排爆机械臂虚拟样机运动控制的仿真研究  

Simulation Research on Virtual Prototype Motion Control of Explosive Disposal Robotic Manipulator

作　　者：陈涛 万熠[1,2] 荣学文[3] CHEN Tao;WAN Yi;RONG Xue-wen(Key Laboratory of High-Efficiency and Clean Mechanical Manufacture,College of Mechanical Engineering,Shandong Uni-versity,Shandong Ji’nan 250061,China;National Demonstration Center for Experimental Mechanical Engineering Education,Shandong University,Shandong Jinan 250061,China;School of Control Science and Engineering,Shandong University,Shandong Ji’nan 250061,China)

机构地区：[1]山东大学机械工程学院,高效洁净机械制造教育部重点实验室,山东济南250061 [2]山东大学机械工程国家级实验教学示范中心,山东济南250061 [3]山东大学控制科学与工程学院,山东济南250061

出　　处：《机械设计与制造》2020年第6期282-285,共4页Machinery Design & Manufacture

基　　金：山东省重点研发计划(2017CXGC0917);山东大学基本科研业务费专项资金资助(2017JC041)。

摘　　要：国内外反恐形势日趋严峻,各国积极推进排爆机器人开发.针对排爆机器人机械臂的轨迹跟踪问题,展开控制模型仿真研究,使用MATLAB和ADAMS软件实现机械臂的虚拟样机建模、控制系统设计与系统仿真,将常规PID与模糊PID分别应用于联合仿真系统的设计.阶跃响应曲线显示,相对于常规PID,模糊PID减少了25.2%的超调量;正弦轨迹跟踪曲线显示,相对于常规PID,模糊PID减少了13.8%的超调量,响应时间缩短了22.8%.仿真研究显示,模糊PID模型拥有更快的响应速度及更优的轨迹跟踪质量,更适合作为排爆机械臂的控制方式.The domestic and foreign anti-terrorism situation is becoming increasingly severe,and countries have actively promoted the research of EOD robots.For the trajectory tracking problem of EOD robotic manipulator,the simulation of the control model is studied.The virtual prototype modeling of robotic manipulator,the control system and the electromechanical integration simulation are completed by using MATLAB and ADAMS.Using conventional PID and fuzzy PID control strategies to build the control system,the step response curves of the co-simulation show that compared with the conventional PID,the fuzzy PID can reduce overshoot by 25.2%and the sinusoidal trajectory tracking curves of the co-simulation show that compared with the conventional PID,the fuzzy PID can reduce overshoot by 13.8%and the response time is shortened by 22.8%.The simulation results indicate that the designed fuzzy PID has faster response and better trajectory tracking performance than conventional PID,and it is suitable for choosing fuzzy PID as the control method for the EOD manipulator.

关 键 词：排爆机械臂 虚拟样机 联合仿真 模糊PID 常规PID 

分 类 号：TH16[机械工程—机械制造及自动化] TP241.3[自动化与计算机技术—检测技术与自动化装置]