【摘要】：針對矩形盾構(gòu)管片拼裝機拼裝拱頂塊和拱底塊時需要同步控制兩臺機械手的問題,設(shè)計了基于CAN(Controller Area Network)總線的同步控制系統(tǒng)并采用同步PID(Proportion Integral Derivative)算法實現(xiàn)對同步誤差的控制.對同步控制系統(tǒng)的工作原理以及系統(tǒng)的網(wǎng)絡(luò)架構(gòu)做了分析.建立了矩形盾構(gòu)管片拼裝機兩臺機械手沿徑向的立柱同步升降和沿軸向的同步拼裝頭移動同步控制系統(tǒng)的仿真模型,并對這兩個動作的同步PID控制性能進行仿真分析.通過矩形盾構(gòu)管片同步立柱升降和同步拼裝頭移動的實驗對同步控制性能進行驗證,結(jié)果表明,同步PID算法可減小同步誤差并將立柱升降同步誤差控制在±3 mm之間,拼裝頭移動同步誤差控制在不超過±1 mm,顯示了同步PID控制在矩形盾構(gòu)管片拼裝過程中的有效性與可實現(xiàn)性.
[Abstract]:In order to solve the problem that the rectangular shield segment assembly machine needs to control two manipulators synchronously, a synchronous control system based on can (Controller Area Network) bus is designed and the synchronization error is controlled by using the synchronous pid (proportion integral Derivative) algorithm. The working principle of the synchronous control system and the network structure of the system are analyzed. A simulation model of synchronous control system for two manipulators of rectangular shield segment assembly machine is established. The synchronous pid control performance of the two manipulators is simulated and analyzed. The synchronous control performance is verified by the experiments of synchronous column lift and synchronous assembly head movement of rectangular shield segment. The results show that the synchronous pid algorithm can reduce the synchronization error and control the column lift synchronization error to 鹵3 mm. The synchronization error of the assembly head is controlled within 鹵1 mm, which shows the validity and realizability of the synchronous pid control in the assembling process of rectangular shield segment.
【作者單位】： 同濟大學(xué)機械與能源工程學(xué)院;上海同新機電控制技術(shù)有限公司;
【基金】：上海市引進技術(shù)的吸收與創(chuàng)新項目(14XI-2-12)
【分類號】：U455.39
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本文編號：2135057