铁路货车车钩钩舌组装机械手移动自动智能控制  

Automatic and intelligent control of railway freight car coupler tongue assembly robot arm movement

作　　者：刘瑞军 Liu Ruijun(Yulin Branch of China Energy Railway Equipment Co.,Ltd.,Shaanxi Shenmu,719316,China)

机构地区：[1]国能铁路装备有限责任公司榆林车辆维修公司,陕西神木719316

出　　处：《机械设计与制造工程》2024年第11期61-65,共5页Machine Design and Manufacturing Engineering

基　　金：陕西省科技攻关项目(2021AS-136);国能铁路装备有限责任公司榆林车辆维修分公司技术服务项目(GJNY-21-120)

摘　　要：铁路货车车钩钩舌组装以人工为主,智能化程度低,为此设计铁路货车车钩钩舌组装机械手移动自动智能控制方法。首先分析伺服电机控制机构,确定机械手控制相关参数。然后通过名义模型改进机械手动力学约束模型,获取机械手关节位置控制约束误差,将关节位置控制误差输入PID控制器中,利用改进萤火虫算法对PID控制器参数进行优化,实现铁路货车车钩钩舌组装机械手移动自动控制。实验结果表明,所提方法能够有效减小机械手位姿跟踪误差,平缓控制力矩波动,机械手移动控制效果好。The assembly of railway freight car couplers and hooks is mainly done manually with a low degree of intelligence.Therefore,a mobile automatic intelligent control method for the assembly of railway freight car couplers and hooks is designed.Firstly,it analyzes the servo motor control mechanism and determines the relevant parameters for controlling the robotic arm.Then,the mechanical constraint model of the robotic arm is improved through a nominal model to obtain the joint position control constraint error of the robotic arm.The joint position control error is input into the PID controller,and the improved firefly algorithm is used to optimize the parameters of the PID controller,achieves the automatic control of the movement of the railway freight car hook tongue assembly robotic arm.The experimental results show that the proposed method can effectively reduce the pose tracking error of the robotic arm,smooth the control torque fluctuation,and achieve good control effect on the movement of the robotic arm.

关 键 词：机械手 移动控制 动力学模型 PID控制器 改进萤火虫算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]