计量终端上下表机器人控制系统动力学模型

Dynamic model for robot control system of measurement terminal automatic detection pipeline

为了发现计量自动化终端自动化检测流水线上下表机器人控制系统的不足之处,提出一种基于动力学模型的系统性能分析方法.从上下表机器人控制系统的微观结构出发,基于系统动力学方程,首先建立了上下表机器人控制系统动力学模型,然后采用时域分析方法分析了该模型的零极点、单位阶跃响应和单位脉冲响应,最后给出了相应的仿真结果.分析结果表明上下表机器人控制系统为一个稳定的闭环控制系统,其单位阶跃响应的超调量低,响应过程迅速.因此,利用系统动力学模型可以有效地对上下表机器人控制系统进行稳定性、动态性和其他各项性能分析.

In order to find out the shortcomings of the control system of the upper and lower table robot on the auto-verification pipeline of automatic measurement terminal, a system performance analysis method based on dynamic model is proposed. Based on the microstructure of the upper and lower table robot control system and the system dynamics equation, the transfer function model of the upper and lower table robot control system is established. And then, the zero-pole, unit impulse response and unit step response of the model is analyzed by time domain analysis method. Finally, the corresponding simulation results are given. The analysis results show that the upper and lower table robot control system is a stable closed-loop control system;the unit step response overshoot is low and the response process is rapid. Therefore, the system dynamics model can effectively analyze the stability, dynamic performance and other performance of the robot control system.