钻机机械手智能定位控制研究

Research on Intelligent Positioning Control of Drilling Manipulator

为了实现钻机机械手精确平稳定位控制,以液压伺服的方式完成动作定位,对机械手的控制方式及路径规划进行了研究。以液压油缸和比例阀作为动作执行构件,位移传感器作为油缸伸长量反馈部分,PLC控制器作为控制部分,构成了位姿闭环控制系统。针对机械手的精确平稳定位问题建立了机械结构系统数学模型,并利用MATLAB软件对目标点及油缸运动求解。结果表明:机械手以液压伺服控制方式根据目标点能智能规划路径动作并平稳完成设定动作。

For realizing the precise and stable positioning control of the drilling manipulator and finishing action positioning by means of hydraulic servo,the control mode and path planning of the manipulator were studied.The position closed-loop control system was made up by the action execution component including hydraulic cylinder and proportional valve,the displacement sensor as the hydraulic cylinder＇s elongation feedback part and the PLC controller as the control part.Aimed at the drilling manipulator＇s precise and stable positioning,a mathematical model of mechanical structure system was established and the MATLAB software was used to solve the target point and oil cylinder＇s movement.The results showed that the manipulator can intelligently plan the paths and complete the setting action smoothly by hydraulic servo control according to the target point.