【作者】 汪洋；

【导师】 俞建峰； 金惠昌；

【作者基本信息】 江南大学 ， 机械（专业学位）， 2023， 硕士

【摘要】 在高层建筑的电梯安装领域,电梯导轨的安装精度是保证电梯安全可靠运行以及满足乘客舒适度的重要考核指标。目前,电梯公司在高层建筑内安装电梯时主要是依靠安装工人的经验来人工校准每列导轨工作面与基准导轨在厅门前后方向(Back to Front,BTF)和导轨间距方向(Distance between Guide,DBG)上的距离误差,使其安装精度符合标准规定。然而,人工校准方式存在劳动强度大、危险性高和校准效率低等问题。设计开发电梯导轨校准机器人来进行实现电梯导轨的自动化校准是电梯安装行业的未来发展趋势。本课题从电梯导轨校准机器人的结构设计与力学分析、控制系统设计和实验验证研究三个方面,对电梯导轨校准机器人的关键技术开展了一系列的研究。本课题的主要研究内容和结论如下:(1)创新设计了单梁双臂结构的电梯导轨校准机器人,可实现导轨的安装误差最小化。依据电梯导轨的校准流程和校准精度指标,设计了电梯导轨校准机器人的总体方案。开展机器人关键传动机构的选型工作,并对关键结构进行设计。同时对机器人关键机构的结构强度与机器人的动态特性进行了分析,确保满足项目使用要求。(2)提出了一种基于粒子群-模糊PID力位控制的导轨校准算法。首先设计了改进的粒子群-模糊PID控制器,作为力位控制算法中的位置控制器。其次开发了机器人的阻抗控制器和末端期望校准力自校正的方法,对期望校准力进行自校正以保证导轨的校准精度。最后将位置和阻抗控制器共同构建为力位控制算法,采用MATLAB/Simulink进行仿真模拟实验。结果表明,在干扰存在时,该算法具有较高的稳定性和鲁棒性。导轨校准力未超过最大限制1000 N,并且稳态误差都在-10～10 N之间,符合力控要求。(3)设计开发了电梯导轨校准机器人的控制系统。根据电梯导轨校准流程,提出了导轨校准机器人的控制策略,设计了机器人的控制系统架构,构建了符合控制要求的硬件平台。基于面向对象的方法开发了上层软件,以此实现人机交互的功能和运动规划功能。采用模块化编程思想,编写了机器人的底层运动控制软件。(4)开展电梯导轨校准机器人的校准精度验证实验研究。在真实电梯井道中,应用电梯导轨校准机器人的实验平台,进行了电梯导轨校准机器人的导轨校准实验。结果表明,校准后电梯导轨的DBG误差和BTF误差均控制在-0.5～0.5 mm之内,达到了国家标准要求,验证了本课题所设计机器人性能的可靠性和有效性。本课题设计了电梯导轨校准机器人及其控制系统,提出了一种基于粒子群-模糊PID力位控制算法的电梯导轨自动校准方法,实现了电梯导轨的自动化校准。通过结构设计,创新设计了国内第一套能够实际应用的电梯导轨校准机器人;通过模拟仿真,开展基于粒子群-模糊PID的力位控制算法的仿真实验研究;通过控制功能分析,开发电梯导轨校准机器人的控制系统;提出的软件滤波改进算法能够有效过滤现场环境中的干扰;并且进行了电梯导轨校准机器人的现场验证实验研究。本课题的成果实现了电梯导轨的自动化校准,提高了电梯导轨校准的工作效率,有望在电梯导轨安装领域得到推广应用。更多还原

【Abstract】 In the field of elevator installation in high-rise buildings,the installation accuracy of elevator guide rails is an important indicator for the safe and reliable operation of elevators and passenger comfort.Currently,elevator companies usually rely on the experience of installers to manually align the distance errors between guide rails and reference guide rails in the back-tofront(BTF)and distance between guide(DBG)directions,so that the installation accuracy is within the specified range.However,manual alignment methods have problems such as high labor intensity,high risk and low alignment efficiency.Using robots to perform automatic alignment of elevator guide rails is a new development trend in the elevator installation industry.This paper conducts a series of research on key technologies of elevator guide rail alignment robot from three aspects: structural design and mechanical analysis,control system design and experimental verification.The main research contents and conclusions are as follows:(1)A single-beam double-arm structure elevator guide rail calibration robot was innovatively designed to minimize the installation error of the guide rail.According to the calibration process and accuracy index of the elevator guide rail,the overall scheme of the elevator guide rail calibration robot was designed.The selection work of the key transmission mechanism of the robot was carried out,and the key structure was designed.At the same time,the structural strength and dynamic characteristics of the key mechanism of the robot were analyzed to ensure that it meets the requirements of project use.(2)A guide rail alignment algorithm based on particle swarm-fuzzy PID force-position control was proposed.An improved particle swarm-fuzzy PID controller was designed as position controller in force-position control.At the same time,an end-effector expected alignment force self-correction method was developed in force-position controller to selfcorrect expected alignment force to ensure alignment accuracy of guide rails.A force-position control model was built using MATLAB/Simulink and simulation experiments were conducted.The results show that end-effector position errors in DBG direction and BTF direction are both within-0.5～0.5 mm range which meets position accuracy requirements;And steady-state error of alignment force does not exceed-10～10 N range which meets force-control requirements.(3)The control system of elevator guide rail alignment robot was designed and built.According to the control requirements of robot,a control strategy was proposed,a control system architecture was designed,and a hardware platform that meets control requirements was built.At the same time,upper-level motion planning software was developed to realize humanmachine interaction function and motion planning function.Modular programming idea was adopted to write lower-level motion control program for robot.A software filtering algorithm was proposed,which was simulated by MATLAB to verify that it can effectively filter interference signals and improve filtering efficiency.(4)Alignment accuracy verification experiments for elevator guide rail alignment robot were carried out.In real elevator shafts an experimental platform for elevator guide rail alignment robot was built;Elevator guide rail alignment experiments were performed using elevator guide rail alignment robot.The results show that DBG error and BTF error after alignment are both controlled within-0.5～0.5 mm range which meets national standard requirements;It verifies reliability and effectiveness of performance for this project-designed robot.This paper independently designed an elevator guide rail alignment robot and its control system,and proposed an automatic alignment method for elevator guide rails based on particle swarm-fuzzy PID force-position control algorithm,achieving the automation of elevator guide rail alignment.Through structural design,an innovative elevator guide rail alignment robot was designed;through control function analysis,the control system of the elevator guide rail alignment robot was developed;the improved software filtering algorithm proposed could effectively filter out the interference in the field environment;through numerical simulation,simulation experiments of force-position control algorithm based on particle swarm-fuzzy PID were carried out;and field verification experiments of elevator guide rail alignment robot were also conducted.The results of this project realized the automation of elevator guide rail alignment,improved the work efficiency of elevator guide rail alignment,and are expected to be widely applied in the field of elevator guide rail installation.更多还原