现代制造工程Issue(12)：61-67,90,8.DOI:10.16731/j.cnki.1671-3133.2023.12.008
凿岩机械臂轨迹规划及电液跟踪控制研究
Study on trajectory planning and electro-hydraulic tracking control of rock drilling manipulator
摘要
Abstract
Aiming at the problems of stationarity and tracking accuracy of hydraulic rock drilling manipulator,a method of joint space trajectory planning and fuzzy PID tracking control of electro-hydraulic system was proposed.Firstly,the joint position,angu-lar velocity and angular acceleration were constrained based on the joint space quintic polynomial interpolation method,and the joint angle variables containing time series were generated,and the trajectory planning was completed by directly controlling the joint angle.The intelligent algorithm fuzzy-PID was used to track and control the displacement of hydraulic cylinder.The dis-placement deviation value and its change rate obtained from sensor feedback were used as the input of fuzzy controller.After fuzzy processing,the output parameters ΔKP,ΔKIand ΔKD were added to PID controller to realize dynamic parameter adjustment.These enterprises establish a 3D SolidWorks virtual prototype model in V-REP(Virtual Robot Experimentation Platform),and use MATLAB remote API synchronous mode to control V-REP to verify the effectiveness of the proposed trajectory planning method on the actual engineering manipulator.At the same time,the fuzzy controller was designed by fuzzy toolbox and Simulink module was used to simulate the electro-hydraulic tracking control system.The simulation results of V-REP and Simulink show that the mutation of the velocity and acceleration of the manipulator can be avoided by the fifth-degree polynomial trajectory planning,and the manipulator model runs smoothly in V-REP.Fuzzy PID can effectively improve the tracking control accuracy of electro-hydrau-lic system,the system response is fast,the rise time is less than 2 s,and the maximum tracking error is not more than 3.3 mm.This result can meet the specified error requirements for the actual construction operation of the drilling manipulator.关键词
液压凿岩机械臂/轨迹规划/V-REP/电液控制/模糊PIDKey words
hydraulic rock drilling manipulator/trajectory planning/V-REP/electro-hydraulic control/fuzzy PID分类
信息技术与安全科学引用本文复制引用
刘阳,徐巧玉,陈翰文,张正..凿岩机械臂轨迹规划及电液跟踪控制研究[J].现代制造工程,2023,(12):61-67,90,8.基金项目
国家自然科学基金项目(51205108) （51205108）
