基于PID/LQR凿岩机器人机械臂控制算法

PID/LQR-based control algorithm for robotic arm of rock-drilling robot

钻爆法施工中越来越多使用凿岩机器人,改善了工人的工作环境和工作安全性,是隧道施工机械化发展的必然趋势。不同机型钻臂一般包括6~8个关节,钻臂精确定位与定向控制是凿岩机器人的关键技术。针对某型凿岩机器人,首先对其三角钻臂机构进行研究,使用PID方法进行钻臂控制;进而进行凿岩机器人机械臂动力学建模,在理论建模基础上设计了一种基于线性二次型的最优机械臂控制算法(LQR),在Simulink仿真环境中开展数值仿真验证并与PID控制对比,结果表明,利用LQR方法控制的机械臂系统响应更快,可减少系统调解时间,同时削弱了运动过程中的抖动,有效提高了机械臂的定位精度。

The increasing use of rock-drilling robots in the drilling and blasting construction has improved the working environment and safety of workers,which is an inevitable trend in the development of the tunnel construction mechanization.Different types of drilling arms generally include 6~8 joints,and the precise positioning and the directional control of the drlling arm are key technologies for rock-drilling robots.In this paper,for a certain type of rock-drlling robot,the triangular drilling arm mechanism was first studied,and the PID method was used to control it.Then,the dynamic modeling of the robotic arm of the rock-drilling robot was carried out.On the basis of the theoretical modeling,an optimal robotic arm control algorithm based on linear quadratic(LQR)was designed.The numerical simulation validation was conducted in the Simulink simulation environment and compared with PID control.The results showed that the robotic arm system controlled by LQR method responded faster,which could reduce the system tuning time,weaken the jitter in the motion process,and effectively improve the positioning accuracy of the robotic arm.