起重机轨道检测机器人激光姿态角变结构双闭环控制研究

doi:10.16180/j.cnki.issn1007-7820.2020.07.004

摘要/Abstract

摘要：

针对起重机轨道检测机器人上的激光姿态角自动调节系统采用经典PID控制效果不佳,无法满足轨道检测要求的问题,提出采用滑膜变结构双闭环的控制方法。文中建立了激光姿态角自动调节系统的数学模型,基于指数趋近律的方法设计了滑膜变结构控制器,并搭建轨道检测机器人及其激光姿态角调节系统。通过仿真研究可知,滑膜变结构控制下激光姿态角调节的时间比PID控制下快0.11 s,超调量减小了0.3%,且运动平稳。仿真试验研究结果为起重机轨道检测机器人的研发与应用提供了依据。

关键词: 起重机轨道, 检测机器人, 激光姿态角, 自动调节, 滑膜变结构, 双闭环控制

Abstract:

The automatic attitude adjustment system for the laser attitude angle of the crane track detection robot adopted the classic PID control effect, which cannot meet the requirements of the track detection. Aiming to this problem, a control method using a sliding film variable structure double closed loop was proposed. The mathematical model of the laser attitude angle automatic adjustment system was established. The synovial variable structure controller was designed based on the exponential approach law. Finally, the orbit detection robot and laser attitude angle adjustment system were built. Through simulation analysis showed that the laser attitude angle adjustment time under variable structure control was 0.11 s faster than the PID control, and the overshoot was reduced by 0.3%, and the movement was stable. The experimental research results provided a basis for the development and application of the crane orbit detection robot.

Key words: crane track, detection robot, laser attitude angle, automatic adjustment, synovial variable structure, double closed-loop control

中图分类号:

TP29

韩强,李昌昊,程建鹏,张西良,李伯全,尹经天. 起重机轨道检测机器人激光姿态角变结构双闭环控制研究[J]. 电子科技, 2020, 33(7): 17-21.

HAN Qiang,LI Changhao,CHENG Jianpeng,ZHANG Xiliang,LI Boquan,YIN Jingtian. Research on Double Closed Loop Control of Laser Attitude and Angle Sliding Mode of Crane Orbit Detection Robot[J]. Electronic Science and Technology, 2020, 33(7): 17-21.

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对比项目	响应时间/s	超调量	稳态精度/(°)
仿真PID	0.20	0.0%	0.009
试验PID	0.34	0.8%	0.080
仿真SMC	0.08	0.0%	0.005
试验SMC	0.23	0.5%	0.020