基于关节速度的液压比例驱动工程机械臂位姿控制  

Hydraulic Proportional Actuated Arm Pose Control Based on Joint Velocity

作　　者：高波 王珞豪 GAO Bo;WANG Luo-hao(College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao, Shandong 266590)

机构地区：[1]山东科技大学电气与自动化工程学院,山东青岛266590

出　　处：《液压与气动》2021年第3期54-61,共8页Chinese Hydraulics & Pneumatics

基　　金：国家重点研发计划(2017YFC0805203);山东省重点研发计划(2019SDZY0304)。

摘　　要：为了解决液压驱动工程机械臂在实际工程作业中加装位置传感器会使得系统复杂,从而可靠性降低,以及在关节处位置闭环伺服控制会导致液压系统效率降低的问题,提出在比例液压油缸驱动的机械臂中用位姿闭环而非关节位置闭环构成机器人控制系统。使用惯性导航、激光雷达、视觉等获得机械臂末端姿态,通过机器人运动学逆解得到当前关节值,与目标关节值形成闭环从而获得关节速度给定值。通过比例液压系统驱动机械臂关节,进而控制位姿变化。推导了负载敏感比例阀控液压油缸传递函数、陀螺仪姿态解算方程并对机械臂进行逆运动学分析。使用MATLAB/Simulink建立基于关节速度控制的液压驱动机械臂位姿闭环控制仿真模型,进行仿真实验,结果验证了控制方法的可行性。For the purpose of solving the problem that a position sensor is installed in hydraulic driven construction manipulator makes the system complex and reducing the reliability,and the position closed-loop servo control at the joint reduces the hydraulic system efficiency.This paper presents a robot control system constructed in a proportional hydraulic cylinder actuated manipulator with pose closed-loop instead of joint closed-loop.Inertial navigation,laser radar,vision and so on are used to obtain the terminal manipulator pose.The inverse kinematics solution obtains the current joint value and forms a closed-loop with the target joint value to obtain the given joint velocity value.Through the proportional hydraulic system to drive the manipulator joints.Infer the load sensing proportional valve hydraulic cylinder transfer function and the pose calculation equation gyroscope derived.MATLAB/Simulink is used to establish the pose closed-loop control simulation model.The simulation experiment proves that the method is feasible.

关 键 词：工程机械臂 液压比例驱动 逆运动学 陀螺仪 

分 类 号：TH137[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]