混联打磨清洗机器人智能控制系统设计  

Design of intelligent control system for hybrid grinding and cleaning robot

作　　者：李娜娜[1] 韩海燕[1] 曹凡[1] LI Nana;HAN Haiyan;Cao Fang(City College,Xi'an Jiaotong University,Xi'an 710018,China)

机构地区：[1]西安交通大学城市学院

出　　处：《自动化与仪器仪表》2019年第10期9-12,17,共5页Automation & Instrumentation

基　　金：陕西高等教育教学改革研究项目:基于OBE的应用型本科人才培养模式创新研究与实践—以机械设计制造及其自动化专业为例(No.17BZ055);西安交通大学人工智能机器人研究院:“工业机器人抛光执行末端设计及开发”(No.KY2018-38)

摘　　要：针对混联打磨清洗机器人控制响应时间长以及控制稳定效果较差的问题,设计一个专门的控制系统。该系统设计主要分为三部分,首先根据系统功能需求设计系统整体框架,包括上位机、下位机以及报警控制三个层级,然后设计系统硬件,包括PLC控制器、触摸屏显示器、伺服系统以及传感器四部分,最后针对PLC控制器设计核心控制软件运行流程,即控制系统操作混联机器人进行打磨清洗。根据响应时间测试系统控制性能,仿真测试结果表明:与两个传统控制系统相比,本系统控制下,响应时间缩短0.316 s和0.466 s,由此可见本系统控制性能更优,弥补了传统系统存在的不足。Aiming at the problem of long control time and poor control stability effect of mixed grinding cleaning robot,a special control system is designed.The design of the system is mainly divided into three parts.Firstly,according to the system function,the overall framework of the system is designed,including three levels of upper computer,lower computer and alarm control.Secondly,the hardware of the system is designed,including four parts:PLC controller,touch screen display,servo system and sensor.Finally,the core control software operation flow is designed for the PLC controller,that is,the control system operates hybrid robot for grinding and cleaning.According the response time to test system control performance,the simulation test results show that compared with the two traditional control systems,the response time under the control of the system is shortened by 0.316 s and 0.466 s,which shows that the control performance of the system is better and makes up for the shortcomings of the traditional system.

关 键 词：混联打磨清洗机器人 控制 系统设计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]