风机叶片打磨机器人的动力学控制  

Dynamic control of wind turbine blade polishing robot

作　　者：张立勋[1] 卜迟武 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机械设计》2011年第6期29-32,共4页Journal of Machine Design

摘　　要：针对风机叶片打磨加工的特性,设计了可替代人工作业的机器人系统。在对风机叶片打磨机器人系统进行动力学建模的基础上,分别提取出移动平台和机械手的动力学模型。针对两个子系统分别采用了滑模控制和PD(比例微分)反馈控制。最后进行了仿真实验,通过对实验结果的分析得出:所建立的控制器可实现对风机叶片打磨机器人的有效控制,仿真结果符合移动机械手系统的相关特性。A robotic system substituting manual work for polishing the wind turbine blade is built by considering the polishing grinding features of wind turbine blade.After the dynamic modeling of the wind turbine blade polishing robot system was completed,the dynamic models of mobile platform and manipulator were extracted respectively.Sliding mode control and PD（Proportional-Derivative） feedback control are adopted for the two sub-systems correspondingly.Simulation experiment has been done.It has been obtained from analysis of the experiment results that the established controller can realize effective control of the wind turbine blade polishing robot.The simulation result is in accordance to related characteristics of mobile manipulator.

关 键 词：风机叶片 打磨 移动机械手 滑模控制 PD反馈控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]