角钢塔螺栓的紧固控制技术  

Bolts Tightening Technology of Angle-Steel Tower

作　　者：王向周[1] 陈旸 赵国强 韩谦 WANG Xiangzhou;CHEN Yang;ZHAO Guoqiang;HAN Qian(School of Automation,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《北京理工大学学报》2024年第4期395-402,共8页Transactions of Beijing Institute of Technology

基　　金：国家电网有限公司总部科技资助项目(5200-2020036147A-0-0-00)。

摘　　要：针对角钢塔螺栓紧固作业需求,研究了一种轻量化、扭矩可准确控制的电动扳手.为了解决轻量化问题,提出了一种自抗扰控制器与滑模观测器融合算法,实现了无扭矩传感器的电动扳手扭矩参数估计与控制.首先,将自抗扰控制器引进扭矩环、速度环,在对其总扰动量进行估计的同时得到角加速度的估计值,然后将该角加速度值作为二阶滑模观测器的输入进行紧固扭矩值的估计,解决了二阶滑模观测器中变量的导数值难以获得的问题.仿真和实验结果表明,与传统PID控制器、滑模控制器相比,所提方法可实现扭矩的准确估计,具有扭矩调节时间短,超调小的特点.To address the challenges associated with bolt fastening procedures on angle-steel towers,a lightweight electric wrench with precise torque control was developed.A fusion algorithm combining the disturbance rejection controller and the sliding mode observer was proposed,achieving precise torque estimation and control of the electric wrench without the need for a torque sensor.Firstly,an active disturbance rejection controller was introduced into the torque and speed loops to compensate for the total disturbance and obtain the estimated angular acceleration.Then the estimated angular acceleration was utilized as the input of the second-order sliding mode observer to estimate the tightening torque,which effectively addresses the difficulty of accurately obtaining the derivative value of variables in the second-order sliding mode observer.Both simulation and experimental results show that compared with traditional PID controller and sliding mode controller,the proposed control method can achieve more precise torque estimation,coupled with reducing adjustment time and minimizing overshoot.

关 键 词：电动扳手 螺栓紧固 自抗扰控制 扭矩控制 自抗扰与滑模观测器融合算法 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]