摘要
为了提高平面机械手运动的稳定性和轨迹跟踪精度,采用小脑模型神经网络(CMAC)控制液压驱动系统,并对机械手运动轨迹响应速度和误差进行仿真.建立液压驱动机械手简图装置,给出机械手液压驱动控制流程图.创建了液压动力装置、控制阀、液压油缸及机械手键合图模型,推导出液压驱动机械手控制方程式.设计了机械手液压驱动CMAC-PID控制结构图,利用系统仿真软件Matlab对机械手运动轨迹进行仿真;同时,与常规PID控制仿真结果进行比较.结果表明:采用常规PID控制液压驱动机械手运动轨迹,响应时间大约为0.4s,产生的最大误差大约为1.4cm;采用CMAC-PID控制液压驱动机械手运动轨迹,响应时间大约为0.1s,产生的最大误差大约为0.75cm.采用CMAC-PID控制平面机械手液压驱动系统,能够提高机械手运动轨迹响应速度和跟踪精度.
In order to improve the stability of planar manipulator movement and trajectory tracking precision,the cerebellar model articulation controller（CMAC）of the hydraulic drive system,and the manipulator trajectory response speed and error of the simulation.The hydraulic drive control flow chart of the manipulator is presented.The hydraulic power unit,control valve,hydraulic cylinder and manipulator bond graph model are created,and the control equation of hydraulic drive manipulator is deduced.This paper designs the hydraulic drive CMAC-PID control structure diagram of manipulator,and using the system simulation software Matlab to simulate the motion trajectory of the manipulator.At the same time,compared with the conventional PID control simulation results.The results show that the conventional PID control is used to control the motion trajectory of the manipulator,and the response time is about 0.4 s,and the maximum error is about 1.4 cm.CMAC-PID control is used to control the motion trajectory of the manipulator.The response time is about 0.1 s,and the maximum error is about 0.75 cm.Adopting the CMAC-PID control plane manipulator hydraulic drive system can improve the motion trajectory response speed and tracking accuracy of the manipulator.
作者
裴建军
王宏文
PEI Jianjun;WANG Hongwen(Department of Numerical Control Technique,The College of Xinxiang Vocationtl and Technical,Xinxiang 453000,Henan,China;School of Electrical Engineering and Automation,Hebei University of Technology,Tianjin 300130,China)
出处
《中国工程机械学报》
北大核心
2018年第3期225-230,共6页
Chinese Journal of Construction Machinery
基金
河北省科学技术研究与发展计划资助项目(06212174D)
