【作者】 余晓明；

【导师】 管会生；

【作者基本信息】 西南交通大学 ， 机械电子工程， 2008， 硕士

【摘要】 码垛机器人作为现代码垛系统中最重要的设备,它的操作范围、码垛速度、稳定性等工作能力决定了整个码垛系统设计的成败。本文根据米袋码垛系统的应用确定码垛机器人的工作空间范围、码垛能力等性能参数。本论文中主要研究有五大部分内容:一、根据大米生产流程,由米袋码垛系统确定米袋码垛系统中机器人的设计参数;二、四坐标圆柱形机器人的机械结构设计及关键零部件的选型与设计;三、通过对直流伺服电机控制特性分析,应用PWM调速技术对直流伺服电动机调速,本文设计了转速电流双闭环电机调速系统及其参数,并建立转速电流双闭环控制系统动态结构和控制模型;四、建立机器人机电控制模型,在Simulink环境下对机器人机电系统控制性能进行仿真。另一方面,利用SISO工具对位置伺服系统进行设计,通过与位置伺服系统的比例控制比较得出位置伺服系统PID控制的优越性;五、利用MATLAB软件仿真实验,指出了传动系统性能参数对四坐标圆柱形机器人机电控制系统性能的影响。本文在机器人机械设计和控制系统设计基础上,讨论了一些因素对机器人机电控制系统的影响。1.通过对控制系统模型的MATLAB仿真分析,可知增大系统增益有利于增加系统的快速性,但会造成系统的不稳定,因此需要选择合适的系统增益以保证机电控制系统良好的控制性能。2.根据控制系统模型的MATLAB仿真结果,分析了机器人机械参数(如负载转动惯量、系统阻尼比、系统刚度、传动链误差等)对控制系统的影响,得出结论:在保持机械系统刚度的情况下,尽可能减少负载的转动惯量,减小传动误差,选择合适的阻尼比,以保证系统控制性能良好。3.在本文最后部分,利用MATLAB提供的非线性模块对机器人位置伺服系统进行仿真分析,讨论了机器人非线性因素(如摩擦非线性、间隙非线性、死区非线性等)对控制系统的影响,并指出减小非线性影响的的控制方法。更多还原

【Abstract】 As the most important equipment in modern stacking system, the operating range、stacking-speed and steadibility of the palletizing robot decide performance of whole system. According to the application in the stack system of race sack,the parameters of the palletizing robot as mentioned above are decided.The main research works in this thesis has been summed as following:Firstly, according to the rice-production routine, the whole scheme and parameter of robot have been successfully decided. Secondly, we design the mechanical structure of a four-dimensional cylinder-robot, and choose some key componets. Thirdly, by analyzing the control-characteristics of DC-servo motor,a kind of speed- regulation technology named PWM is used to DC-servo motor,Speed & Electric Current double Closed-Circle Regulating Velocity System and its parameters are decided,the dynamic structure and controlling model are set up. Then, electro-mechanical model for the robot is built,control property is simulated in simulink environment. Moreover, the Position Servo System is designe by using the SISO tool of MATLAB. The superiority of PID ,which is a technology usually used in Position Servo System control,is showed by contrasted with the technology of proportion control.Lastly,on the base of simulation experiment in MATLAB environment,the thesis states briefly the influence of the transmission -system parameter to the performance of the robot’s electro-mechanical control property.Based on the design of control system and mechanical structure,the thesis analyzed some factors how to influence the control property of robot.1. By means of analyzing the simulation result of the control system model in MATLAB,we know that the control system response will get rapider if the system gain has gotten bigger . On the other hand,it will cause unstabilty to the control system. So a appropriate system gain must be choosed to keep the control property of control system well.2. According to the simulation result from MATLAB,we analyse the transmission-system parameters of robot,such as rotate-inertia,system rigidity ,damper coefficient and constant load,etc. how to influence the conrol system of Position Servo System, and conclude that rotate-inertia should be reduced to the full in the case that the rigidity of mechanical system can be satisfied,the transmission tolerances must be minimum,and damper coefficient need a right value to ensure a good control property.3. At the final part of the thesis ,by using the nonlinear module provided from MATLAB,we dicuss some nonlinear facts such as friction,backlash,dead zone,act.how to influnce the control property of the Position Servo System, and show clearly some methods to reduce the effect to a minimum.更多还原