爬杆机器人动力学仿真及其驱动转矩控制研究OA北大核心CSTPCD

In order to improve the driving performance of pole climbing robot,a compound control method of feedforward compensation and PID regulation was proposed to optimize the fluctuation of driving torque,combining with the virtual prototype and dynamic simulation of the robot.A multi-body dynamic model for robot via ADAMS was established to simulate the climbing movement,and a PID control system via Simulink was built to adjust the displacement.Then,a compound control system with feedforward compensation was established based on the"torque-displacement"mathematical model.The results of co-simulation show that the displacement control accuracy of robot is improved with the increasing of fluctuation of driving torque based on single PID control.Besides the fluctuation of driving torque is reduced based on the compound control,and the adjustment amplitude of the driving torque is decreased about 24.7%comparing with PID control,which improves the output energy efficiency of the driving system of the robot.