基于联合仿真的机械手进给机构控制器设计  

Design of Manipulator Feed Mechanism Controller Based on Joint Simulation

作　　者：杜太行 安春晖 孙曙光 刘辉 梁杰 李亚杰 DU Tai-hang;AN Chun-hui;SUN Shu-guang;LIU Hui;LIANG Jie;LI Ya-jie(School of Artificial Intelligence,Hebei University of Technology,Tianjin 300130,China;Hebei Industrial Manipulator Control and Reliability Technology Innovation Center,Hebei University of Water Resources and Electric Engineering,Cangzhou 061000,Chin;School of Mechanical Engineering,Hebei University of Water Resources and Electric Engineering,Cangzhou 061000,Chin;School of Electrical Engineering and Automation,Hebei University of Water Resources and Electric Engineering,Cangzhou 061000,China)

机构地区：[1]河北工业大学人工智能与数据科学学院,天津300130 [2]河北水利电力学院河北省工业机械手控制与可靠性技术创新中心,沧州061000 [3]河北水利电力学院机械系,沧州061000 [4]河北水利电力学院电气自动化系,沧州061000

出　　处：《组合机床与自动化加工技术》2022年第7期52-56,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：河北省工业机械手控制与可靠性技术创新中心(河北水利电力学院)开放课题资助项目(JXKF2106);2020年河北省高等学校基本科研业务费研究项目(SYKY2003)。

摘　　要：辊道一体式玻璃上下片机械手对进给机构控制的准确性和快速性有很高的要求,进给机构的控制效果会影响玻璃抓取的成功率和效率。针对玻璃上下片机械手进给机构控制器设计问题,采用SolidWorks建立机械手的三维实体模型,通过Adams-MATLAB联合仿真的方式构建了机械手的仿真分析平台,在此基础之上设计了模糊PID控制器使控制参数能根据进给机构的运动情况进行自适应调整,同时引入量子遗传算法对模糊PID参数进行优化,以达到最优控制效果。基于平台的测试分析表明优化后的模糊PID控制器提升了机械手进给运动控制的准确性和快速性,从而获得了更佳的进给机构以及玻璃质心运动性能指标。The roller conveyor integrated glass loading and unloading manipulator has high requirements for the accuracy and rapidity of the feeding mechanism control.The control effect of the feeding mechanism will affect the success rate and efficiency of glass grasping.Aiming at the design problem of the feed mechanism controller of the glass loading and unloading manipulator,SolidWorks was used to establish the three-dimensional solid model of the manipulator,and the simulation analysis platform of the manipulator was constructed through the Adams-MATLAB co-simulation method.On this basis,a fuzzy PID controller was designed.The control parameters can be adjusted adaptively according to the motion of the feed mechanism,and the quantum genetic algorithm is introduced to optimize the fuzzy PID parameters to achieve the optimal control effect.The test analysis based on the platform shows that the optimized fuzzy PID controller improves the accuracy and rapidity of the manipulator's feed motion control,so as to obtain better performance indexes of the feed mechanism and glass centroid motion.

关 键 词：玻璃上下片机械手 联合仿真 模糊PID控制 量子遗传算法 

分 类 号：TH112[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]