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

Abstract

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

CLC Number:

TP29

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

Research on Double Closed Loop Control of Laser Attitude and Angle Sliding Mode of Crane Orbit Detection Robot

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