锯切木材送料平台仿人工送料姿态的误差与控制策略  

Error and Control Strategy of Artificial Feeding Attitude of Sawing Wood Feeding Mechanism

作　　者：朱莉[1] 姜中金 孟兆新[2] Zhu Li;Jiang Zhongjin;Meng Zhaoxin(Northeast Forestry University,Harbin 150040,P.R.China)

机构地区：[1]东北林业大学机电工程学院,哈尔滨150040 [2]东北林业大学,哈尔滨150040

出　　处：《东北林业大学学报》2021年第12期138-143,共6页Journal of Northeast Forestry University

基　　金：中央高校基本科研业务费专项(2572018CP08)。

摘　　要：以锯切木材平台的仿人工送料姿态为研究对象,依据神经网络的实时更新算法估计轮廓误差,并结合改进的猫群算法对PID参数进行优化,设计了多轴联动的运动控制策略,按照规定指令做出更加精准送料动作,补偿送料平台的系统误差;运用多体动力学软件(ADAMS)、矩阵实验室(MATLAB)进行建模仿真,分析补偿前传统PID优化算法与改进后优化算法的差异,检验改进后优化算法的有效性。结果表明:改进后的优化算法优化过的系统,最大轮廓误差从4.5 mm缩小至1.5 mm;与进给方向垂直方向(x轴方向)的跟踪误差从0.6 mm以内减小到0.2 mm以内,进给方向(y轴方向)的跟踪误差从6.0 mm以内减小到2.1 mm以内;且补偿后的三轴丝杠滑块运动路线以及送料平台的运动路线与对应的理论轨迹基本重合,说明应用改进后优化算法的送料平台,运动精度符合精密曲线锯切的要求。Taking the artificial feeding attitude of sawing wood Mechanism as the research object,the contour error is estimated according to the real-time update algorithm of neural network,and the PID parameters are optimized combined with the developed Cat Swarm Optimization.The multi axis linkage motion control strategy is designed to make more accurate feeding action according to the specified instructions and compensate the systematic error of the Feeding Mechanism;The multi-body dynamics software ADAMS and MATLAB are used for modeling and simulation,the difference between the traditional PID optimization algorithm before compensation and the improved optimization algorithm is analyzed,and the effectiveness of the improved optimization algorithm is tested.The maximum contour error of the optimized system is reduced from 4.5 to 1.5 mm.The tracking error in the x-axis direction(perpendicular to the feed direction)is reduced from within 0.6 to 0.2 mm,and the tracking error in the y-axis direction(feed direction)is reduced from within 6.0 to 2.1 mm.The motion path of the compensated three-axis lead screw slider and the motion path of the Feeding Mechanism basically coincide with the corresponding theoretical trajectory,showing that the motion accuracy of the Feeding Mechanism using the improved optimization algorithm would meet the requirements of precision curve sawing.

关 键 词：木工带锯机 带锯机送料平台 轮廓误差 误差补偿 神经网络 

分 类 号：S777[农业科学—森林工程] TS642[农业科学—林学]