摘要
基于流体动力学的运动方程、连续性方程、能量方程和状态方程建立喷浆机械手电液比例控制系统的数学模型,采用PID控制算法校正系统,通过MATLAB/simulink进行机械手轨迹控制仿真分析,得到喷枪的实际运动轨迹,并与所规划轨迹进行比较。研究结果表明:喷枪的轨迹误差在合理范围内,满足喷浆作业的要求,该阀控缸电液位置伺服系统能够满足设计要求,PID控制具有稳态精度高,响应速度较快的优点。
Based on the fluid dynamics equation of motion, continuity equation, energy equation and state equation of spray liquid mechanical flashlight proportional control system of the mathematical model, PID control algorithm calibration system, through the MATLAB/simulink manipulator trajectory control simulation analysis, get the actual gun trajectory, and the trajectory planning and comparison. The results of the study show that spray gun track error is in the reasonable scope, which meets the requirements of the spray homework, the valve controlling cylinder electro-hydraulic position servo system can satisfy the design requirement, and PID control has high steady precision, response speed advantages.
出处
《机电工程技术》
2013年第1期45-48,共4页
Mechanical & Electrical Engineering Technology
关键词
喷浆机械手
轨迹控制
阀控缸
PID
shotcrete manipulator
trajectory control
the valve controlling cylinder
PID
