基于PLC技术的重载混联式液压机械臂运动优化控制方法研究  

Research on Motion Optimization Control Method of Heavy Duty Hybrid Hydraulic Manipulator Based on PLC Technology

作　　者：韩明刚[1] 党世红[1] HAN Ming-gang;DANG Shi-hong(School of Electrical and Mechanical,Xianyang Vocational Technical College,Xianyang 712000,China)

机构地区：[1]咸阳职业技术学院机电学院,陕西咸阳712000

出　　处：《液压气动与密封》2023年第10期55-58,共4页Hydraulics Pneumatics & Seals

基　　金：陕西省科技厅重点研发计划项目(2023-YBGY-217);咸阳市科技局“揭榜挂帅”科技项目(L2022-JBGS-GY-07)。

摘　　要：重载混联式液压机械臂运行在复杂多变的工作环境下,高负荷运行需要稳定的运动控制。针对重载混联式液压机械臂可变工况下运动控制失稳现象,在液压机械臂系统结构和动力学分析的基础上,对液压机械臂的模块间通讯进行优化,构建了基于CANopen的分布式通讯结构;利用PLC作为运动优化控制技术,设计了双闭环的运动控制策略;在真实模拟的重载混联式液压机械臂运动控制试验环境中验证控制方法的可靠性。实验结果分析可以看出,该控制方法能够快速的提升重载混联式液压机械臂运动稳定性和动态响应能力。The heavy-duty hybrid hydraulic robotic arm operates in complex and ever-changing working environments,and high load operation requires stable motion control.In response to the instability of motion control under variable working conditions of the heavy-duty hybrid hydraulic robotic arm,based on the analysis of the hydraulic robotic arm system structure and dynamics,the inter module communication of the hydraulic robotic arm is optimized,and a distributed communication structure based on CANopen is constructed,Using PLC as a motion optimization control technology,a dual closed-loop motion control strategy was designed.The reliability of the control method was verified in a real simulated heavy-duty hybrid hydraulic manipulator motion control experimental environment.The analysis of the experimental results shows that the control method can quickly improve the motion stability and dynamic response ability of the heavy-duty hybrid hydraulic manipulator.

关 键 词：液压机械臂 运动控制 可变工况 CANOPEN PLC 双闭环 稳定性 

分 类 号：TH137[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]