平面三自由度可控挖掘机构动力学建模与控制器设计  

DYNAMIC MODELING AND CONTROLLER DESIGN OF A PLANAR 3-D OF CONTROLLABLE EXCAVATING MECHANISM

作　　者：潘宇晨[1,2] 蔡敢为[2] 吴笃超 张金玲[2] 高德中[2] 

机构地区：[1]钦州学院物理与电子工程学院,钦州535099 [2]广西大学机械工程学院,南宁530004 [3]国电科学技术研究院,南京210031

出　　处：《动力学与控制学报》2014年第1期67-73,共7页Journal of Dynamics and Control

基　　金：国家自然科学基金资助项目(51075077);广西制造系统与先进制造技术重点实验室主任课题(09-007-05S013);广西高校人才小高地建设创新团队资助计划~~

摘　　要：以一种平面三自由度可控挖掘机构为例,运用拉格朗日方法建立了机构的刚体动力学模型,求解得到了各主动杆的系统广义力;进而针对其半闭环控制系统的控制策略进行研究,基于机构驱动元件-交流控制电机及其驱动器的数学模型,运用模糊算法设计了一种模糊-PID双模控制器并对其进行仿真分析.结果表明:基于模糊算法的控制器在超调量、调节时间、上升时间和抗干扰能力等方面均具有较好性能,满足系统的控制要求.By using Lagrangian methods, the rigid body dynamics model was established for a planar 3-DOF controllable excavating mechanism. Based on the system generalized forces of the three driven bars, the control strategy of the semi-closed loop control system was studied. A Fuzzy-PID dual-mode controller was introduced and analyzed by using fuzzy algorithm based on the mathematical model of mechanism driven components-AC servo motors. The simulation results indicate that the proposed controller has better performance in overshoot, adjusting time, rise time and anti-interference ability, which can satisfy the control requirements of the system.

关 键 词：多自由度可控机构 挖掘机 动力学 模糊-PID控制 

分 类 号：TU621[建筑科学—建筑技术科学] TH113[机械工程—机械设计及理论]