拆除机器人回转机构PID-动压反馈控制研究  

Research on PID-dynamic Pressure Feedback Control of Slewing Mechanism for Demolition Robot

作　　者：常宽[1] 岑豫皖[1] 叶小华[1] 黄健中[1] 

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243000

出　　处：《液压与气动》2014年第6期43-45,54,共4页Chinese Hydraulics & Pneumatics

基　　金：安徽省科技厅自主创新项目(12z0101061)

摘　　要：拆除机器人回转过程的平稳性严重影响阀控系统的动态特性,为此建立了拆除机器人回转机构液压系统的数学模型,并提出了一种复合控制算法,在动压反馈调整系统阻尼的基础上,采用了PID控制器来控制平台的回转角度。Simulink仿真结果表明,此方法达到了提高大惯量负载系统响应速度,减小系统冲击的效果。The smoothness of the demolition robot during slewing process has a serious impact on the dynamic characteristics of the value control system. A Mathematical model of the hydraulic system of demolition robot slewing mechanism is presented in this paper, and a compound control algorithm is proposed. On the basis of the dynamic pressure feedback which can adjust system damping, the PID controller is use to control the rotating angle of platform. Simulation results by Simulink show that this method can improve the system response speed and reduce the system impact effect.

关 键 词：拆除机器人 动压反馈 PID控制器 

分 类 号：TH137[机械工程—机械制造及自动化]