井下机械臂柔性关节轨迹分段控制方法设计  

Design of trajectory segmentation control method for flexible joint of underground mechanical arm

作　　者：王磊 房武利 房桦 WANG Lei;FANG Wuli;FANG Hua(CHN ENERGY Shendong Coal Group Co.,Ltd.,Ordos 017200,Inner Mongolia,China;Shandong Mudian Intelligent Technology Co.,Ltd.,Zhangqiu 250200,Shandong,China)

机构地区：[1]国能神东煤炭集团有限责任公司,内蒙古鄂尔多斯017200 [2]山东沐点智能科技有限公司,山东章丘250200

出　　处：《矿山机械》2024年第11期53-58,共6页Mining & Processing Equipment

基　　金：内蒙古科学项目基金“煤矿动力灾害发生机理技术研究”(sk20220001547)。

摘　　要：井下机械臂柔性关节工作空间存在不同的分层,在每一层的空间边界,存在大量的随机控制阈值触发点,使得工作空间边界的控制点分布越来越不均匀。固定段程调整的方式很难适应这种随机性和不均匀性,存在明显的轨迹控制失真问题。结合机械臂柔性关节多自由度、大长径比、高灵活度的特点,提出了一种井下机械臂柔性关节轨迹分段控制方法。通过分析井下机械臂柔性关节在空间受限的情况下存在的问题,即基于柔性关节闭环动态控制时,会产生明显的阈值误差,设计了一种分段控制方法,在动态过程中,重新选择增益值,确定轨迹分段控制变量,保证在每个段落内角位移和角速度的动态误差全局最小,实现机械臂轨迹控制。试验结果表明,所提方法能够有效控制机械臂柔性关节在井下有限空间的运动轨迹,保证运行的准确性和稳定性,提高井下工作效率。There were different layers in the workspace of the flexible joint of the underground mechanical arm,and at the spatial boundary of each layer,there were a large number of random control threshold trigger points,which made the distribution of control points for the workspace boundary more and more uneven,so the fixed-range adjustment method was difficult to adapt to the randomness and inhomogeneity,and there was an obvious distortion of trajectory control.To solve the above problem,combined with the characteristics of multi degree of freedom,large length-diameter ratio and high flexibility of the flexible joint of the mechanical arm,a trajectory segmentation control method for the flexible joint of the underground mechanical arm was proposed.Then,by analyzing the problem existing in the flexible joint of the underground mechanical arm under the condition of limited space,namely the significant threshold error generated during the closed-up dynamic control based on flexible joints,a segmentation control method was designed.In the dynamic process,the gain value was re selected to determine the trajectory segmentation control variables,so as to ensure the dynamic errors of the angular displacement and the angular velocity in each segment were globally minimized,and realize the trajectory control of the mechanical arm.Experiments showed that the proposed method could effectively control the trajectory of the f lexible joint of the mechanical arm in the limited space in the underground,ensure the accuracy and stability of the operation,and improve the efficiency of the underground work.

关 键 词：柔性关节 井下机械臂 动态阈值误差 轨迹分段控制 

分 类 号：TH132[机械工程—机械制造及自动化]