摘要
为了解决二自由度门式起重机器人的吊运轨迹精确跟踪控制和反晃动的有效消除,在前人研究结果和建立其非线性动力学模型的基础上,运用基于模糊PID的轨迹跟踪控制方式可达到要求。基于这样的实验要求选择系统软硬件,在选定Matlab/Simulink等软件的情况下,介绍了几种控制硬件,根据设计方案,选定了符合要求的控制硬件,即固高多轴运动控制卡GTS-X00-PV/PG-PCI来实现轨迹跟踪控制。
To accurately control lifting trajectory and effectively eliminate swing of 2 degrees of freedom gantry crane robot,on the basis of previous research results and establishment of nonlinear dynamic model,the method of trajectory tracking control based on fuzzy PID is applied.According to these requirements,system software and hardware are selected.Under the condition that software like Matlab / Simulink has been selected,several kinds of hardware are introduced. According to the design scheme,control hardware applicable to the requirements is selected in the end,which is Googoltech multi-axial movement control card GTS-X00-PV / PG-PCI,to realize trajectory tracking control.
出处
《起重运输机械》
2012年第4期54-57,共4页
Hoisting and Conveying Machinery
基金
国家自然科学基金资助项目(项目编号50805054)
中国博士后科学基金面上资助项目(资助编号20090450721)
