【摘要】：近年來(lái),直角坐標(biāo)型氣動(dòng)機(jī)械手也像其它氣動(dòng)機(jī)械手一樣,在工業(yè)生產(chǎn)中的地位越來(lái)越重要。但是由于直角坐標(biāo)型氣動(dòng)機(jī)械手存在運(yùn)動(dòng)耦合、系統(tǒng)摩擦以及傳遞介質(zhì)壓縮性強(qiáng)等因素,使得系統(tǒng)的非線性非常強(qiáng),從而氣缸在運(yùn)動(dòng)過(guò)程中出現(xiàn)停滯以及系統(tǒng)控制精度不高等現(xiàn)象。所以,從這些因素出發(fā),提高氣動(dòng)伺服機(jī)械手的運(yùn)動(dòng)控制精度,對(duì)于以后的工業(yè)生產(chǎn)來(lái)說(shuō)具有重要意義。為了提高氣動(dòng)伺服機(jī)械手的運(yùn)動(dòng)控制精度,本文一方面對(duì)多自由度氣動(dòng)伺服機(jī)械手進(jìn)行運(yùn)動(dòng)學(xué)解耦,并根據(jù)氣動(dòng)伺服系統(tǒng)的工作原理建立數(shù)學(xué)模型,來(lái)降低系統(tǒng)的非線性;另一方面,以LabVIEW為上位機(jī)運(yùn)動(dòng)控制平臺(tái),并用NI-7358運(yùn)動(dòng)控制卡設(shè)計(jì)控制器,來(lái)減小運(yùn)動(dòng)誤差,從而提高控制精度。本文在查閱了大量資料的基礎(chǔ)上,綜述了國(guó)內(nèi)外對(duì)多自由度氣動(dòng)伺服機(jī)械手的研究現(xiàn)狀,并分析它們優(yōu)缺點(diǎn),從而確定了本文的研究?jī)?nèi)容和研究方向。本文根據(jù)D-H坐標(biāo)系法對(duì)多軸運(yùn)動(dòng)氣動(dòng)伺服機(jī)械手進(jìn)行了運(yùn)動(dòng)軌跡規(guī)劃研究,并根據(jù)氣動(dòng)伺服系統(tǒng)的質(zhì)量流量方程、閥控缸系統(tǒng)方程等建立氣動(dòng)伺服系統(tǒng)的數(shù)學(xué)模型,最終得出系統(tǒng)傳遞函數(shù)。本文在了解實(shí)驗(yàn)臺(tái)氣缸、伺服閥以及光柵位置傳感器的工作性能和原理的基礎(chǔ)上,對(duì)直角坐標(biāo)型氣動(dòng)機(jī)械手實(shí)驗(yàn)臺(tái)進(jìn)行了重構(gòu)。根據(jù)系統(tǒng)信號(hào)傳遞原理,重新設(shè)計(jì)了伺服放大器,并完成了系統(tǒng)控制器的設(shè)計(jì)。接著,為了更好地控制直角坐標(biāo)型氣動(dòng)機(jī)械手軌跡跟蹤,分別對(duì)基于PID控制和基于擴(kuò)張狀態(tài)觀測(cè)器PID控制的系統(tǒng)跟蹤性能進(jìn)行了理論和仿真研究。通過(guò)對(duì)比發(fā)現(xiàn),基于PID控制的控制系統(tǒng)跟蹤效果不佳,而基于擴(kuò)張狀態(tài)觀測(cè)器PID控制的系統(tǒng)對(duì)外界干擾以及系統(tǒng)不確定因素有著很強(qiáng)的魯棒性,所以其跟蹤效果要優(yōu)于PID控制。最終得出直角坐標(biāo)型氣動(dòng)機(jī)械手的仿真跟蹤誤差為0.4mm。本文根據(jù)直角坐標(biāo)型氣動(dòng)機(jī)械手的工作原理以及擴(kuò)張狀態(tài)觀測(cè)器PID控制的原理,利用LabVIEW軟件平臺(tái)編寫上位機(jī)控制程序,從而控制機(jī)械手運(yùn)動(dòng)。為了保證系統(tǒng)信號(hào)輸入穩(wěn)定,對(duì)控制系統(tǒng)的伺服放大器進(jìn)行了信號(hào)輸入輸出測(cè)試。并在此實(shí)驗(yàn)臺(tái)的基礎(chǔ)上,對(duì)機(jī)械手的多軸定位以及速度控制進(jìn)行了實(shí)驗(yàn),為直角坐標(biāo)型氣動(dòng)機(jī)械手的軌跡跟蹤實(shí)驗(yàn)打下基礎(chǔ)。在前面已經(jīng)完成工作的基礎(chǔ)上,進(jìn)行了氣動(dòng)機(jī)械手的軌跡跟蹤實(shí)驗(yàn)。對(duì)機(jī)械手X、Y兩軸進(jìn)行了實(shí)驗(yàn),通過(guò)實(shí)驗(yàn)結(jié)果與理論研究以及仿真結(jié)果進(jìn)行對(duì)比分析,得出直角坐標(biāo)型氣動(dòng)機(jī)械手軌跡跟蹤最大誤差為0.5mm,并且分析了誤差原因。最終表明基于此控制方法的機(jī)械手,具有較好的運(yùn)動(dòng)控制效果。
[Abstract]:In recent years, Cartesian coordinate Pneumatic manipulators, like other pneumatic manipulators, have become more and more important in industrial production. However, due to some factors, such as kinematic coupling, system friction and strong compressibility of transmission medium, the system is very nonlinear, because of the kinematic coupling of Cartesian coordinate pneumatic manipulator. As a result, the cylinder appears stagnation in the process of motion and the system control accuracy is not high. Therefore, it is of great significance for industrial production to improve the precision of motion control of pneumatic servo manipulator based on these factors. In order to improve the motion control accuracy of pneumatic servo manipulator, on the one hand, the kinematics decoupling of multi-degree-of-freedom pneumatic servo manipulator is carried out in this paper, and the mathematical model is established according to the working principle of pneumatic servo system to reduce the nonlinearity of the system. On the other