摘要
根据本团队研发的一款新型悬挂式机器人越障稳定性的实际需求,基于机器人越障夹持机构设计了一款压力复合控制系统.该系统利用比例电磁阀、活塞气缸和压力压强传感器构建夹持机构气压闭环回路,通过分析系统工作原理,建立了气动压力控制系统的非线性模型,实现对夹持机构输出压力平稳,快速输出.为了避免机器本体对夹持机构压力输出干扰,运用前馈控制策略集合夹持机构自身控制系统设计了复合控制系统.通过对机器人本体常规受力分析,分析出扰动参数的影响,计算出夹持机构压力控制系统的扰动补偿,及时修正夹持机构压力偏差,提高机器人压力控制精度.实验结果表明,该系统压力输出稳定,输出压力0到550N之间可调,压力波动小于3N,对外部干扰由较强的鲁棒性.该系统基本满足巡线机器人对央持机构压力输出稳定性和精度的需求.
According to the actual needs of the team developed a new suspension robot obstacle stability,based Robot Obstacle pressure clamping mechanism designed a complex control.The system uses the proportional solenoid valve,piston and cylinder pressure sensor and a pressure build closed-loop pneumatic clamping mechanism,by analyzing the system works,the establishment of a non-linear model of the pneumatic pressure control system to achieve steady output pressure of the clamping mechanism,fast output.To avoid the machine body for gripping mechanism pressure output interference,the use of feed-forward contol strategy before clamping mechanism set up its own control system design complex control system.Through the robot body routine stress analysis,to analyze the impact of the disturbance parameters,calculate the disturbance compensation clamping mechanism pressure control system,timely correction pressure deviation clamping mechanism,improve the accuracy of pressure control robot.Experimental results show that the system pressure output stable,adjustable between 0 to 550N output pressure,pressure fluctuation is less than 3N,extermal interference by the robustness.The system basically meet the inspection robot for gripping mechanism pressure output stability and accuracy requirements.
作者
石欣
占博
张琦
Shi Xin;Zhan Bo;Zhang Qi(College of Automation,Chongqing University,Chongqing 400044,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2015年第S01期136-142,共7页
Chinese Journal of Scientific Instrument
关键词
巡线机器人
气动比例阀
扰动补偿
复合控制
patrol robot
Disturbance compensation
Pneumatic proportional valve
compound control
