鞋面点烫生产线机械手的控制策略研究  

Research on the Control Strategy of the Manipulator of Automatic Dot-ironing Production Line for Sports Shoes Vamp

作　　者：程其鹏 孙以泽[2] CHENG Qi-peng;SUN Yi-ze(College of Mechanical Engineering,Donghua University,Shanghai 201620,China;Textile and Equipment Engineering Research Center,Ministry of Education,Donghua University,Shanghai 201620,China)

机构地区：[1]东华大学机械工程学院,上海201620 [2]东华大学纺织装备教育部工程研究中心,上海201620

出　　处：《自动化与仪表》2018年第3期30-33,79,共5页Automation & Instrumentation

基　　金：教育部创新团队发展计划项目(TRT_16R12)

摘　　要：该文以鞋面自动点烫生产线机械手为研究对象,建立基于气缸活塞的数学模型,根据气缸受力平衡及理想气体的等熵及流量方程,做出系统的控制框图并推导其传递函数。结合模糊控制和免疫PID控制的优点,设计了一种模糊免疫PID控制器。用模糊控制在线调节参数KI和KD,用模糊免疫控制算法在线调节参数KP。Matlab仿真试验结果表明,该方法比模糊PID控制具有超调量更小、响应速度更快、鲁棒性更强等特点,实现了机械手的柔性定位,为后续多缸控制等研究奠定了基础。Based on the manipulator of automatic dot-ironing production line for sports shoes vamp,a mathematical model based on cylinder piston is established,and according to the cylinder force balance and the ideal gas isentropic and flow equation,the system control block diagramand is established and its transfer function is derived.Combining the advantages of fuzzy control and immune PID control,a fuzzy immune PID controller is designed.The parameter KI and KD are adjusted with fuzzy control,and KP is regulated by the fuzzy immune control algorithm.The Matlab simulation results show that this method has a smaller overshoot,faster response speed and robustness than fuzzy PID control,achieve a flexible positioning and lays the foundation for subsequent research.

关 键 词：鞋面点烫生产线 气动机械手 柔性定位 模糊PID控制 模糊免疫PID控制 

分 类 号：TH273[机械工程—机械制造及自动化]