智能PID控制在攀爬机器人夹紧机构中的应用  

The study on application of intelligent PID controller to clamp mechanism of the Climbing Robot

作　　者：张连滨[1] 葛浙东[1] 刘传泽[1] 曹正彬 周玉成[1] 

机构地区：[1]山东建筑大学信息与电气工程学院,济南250101

出　　处：《木材加工机械》2016年第5期32-35,共4页Wood Processing Machinery

基　　金：山东省泰山学者优势特色学科人才团队支持计划

摘　　要：提出团队开发的基于木结构古建筑和活立木的攀爬机器人攀爬作业时整体抖动问题解决方案。针对攀爬机器人夹紧机构夹紧力不易精确控制,机器人攀爬过程中易抖动、运动状态不稳定等问题,提出一种智能PID控制算法,通过自动调整PID增益参数,智能控制横向液压推杆进给速率,同时有效控制与调节了夹紧力度,克服传统控制方式带来的机器人行进步长控制不精,行进过程抖动幅度大和运动不稳定的问题。实际应用与测试结果表明:智能PID控制算法可及时响应攀爬机器人夹紧动作,并使抖动幅度≤0.1mm,夹紧控制误差在≤0.2mm,运动状态稳定,达到承载检测设备沿杆状物稳定攀爬的工作目的。In this paper, we proposed a solution to solve the chattering problem of the climbing robot which our team developed for ancient timber work building and living trees.Insufficient clamping force would lead to the phenomenon of chattering problem and unstable motion state in the climbing process,which has low accuracy. In order to solve the problem,an intelligent PID control algorithm is proposed, which can adjust the PID gain parameter automatically, intelligently control the feed rate of the lateral hydraulic pressure putter, effectively control and adjust the clamping force. Therefore, it can overcome the problems of traditional control methods, such as inaccurate control of the moving step of the robot, large chattering amplitude during moving process, and unstable movement. The practical application and test results indicated that the intelligent PID control algorithm can respond to the climbing robot＇s clamping action in time and keep the chattering amplitude less than or equal to 0. 1mm, the clamping error less than or equal to 0.2mm, and the climbing robot can carry testing equipment and complete climbing mission steadily.

关 键 词：攀爬机器人 夹紧机构 智能PID控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]