临场感智能采灰器的设计

Design of intellectual gathering grey tool with telepresence

为了提高煤灰测验工作中的煤灰采样效率问题,介绍了单自由度主从式力觉临场感和视觉临场感遥操作电厂智能采灰器的设计和低成本实现方法。由操作者操纵的力反馈操纵杆装有直流力矩电机,与环境作用的采样器选用输出力大、可靠性高的液压伺服驱动。采用一种二通道位置—力控制结构,并且力控制采用了积分分离PID控制。最后通过实验进一步分析说明所设计的体系结构的合理性和可行性。

For improving efficiency problem in coal ash test,a one-degree-of-freedom control system of master-slave gathering grey tool with force telepresence and sense telepresence is developed,and its low-cost implementation method is introduced.The master controlled by an operator is equipped with a DC torque motor and the scaled down slave gathering grey tool which executes real tasks in the environment is driven by a hydraulic servo system.Based on a two-channel position-force control architecture,integral separation PID control is used about force feedback.In order to show the validity and feasibility of the designed architecture,example is introduced and analyzed.