hand, using LabVIEW as the upper computer motion control platform and using the NI-7358 motion control card to design the controller to reduce the motion error and improve the control accuracy. On the basis of consulting a large amount of data, this paper summarizes the research status of multi-degree-of-freedom pneumatic servo manipulators at home and abroad, analyzes their advantages and disadvantages, and determines the research content and research direction of this paper. Based on the D-H coordinate system method, the motion trajectory planning of multi-axis pneumatic servo manipulator is studied, and the mathematical model of pneumatic servo system is established according to the mass flow equation of pneumatic servo system and the equation of valve controlled cylinder system. Finally, the system transfer function is obtained. On the basis of understanding the working performance and principle of the cylinder, servo valve and grating position sensor of the experimental platform, this paper reconstructs the experimental platform of the Cartesian coordinate pneumatic manipulator. According to the principle of system signal transmission, the servo amplifier is redesigned and the system controller is designed. Then, in order to better control the trajectory tracking of Cartesian coordinate pneumatic manipulator, the tracking performance of the system based on PID control and PID control based on extended state observer is studied in theory and simulation. It is found by comparison that the tracking effect of the control system based on PID control is not good, and that the system based on extended state observer PID control has strong robustness to external disturbance and system uncertainty, so its tracking effect is better than that of PID control. Finally, the simulation tracking error of Cartesian coordinate pneumatic manipulator is 0.4mm. According to the working principle of the Cartesian coordinate pneumatic manipulator and the principle of PID control of the expanding state observer, the control program of the upper computer is compiled by using the LabVIEW software platform to control the motion of the manipulator. In order to ensure the stability of the signal input, the servo amplifier of the control system is tested. On the basis of the experimental platform, the multi-axis positioning and velocity control of the manipulator are experimented, which lays a foundation for the trajectory tracking experiment of the Cartesian coordinate pneumatic manipulator. On the basis of the previous work, the trajectory tracking experiment of pneumatic manipulator is carried out. The experiment on the XY axis of manipulator is carried out. By comparing the experimental results with the theoretical research and simulation results, the maximum tracking error of the Cartesian coordinate pneumatic manipulator is obtained, and the error reasons are analyzed. Finally, it shows that the manipulator based on this control method has better motion control effect.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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本文編號(hào)：2257361