基于PLC技术和双幂次趋近律的气动搬运机械手速度控制  

Speed Control of Pneumatic Transport Robot Based on PLC Technology and Double Power Reaching Law

作　　者：李婷婷 LI Ting-ting(Department of Mechanical Engineering,Tianjin Petroleum Vocational and Technical College,Tianjin 301607,China)

机构地区：[1]天津石油职业技术学院机械工程系,天津301607

出　　处：《液压气动与密封》2025年第3期119-124,共6页Hydraulics Pneumatics & Seals

摘　　要：气动搬运机械手速度控制难以对搬运过程动态特性进行有效响应,导致速度响应和控制稳定性方面表现不佳。据此,提出了基于PLC技术和双幂次趋近律的气动搬运机械手速度控制方法。采用基于PLC技术,设计气动搬运机械手速度控制结构,利用PLC梯形图程序中锁存相关控制逻辑避开多方向运动干涉。通过互锁逻辑,降低机械手抓取时出现的位移偏差。引入延时模块,实现动作延时控制。跟随PLC互锁逻辑指令,设计双幂次趋近律,结合李雅普诺夫函数,控制气动搬运机械手状态到达滑膜面,趋近度减小为0,实现光滑过渡,消除机械手速度控制过程的抖振。由实验结果可知,该方法控制的转速响应速度效果最好,没有稳态误差,保持708 r/min转速不变,且位移控制效果与理想一致,能够达到稳定控制目的。The speed control of pneumatic conveying robots is difficult to effectively analyze the dynamic characteristics of the conveying process,resulting in poor performance in speed response and control stability.In the face of this problem,a speed control method for pneumatic conveying robotic arms based on PLC technology and double power convergence law was proposed.Using PLC technology,design a speed control structure for pneumatic conveying robotic arms,and use the lock related control logic in the PLC ladder program to avoid multi-directional motion interference.Through interlocking logic,ensure that there is no displacement deviation during the grasping of the robotic arm.Introduce a delay module to achieve action delay control.Following the interlocking logic instructions of PLC,design a double power reaching law,combined with Lyapunov function,to control the state of the pneumatic conveying manipulator to reach the sliding surface,reduce the approaching degree to 0,achieve smooth transition,and eliminate the chattering during the speed control process of the manipulator.According to the experimental results,the speed response speed controlled by this method is the best,with no steady-state error,maintaining a constant speed of 708 r/min,and the displacement control effect is consistent with the ideal,achieving stable control objectives.

关 键 词：PLC技术 双幂次趋近律 气动搬运机械手 速度控制 

分 类 号：TH138[机械工程—机械制造及自动化]