矿山液压重载机械臂远程控制器与滤波器设计  

Design of Remote Controller and Filter for Mine Hydraulic Heavy Haul Manipulator

作　　者：周晟刚 ZHOU Sheng-gang(Anhui Academy of Coal Science,Hefei 230001,China)

机构地区：[1]安徽省煤炭科学研究院,安徽合肥230001

出　　处：《液压气动与密封》2023年第11期78-83,共6页Hydraulics Pneumatics & Seals

基　　金：安徽省高校科研院所省级课题(S202204s03020015)。

摘　　要：在智能矿山液压重载机械臂的控制中,如果要实现远程控制,当前的控制器很容易受到外部随机噪声干扰,出现机械臂动作脱离控制的情况。为此,提出一种矿山液压重载机械臂远程控制器与滤波器设计方法。基于导线、控制器、收发器与终端电阻设计矿山液压重载机械臂CAN控制器,结合Gabor框架及傅里叶变换设计CAN通信控制器信号采集方法。通过引入小波包变换方法设计一种滤波器,使用滤波器对机械臂通信信号进行干扰滤波,保证远程通信控制信号的准确性。实验结果表明:研究的滤波输出方法能够有效提高远程通信控制信号的信噪比,降低信号的滤波输出延时,提高矿山液压重载机械臂之间的通信控制能力。In the control of intelligent mining hydraulic heavy-duty robotic arms,if remote control is to be achieved,the current controller is prone to external random noise interference,resulting in the robotic arm s movement being out of control.Therefore,a design method of remote controller and Filter design for mine hydraulic heavy haul manipulator is proposed.Design a CAN controller for mining hydraulic heavy-duty robotic arm based on wires,controllers,transceivers,and terminal resistors.Combine the Gabor framework and Fourier transform to collect CAN communication controller signals.Design a filter using wavelet packet transform method,and use the filter to interfere with the communication signal of the robotic arm,ensuring the accuracy of remote communication control signals.The experimental results show that the filtering output method studied in this study can effectively improve the signal-to-noise ratio of remote communication control signals,reduce the filtering output delay of signals,and improve the communication control ability between mining hydraulic heavy-duty mechanical arms.

关 键 词：矿山液压重载机械臂 机械臂远程控制 CAN通信信号 信号滤波 

分 类 号：TH137[机械工程—机械制造及自动化] TN915[电子电信—通信与信息系统]