水轮机修复专用机器人关节摩擦补偿及仿真  

Compensating joint friction and simulation on special-purpose robot's for hydraulic turbine repair

作　　者：杨萍[1] 袁小鹏[1] 李春玲[1] 

机构地区：[1]兰州理工大学机电工程学院,兰州730050

出　　处：《机械设计与制造》2008年第6期163-165,共3页Machinery Design & Manufacture

摘　　要：在用于轨迹跟踪的PD加前馈控制的基础上,对影响水轮机修复机器人轨迹跟踪的两个主要关节进行了摩擦力矩补偿。采用拉格朗日力学法建立了这两个关节的动力学模型。在MATLB下比较了未加入摩擦力补偿的PD控制以及基于模型补偿的PD加前馈控制。结果表明,加入摩擦力补偿的控制方案改善了系统的跟踪性能。On the basis of PD control with feedforward compensation for robot＇s trajectory tracking, a friction compensation for two main joints of the special-purpose robot for hydraulic turbine repair is applied. Adopting Lagrange method, robot＇s last two joints dynamics equations is set up. Tracking error is Compared with the without compensation controler in MATLB, The results show friction compensation controller based on model reference enhances the systems performance.

关 键 词：水轮机修复机器人 摩擦补偿 PD加前馈控制 仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]