摘要
针对重载棉桶搬运专用复合机器人纠偏控制过程存在的问题,对复合机器人本体机构、纠偏控制系统组成、纠偏控制关键电子检测元件、PID控制算法进行了阐述,对棉桶搬运专用AGV的电子纠偏原理、电子纠偏PLC实现方法、纠偏控制模型进行了研究,探讨了采用PID算法理论实现自导引车实时纠偏的控制方法;建立了AGV运动纠偏数学模型,运用Matlab软件进行仿真,获得PID纠偏算法响应曲线规律;设计了现场实际测试原理与方法,并进行实验样机的现场实地运行与测试,获得AGV运行实际轨迹与磁条中心线轨迹的偏差数据。研究结果表明:PID纠偏算法能够稳定快速地校正AGV的轨迹偏差,纠偏过程无超调、无振荡,纠偏精度≦±10 mm,达到国标设计规范要求,复合机器人整体运行平稳可靠。
Aiming at the rectification control of the special compound robot for heavy-duty cotton barrel handling, the structure of the robot body, the composition of the rectification control system, the key electronic detection element of the rectification control and the PID algorithm were expounded.. The electronic rectification principle, the realization method of PLC and the rectification model of the special AGV for cotton barrel handling were studied. The control method of PID algorithm to realize real-time correction of AGV were also discussed. The mathematical model of the AGV based on the motion correction was established and the response law of PID rectification algorithm was also obtained through simulation using the Matlab software. To carry out the field operation and testing of the experimental prototype the principle and method of testing was designed and the deviation data of the actual trajectory and magnetic center line trajectory were obtained. The results indicate that the PID algorithm can be used to correct the trajectory deviation of AGV rapidly and steadily. There is no overshoot and oscillation in the rectification process. The accuracy of rectification is within the range of ±10 mm, which meets the requirements of national standard. The overall operation performance of the compound robot is stable and reliable.
作者
杨前明
王俊基
崔克克
YANG Qian-ming WANG Jun-ji CUI Ke-ke(College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, Chin)
出处
《机电工程》
CAS
2017年第10期1208-1213,共6页
Journal of Mechanical & Electrical Engineering
基金
青岛市科学计划资助项目(QDKJX-201305-066)
关键词
复合机器人
实时纠偏
PID算法
实验测试
the compound robot
real-time correction
PID algorithm
the experimental testing
