摘要
针对喷涂机器人各关节传递函数的时变性,建立了一种比例积分微分(PID)控制器参数自整定模型.首先,对喷涂机器人进行动力学分析,应用数值法简化关节动力学方程,建立各关节的传递函数;在此基础上,通过试验,设计在不同位置的PID控制器,获取相应的PID参数,并应用最小二乘法建立PID参数与关节转角位置的数学模型;最终利用该模型设计了下一时刻关节的PID控制器,并进行了仿真试验.结果表明,基于该模型设计的PID控制器响应速度快,机器人的位置精度小于±0.1mm,基本可满足喷涂作业要求.
This paper proposes a self-tuning PID model to overcome the time variation of transfer functions of painting robot joints. In the investigation, first, a dynamic analysis of the painting robot is performed. Then, the dynamic functions of the joints are simplified via a numerical method, and the transfer functions of each joint are established. Based on the transfer functions, the PID controllers at different positions are designed by experiments and the corresponding controller parameters are determined. Moreover, mathematical models describing the relationship between the PID parameters and the joint angle positions are set up by means of the least square method. According to the proposed models, the PID controllers at the next sampling time are finally designed and simulated. The results show that the designed PID controllers with a rapid response and a position accuracy of less than ± 0. 1 mm basically meets the requirements of spraying.
出处
《华南理工大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2009年第4期90-94,共5页
Journal of South China University of Technology(Natural Science Edition)
基金
广东省科技计划项目(20054982304)
