高空带电机器人臂架稳定性优化控制仿真研究

Simulation Research on Optimal Control of High-altitude Charged Robot Boom Stability

以高空带电机器人的臂架变幅液压系统为研究对象,介绍臂架结构和变幅液压控制系统。针对该高空带电机器人作业时出现的臂架振动、抖动现象,采用PID控制器对臂架液压控制系统进行优化。建立平衡回路数学模型,运用多领域仿真软件AMESim对变幅液压缸动态过程进行仿真,对比优化前后液压缸的动态特性。通过搭建实验平台对PID优化的控制系统进行实验。结果表明:PID优化控制能大大缩短液压缸活塞杆速度波动时间和降低速度波动幅度,可以有效改善臂架系统工作过程中出现的振动、抖动问题,提高臂架的稳定性。

Taking the boom-luffing hydraulic system of a high-altitude charged robot as the research object, the boom structure and the luffing hydraulic control system were introduced. For the vibration and jitter of the boom during the operation of the high-altitude charged robot, the PID controller was used to optimize the hydraulic control system of the boom. The mathematical model of the balance loop was established, the multi-domain simulation software AMESim was used to simulate the dynamic process of the hydraulic cylinder with variable amplitude, and the dynamic characteristics of the hydraulic cylinder before and after optimization were compared. The PID optimization control system was tested by building an experimental platform. The results show that PID optimization control can greatly shorten the speed fluctuation time and the speed fluctuation amplitude of the hydraulic cylinder piston rod, and can effectively improve the vibration and jitter problems that occur in the working process of the boom system, and improve the stability of the boom.