起重机轨道检测机器人激光姿态角变结构双闭环控制研究

Research on Double Closed Loop Control of Laser Attitude and Angle Sliding Mode of Crane Orbit Detection Robot

针对起重机轨道检测机器人上的激光姿态角自动调节系统采用经典PID控制效果不佳,无法满足轨道检测要求的问题,提出采用滑膜变结构双闭环的控制方法。文中建立了激光姿态角自动调节系统的数学模型,基于指数趋近律的方法设计了滑膜变结构控制器,并搭建轨道检测机器人及其激光姿态角调节系统。通过仿真研究可知,滑膜变结构控制下激光姿态角调节的时间比PID控制下快0.11 s,超调量减小了0.3%,且运动平稳。仿真试验研究结果为起重机轨道检测机器人的研发与应用提供了依据。

The automatic attitude adjustment system for the laser attitude angle of the crane track detection robot adopted the classic PID control effect,which cannot meet the requirements of the track detection.Aiming to this problem,a control method using a sliding film variable structure double closed loop was proposed.The mathematical model of the laser attitude angle automatic adjustment system was established.The synovial variable structure controller was designed based on the exponential approach law.Finally,the orbit detection robot and laser attitude angle adjustment system were built.Through simulation analysis showed that the laser attitude angle adjustment time under variable structure control was 0.11 s faster than the PID control,and the overshoot was reduced by 0.3%,and the movement was stable.The experimental research results provided a basis for the development and application of the crane orbit detection robot.