【作者】 周坤；

【导师】 邹树梁； 欧阳玲湘；

【作者基本信息】 南华大学 ， 工程（机械工程）（专业学位）， 2019， 硕士

【摘要】 近年来,液压拆除机器人凭借其安全高效的作业方式在废旧建筑拆除、核能去污、应急救援等方面应用越来越广泛,而现代机器人更注重其自动化和智能化,而实现其自动化关键在于工作臂的自动化。因此本文针对机器人工作臂的运动控制进行研究,内容如下:首先,针对机器人工作臂进行了运动学分析,基于D-H坐标法建立工作臂的运动学模型,并对工作臂进行正逆运动学求解,得到了工作臂的极限工作尺寸;基于SolidWorks和ADAMS软件对工作臂进行联合仿真分析,求解得到了工作臂的工作范围曲线及末端位置变化曲线;将两种计算结果与实际测量数据进行对比分析,验证了工作臂理论模型的正确性,为工作臂的结构优化设计和控制提供了理论依据。其次,针对工作臂的液压控制系统,首先对电液比例控制系统各元件简化并对其数学建模,得到了电液比例控制系统的传递函数,并验证了系统的稳定性;针对其控制效果差,设计了符合本系统的PID控制器,并基于Simulink搭建了PID仿真模型,仿真结果表明PID控制算法对本系统有效但效果不够显著。最后,针对电液比例控制系统的控制策略进行研究,基于Lyapunov稳定性定理,根据滑模变结够控制理论设计控制器,并结合神经网络控制算法,设计神经网络滑模控制器;基于Simulink分别搭建两种控制系统模型进行仿真分析,仿真结果表明在滑模变结构控制下,系统的跟踪性能和响应速度有明显的提升;神经网络滑模控制下系统的控制性能较滑模控制更加优越,对比分析验证了神经网络对滑模控制的优化有效且效果显著。更多还原

【Abstract】 In recent years,hydraulic demolition robots have become more and more widely used in the demolition of used buildings,decontamination of nuclear energy,emergency rescue,etc.by virtue of their safe and efficient operation methods.Modern robots pay more attention to their automation and intelligence,and the key to automating them is the automation of the working arms.Firstly,the kinematics analysis of the robot working arm is carried out.The kinematics model of the working arm is established based on the D-H coordinate method.The forward and backward kinematics of the working arm are solved,and the working size of the working arm is obtained.The joint simulation analysis of the working arm is based on SolidWorks and ADAMS software,and the working range curve and end position change curve of the working arm are obtained.Comparing the two calculation results with the actual measurement data,the correctness of the theoretical model of the working arm is verified,which provides a theoretical basis for the structural optimization design and control of the working arm.Secondly,for the hydraulic control system of the working arm,the components of the electro-hydraulic proportional control system are simplified and mathematically modeled,and the transfer function of the electro-hydraulic proportional control system is obtained,and the stability of the system is verified.Aiming at the poor control effect,the PID controller conforming to this system is designed,and the PID simulation model is built based on Simulink.The simulation results show that the PID control algorithm is effective for this system but the effect is not significant enough.Finally,the control strategy of the electro-hydraulic proportional control system is studied.Based on the Lyapunov stability theorem,the th eoretical design controller is controlled according to the sliding mode,and the neural network control algorithm is combined to design the neural network sliding mode controller.Based on Simulink,two control system models are built for simulation analysis.The simulation results show that under the control of sliding mode variable structure,the tracking perform ance and response speed of the system are significantly improved.Based on Simulink,two control system models are built for simulation analysis.The simulation results show that under the control of sliding mode variabl e structure,the tracking performance and response speed of the system are significantly improved.The control performance of the neural network sliding mode control is better than that of the sliding mode control.The comparative analysis verifies that the neural network is effective and effective for the optimization of sliding mode control.更多还原