本文關(guān)鍵詞： 大型臂架系統(tǒng) 軌跡控制 區(qū)域劃分 仿人智能控制 雙向死區(qū)補(bǔ)償 抗流量飽和控制 位置恒定無指令輸入整形　出處：《燕山大學(xué)》2016年博士論文　論文類型：學(xué)位論文

【摘要】：隨著城市化進(jìn)程的加快以及基礎(chǔ)交通工程建設(shè)的需求,大型臂架系統(tǒng)得到越來越廣泛的應(yīng)用,例如高空作業(yè)車的臂架系統(tǒng),用于混凝土輸送的混凝土泵車臂架系統(tǒng)等。目前,這類大型臂架系統(tǒng)的自動化程度較低,嚴(yán)重制約了施工效率以及整體施工水平的提高,因此開展大型臂架系統(tǒng)工作端軌跡控制的研究具有重要的理論與現(xiàn)實意義。大型臂架系統(tǒng)多為冗余度系統(tǒng),具有強(qiáng)的非線性和柔性特性,而且在實際應(yīng)用中大型臂架的軌跡運(yùn)動具有任意性和高實時性的要求,這些客觀的因素給大型臂架系統(tǒng)工作端軌跡運(yùn)動的實現(xiàn)帶來挑戰(zhàn)。本課題以混凝土泵車臂架系統(tǒng)為具體研究對象,分別從具有冗余度臂架系統(tǒng)的軌跡規(guī)劃,關(guān)節(jié)的伺服控制,軌跡的控制試驗,以及臂架振動的主動控制等方面展開研究,研究的內(nèi)容主要包括:(1)建立臂架系統(tǒng)的D-H坐標(biāo)系并進(jìn)行正運(yùn)動學(xué)分析。針對多冗余度的臂架系統(tǒng),提出一種基于區(qū)域劃分的軌跡規(guī)劃方法,通過將臂架系統(tǒng)工作端的工作空間劃分成若干個規(guī)則子區(qū)域,并在各子區(qū)域中給定前三關(guān)節(jié)的優(yōu)化規(guī)則,將原冗余度系統(tǒng)轉(zhuǎn)換為非冗余度系統(tǒng),實現(xiàn)臂架系統(tǒng)逆運(yùn)動學(xué)的快速求解,解決了軌跡規(guī)劃的實時性問題。由引入的區(qū)域劃分和優(yōu)化規(guī)則得到前三關(guān)節(jié)的全局優(yōu)化軌跡,以實現(xiàn)臂架系統(tǒng)的平穩(wěn)運(yùn)動。通過對各關(guān)節(jié)處驅(qū)動機(jī)構(gòu)的分析,建立關(guān)節(jié)空間與驅(qū)動空間之間的運(yùn)動關(guān)系。(2)對于關(guān)節(jié)的運(yùn)動控制,提出基于流量前饋和仿人智能控制相結(jié)合的控制策略,通過應(yīng)用間接式的測量方式獲取相對精確的系統(tǒng)流量特性以提高前饋控制的精度;通過模擬人的思維和控制行為給出系統(tǒng)的誤差特征模型,并制定相應(yīng)的控制模態(tài)和推理規(guī)則,提出的綜合控制策略能夠有效克服臂架系統(tǒng)中強(qiáng)非線性和參數(shù)不確定性因素對軌跡控制的影響,實現(xiàn)關(guān)節(jié)精確、平穩(wěn)的運(yùn)動控制。對系統(tǒng)中的時變死區(qū)特性提出基于深度的雙向補(bǔ)償策略,通過制定不同方向的多段式補(bǔ)償措施,解決由于擾動而引起的比例閥頻繁換向問題。對軌跡運(yùn)動中的流量飽和問題提出一種抗流量飽和控制策略,依據(jù)系統(tǒng)的最大流量實時地修正工作端的指令速度,實現(xiàn)了臂架工作端在供給流量不足情況下仍能完成既定運(yùn)動軌跡,并保持較高的使用效率。(3)應(yīng)用lagrange法建立臂架系統(tǒng)強(qiáng)非線性的柔性多體動力學(xué)模型,基于建立的模型應(yīng)用數(shù)值法分析臂架系統(tǒng)在周期性外部激勵下的振動響應(yīng)�；诜治龅慕Y(jié)果,針對由外部激勵引起的臂架振動提出位置恒定無指令輸入整形的主動控制策略,通過設(shè)計具有相反方向的雙脈沖控制作用,實現(xiàn)對臂架系統(tǒng)振動的快速抑制,并避免減振過程中引發(fā)的臂架位置偏移。(4)設(shè)計臂架軌跡控制系統(tǒng)的硬件體系以及遙控功能,基于真實的臂架平臺進(jìn)行典型直線軌跡運(yùn)動控制試驗。試驗結(jié)果表明,本文所提出的解決方案是切實可行的,能夠?qū)崿F(xiàn)臂架系統(tǒng)平穩(wěn)、精確的軌跡運(yùn)動。以上問題的解決為大型臂架系統(tǒng)運(yùn)動控制的工程應(yīng)用奠定了基礎(chǔ)。
[Abstract]:Along with the city to speed up the process and demand of traffic engineering construction, large arm system is applied more and more widely, such as aerial work truck boom system for concrete conveying of concrete pump truck arm system. At present, the degree of automation of this kind of large arm system is low, seriously restricted the construction the efficiency and the overall construction level, so it has important theoretical and practical significance to research the large arm system working end trajectory control. Large jib system for redundant system, has the characteristics of nonlinear and strong flexibility, but also in the practical application of large arm trajectory is arbitrary and high real time for the realization of these objective factors to the frame system of large arm trajectory challenge. Subject to the boom system of concrete pump truck as the research object, separately from the Trajectory planning with redundant arm system, joint servo control, trajectory control test, research and boom of active vibration control, the main contents of the study include: (1) the establishment of arm system D-H coordinates and kinematics analysis for boom system with multi degree of