爬杆机器人动力学仿真及其驱动转矩控制研究  

Dynamics Simulation and Driving Torque Control of Pole Climbing Robot

作　　者：罗刚 何涛[1,2] 许博 赵凯平 王顺[1,2] LUO Gang;HE Tao;XU Bo;ZHAO Kaiping;WANG Shun(Anhui Key Laboratory of Mine Intelligent Equipment and Technology,Anhui University of Science and Technology,Huainan 232001,Anhui,China;School of Mechatronics Engineering,Anhui University of Science and Technology,Huainan 232001,Anhui,China)

机构地区：[1]安徽理工大学矿山智能装备与技术安徽省重点实验室,安徽淮南232001 [2]安徽理工大学机电工程学院,安徽淮南232001

出　　处：《机械科学与技术》2024年第5期781-789,共9页Mechanical Science and Technology for Aerospace Engineering

基　　金：安徽省高校优秀青年人才支持计划(gxyq2022017);矿山智能装备与技术安徽省重点实验室开放基金项目(ZKSYS202101)。

摘　　要：为改善爬杆机器人驱动性能,结合机器人虚拟样机与动力学仿真,提出一种前馈补偿与PID调节优化驱动转矩波动的复合控制方法。在ADAMS中建立机器人多体动力学模型,进行了攀爬运动仿真;在Simulink中搭建了PID控制系统,调节夹块位移量;依据夹持传动的“力矩-位移”数学模型,建立了含有前馈补偿的复合控制系统。由联合仿真可知,采用单一PID控制的机器人,提高夹块位移控制精度会引起驱动转矩波动的增加;复合控制减少了驱动转矩的波动,且驱动转矩的调整幅值比PID控制降低了约24.7%,提高了机器人在攀爬运动中驱动系统的输出效能。In order to improve the driving performance of pole climbing robot,a compound control method of feedforward compensation and PID regulation was proposed to optimize the fluctuation of driving torque,combining with the virtual prototype and dynamic simulation of the robot.A multi-body dynamic model for robot via ADAMS was established to simulate the climbing movement,and a PID control system via Simulink was built to adjust the displacement.Then,a compound control system with feedforward compensation was established based on the"torque-displacement"mathematical model.The results of co-simulation show that the displacement control accuracy of robot is improved with the increasing of fluctuation of driving torque based on single PID control.Besides the fluctuation of driving torque is reduced based on the compound control,and the adjustment amplitude of the driving torque is decreased about 24.7%comparing with PID control,which improves the output energy efficiency of the driving system of the robot.

关 键 词：爬杆机器人 联合仿真 PID控制 转矩波动优化 

分 类 号：TB122[理学—工程力学] TP242[理学—力学]