基于倾角传感器的液压比例驱动机械臂位姿控制  

Posture Control of Hydraulic Proportional Drive Robot Arm Based on Inclination Sensor

作　　者：高波 李法康 GAO Bo;LI Fakang(College of Electrical Engineering and Automation,Shandong University of Science and Technology,Qingdao Shandong 266590,China)

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：《机床与液压》2023年第18期38-44,共7页Machine Tool & Hydraulics

基　　金：山东省重点研发计划(2019SDZY0203)。

摘　　要：喷浆机器人的最佳喷浆工艺要求喷浆机器人的喷枪根据巷道位置及姿态进行控制。根据喷枪相对基座水平运动或竖直运动时的位置求解得到关节角度,采用倾角传感器实时测量关节角度,根据求解角度与测量角度形成位置闭环,进而驱动关节完成喷浆动作。使用MATLAB/Simulink建立基于倾角传感器和负载敏感比例阀控液压系统构建的关节位置闭环控制系统的仿真模型,采用电压阶跃补偿的方式消除比例阀死区带来的延迟,采用改进型Smith预估器消除纯滞后环节对控制系统的影响,最终验证了该方法的合理性以及可行性。The optimal slurry spraying process of the slurry spraying robot requires the gun of the slurry spraying robot to be controlled with respect to the position and attitude of the roadway.The joint angle was obtained by solving for the position of the gun in horizontal or vertical motion relative to the base,and the joint angle was measured in real time using an inclination sensor,a closed-loop position was formed based on the solved angle and the measured angle to drive the joint to complete the spraying action.The simulation model of the joint position closed-loop control system based on the inclination sensor and load-sensitive proportional valve control hydraulic system was established by using MATLAB/Simulink,and the delay caused by the dead zone of the proportional valve was eliminated by using the voltage step compensation method,and the influence of the pure hysteresis link on the control system was eliminated by using the improved Smith predictor,the rationality and feasibility of the method was verified finally.

关 键 词：喷浆机器人 倾角传感器 电压阶跃补偿 改进型Smith预估器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]