统逆运动学的快速求解,解决了轨迹规划的实时性问题。由引入的区域划分和优化规则得到前三关节的全局优化轨迹,以实现臂架系统的平稳运动。通过对各关节处驱动机构的分析,建立关节空间与驱动空间之间的运动关系。(2)对于关节的运动控制,提出基于流量前馈和仿人智能控制相结合的控制策略,通过应用间接式的测量方式获取相对精确的系统流量特性以提高前馈控制的精度;通过模拟人的思维和控制行为给出系统的误差特征模型,并制定相应的控制模态和推理规则,提出的综合控制策略能够有效克服臂架系统中强非线性和参数不确定性因素对轨迹控制的影响,实现关节精确、平稳的运动控制。对系统中的时变死区特性提出基于深度的双向补偿策略,通过制定不同方向的多段式补偿措施,解决由于扰动而引起的比例阀频繁换向问题。对轨迹运动中的流量饱和问题提出一种抗流量饱和控制策略,依据系统的最大流量实时地修正工作端的指令速度,实现了臂架工作端在供给流量不足情况下仍能完成既定运动轨迹,并保持较高的使用效率。(3)应用lagrange法建立臂架系统强非线性的柔性多体动力学模型,基于建立的模型应用数值法分析臂架系统在周期性外部激励下的振动响应。基于分析的结果,针对由外部激励引起的臂架振动提出位置恒定无指令输入整形的主动控制策略,通过设计具有相反方向的双脉冲控制作用,实现对臂架系统振动的快速抑制,并避免减振过程中引发的臂架位置偏移。(4)设计臂架轨迹控制系统的硬件体系以及遥控功能,基于真实的臂架平台进行典型直线轨迹运动控制试验。试验结果表明,本文所提出的解决方案是切实可行的,能够实现臂架系统平稳、精确的轨迹运动。以上问题的解决为大型臂架系统运动控制的工程应用奠定了基础。
[Abstract]:Along with the city to speed up the process and demand of traffic engineering construction, large arm system is applied more and more widely, such as aerial work truck boom system for concrete conveying of concrete pump truck arm system. At present, the degree of automation of this kind of large arm system is low, seriously restricted the construction the efficiency and the overall construction level, so it has important theoretical and practical significance to research the large arm system working end trajectory control. Large jib system for redundant system, has the characteristics of nonlinear and strong flexibility, but also in the practical application of large arm trajectory is arbitrary and high real time for the realization of these objective factors to the frame system of large arm trajectory challenge. Subject to the boom system of concrete pump truck as the research object, separately from the Trajectory planning with redundant arm system, joint servo control, trajectory control test, research and boom of active vibration control, the main contents of the study include: (1) the establishment of arm system D-H coordinates and kinematics analysis for boom system with multi degree of redundancy. This paper presents a trajectory planning method based on region partition, the working space of the division of the boom system working end into a plurality of sub regional, and given the optimization rule before three joints in each sub region, converting the original redundant system for non redundant system, realize the fast solution of the inverse kinematics of boom system that solves the problem of real-time trajectory planning. The first three joint global optimization trajectory obtained by the regional division and the optimization rule is introduced, in order to realize the smooth movement of the boom system. Through the analysis of the joint driving mechanism, The motion relationship between the joint space and drive space. (2) for joint motion control, feedforward control strategy is proposed and the flow of human simulated intelligent control based on the combination of measurement by using indirect type acquisition system to improve the flow characteristics of a relatively accurate feedforward control precision by error; feature model thinking and behavior control the simulation system is given, and the corresponding control mode and inference rules, the integrated control strategy is put forward to overcome the boom system strong nonlinearity and parameter uncertainty factors on the impact of the implementation of joint trajectory control, accurate, stable motion control. The time-varying dead zone characteristics of a two-way depth compensation strategy based on the compensation measures formulated by multi segment in different directions, solve due to disturbance of the proportional valve. The frequent commutation trajectory in the This paper proposed an anti saturation traffic flow saturation control strategy, based on the maximum flow of real-time correction system working end command speed, realized the boom end in the work supply flow under can still complete its trajectory, and keep high using efficiency. (3) the dynamics of flexible multi-body model building boom system the application of nonlinear Lagrange method, vibration response analysis of boom system under periodic external excitation model is established based on the application of numerical method. Based on the results of the analysis, targeted by the external excitation vibration of boom caused by the proposed position constant active control strategy instruction input shaping, double pulse control function through the design with opposite direction to realize the rapid inhibition of the boom, the vibration of the system, and avoid the vibration induced during the boom of the offset position. (4) the hardware design boom trajectory control system and system The function of remote control, arm platform based on real typical linear trajectory motion control test. The test results show that the proposed scheme is feasible, can achieve the boom system stable trajectory accurately. To solve the above problems and laid the foundation for the engineering application of large arm motion control system.

【学位授予单位】：燕山大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP241

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