redundancy. This paper presents a trajectory planning method based on region partition, the working space of the division of the boom system working end into a plurality of sub regional, and given the optimization rule before three joints in each sub region, converting the original redundant system for non redundant system, realize the fast solution of the inverse kinematics of boom system that solves the problem of real-time trajectory planning. The first three joint global optimization trajectory obtained by the regional division and the optimization rule is introduced, in order to realize the smooth movement of the boom system. Through the analysis of the joint driving mechanism, The motion relationship between the joint space and drive space. (2) for joint motion control, feedforward control strategy is proposed and the flow of human simulated intelligent control based on the combination of measurement by using indirect type acquisition system to improve the flow characteristics of a relatively accurate feedforward control precision by error; feature model thinking and behavior control the simulation system is given, and the corresponding control mode and inference rules, the integrated control strategy is put forward to overcome the boom system strong nonlinearity and parameter uncertainty factors on the impact of the implementation of joint trajectory control, accurate, stable motion control. The time-varying dead zone characteristics of a two-way depth compensation strategy based on the compensation measures formulated by multi segment in different directions, solve due to disturbance of the proportional valve. The frequent commutation trajectory in the This paper proposed an anti saturation traffic flow saturation control strategy, based on the maximum flow of real-time correction system working end command speed, realized the boom end in the work supply flow under can still complete its trajectory, and keep high using efficiency. (3) the dynamics of flexible multi-body model building boom system the application of nonlinear Lagrange method, vibration response analysis of boom system under periodic external excitation model is established based on the application of numerical method. Based on the results of the analysis, targeted by the external excitation vibration of boom caused by the proposed position constant active control strategy instruction input shaping, double pulse control function through the design with opposite direction to realize the rapid inhibition of the boom, the vibration of the system, and avoid the vibration induced during the boom of the offset position. (4) the hardware design boom trajectory control system and system The function of remote control, arm platform based on real typical linear trajectory motion control test. The test results show that the proposed scheme is feasible, can achieve the boom system stable trajectory accurately. To solve the above problems and laid the foundation for the engineering application of large arm motion control system.

【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TP241

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本文編號：1543344