机械制造与自动化2025，Vol.54Issue(3)：192-195,200,5.DOI:10.19344/j.cnki.issn1671-5276.2025.03.037
基于五次S型曲线的集装箱卸货机器人平滑启动研究
Stable Start of Container Unloading Robot Based on Quintic S-shaped Curve
摘要
Abstract
A control system algorithm based on five times S-curve is proposed to solve the problem of sudden changes of acceleration and plus acceleration in the starting process of the container unloading robot.The control system of the robot is designed and appropriate rotational inertia ratio and PI gain parameters are set.Based on the principle of quintic polynomial interpolation,the velocity planning of the start-up process is carried out,and the expressions of displacement,and velocity,acceleration and plus acceleration are given,on which simulation and analysis are conducted by Matlab software.The results show that the proposed algorithm,compared with the traditional S-curve control algorithm,solves the problem of abrupt changes in acceleration and plus acceleration during the start-up process,and imrpoves the peak speed fluctuation from 10 r/min to 3 r/min,upgrading the system stability and operation efficiency.关键词
五次S型曲线/集装箱卸货机器人/平滑启动/转动惯量比Key words
five S-curves/container unloading robot/smooth start/rotational inertia ratio分类
信息技术与安全科学引用本文复制引用
徐志祥,杨傲,卢保良,熊浩杰..基于五次S型曲线的集装箱卸货机器人平滑启动研究[J].机械制造与自动化,2025,54(3):192-195,200,5.基金项目
大连市揭榜挂帅科技攻关项目(2022YJ11SN00103) （2022YJ11SN00103）
