摘要
设计了一款具备全向移动与二次精确定位能力的移载工装,承载端布置三维力传感器,可实时反馈受力情况。考虑到多移载工装协同搬运试验中运动速度较低,可近似忽略加速度影响,建立系统的静力学模型。采用模糊PID控制策略来解决具有时变性,非线性与不确定性的协同搬运系统,以力信息作为控制输入,设计完整的模糊控制规则表,设计力随动控制器并在系统模型模型基础上进行Simulink仿真分析,验证控制策略正确性。最后,使用多台移载工装基于模糊控制器进行飞机大部件协同搬运实验,成功验证控制策略的有效性。
A transfer tooling with the capability ofomnidirectional movement and secondary precise positioning is designed.The load end is equipped with a three-dimensional force sensor,which can feedback the force situation in real time.Considering that the moving speed in the multi-transport tooling co-transport test is low,the acceleration effect can be approximately ignored and the static model of the system is established.The fuzzy PID control strategy is used to solve the co-transportation system with time-varying,nonlinear and uncertainties.The force information is used as the control input and a fuzzy control rule table is designed.Basing on the system model and the force-following controller,Simulink simulation analysisis performed to verify the correctness of the control strategy.Finally,using multiple transfer tooling based on fuzzy controller complete aircraft large parts cooperative handling experiment,the correctness of the control strategy was successfully validated.
作者
李锦程
赵勇
邢宏文
董正建
LI Jincheng;ZHAO Yong;XING Hongwen;DONG Zhengjian(Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structure Technology,Shanghai Jiaotong University,610039 Shanghai,China;Institute of Aeronautical Manufacturing Technology,Shanghai Aircraft Manufacturing Limited Company,200436 Shanghai,China)
出处
《机械设计与研究》
CSCD
北大核心
2020年第3期89-93,99,共6页
Machine Design And Research
基金
国家重大科技专项资助项目,2018ZX04006001。
关键词
移载工装
模糊PID
力控制
协同搬运
transfer tooling
fuzzy pid
force control
cooperative handlin
