双三角钻臂的定位控制及仿真

来源期刊：中南大学学报(自然科学版)2006年第4期

论文作者：何清华 王恒升 邓春萍

文章页码：748 - 752

关键词：双三角钻臂;钻臂定位;仿真; ADAMS; MATLAB;机器人

Key words：double triangle boom; motion control; simulation; ADAMS; MATLAB; robot

摘    要：推导双三角机械臂的关节变量到支臂油缸长度计算的增量公式,运用该式提出一种新的钻臂定位的控制系统结构,即直接以关节变量(而不是油缸长度)为目标的闭环控制系统。在MATLAB环境下对以上算式及控制系统结构进行仿真验证。先在ADAMS中建立双三角臂的动力学模型,然后将该模型导出成为MATLAB.m计算模型,最后在MATLAB中实现钻臂定位的闭环控制系统仿真。针对某实际钻臂的仿真结果表明,增量算式尽管是在微变情况下推导的,在偏差较大的范围内应用时其计算误差对定位过程影响不大,体现在钻臂轨迹于隧道断面的投影不是直线,同时不会影响最终的控制精度,可以用于实际控制。

Abstract: Incremental equations were derived to calculate the length of hydraulic cylinder actuators from joint variables of double-triangle-boom online. A new boom positioning control system structure was proposed based on the incremental equations, which used joint variables, other than the length of actuator cylinders to close the loop. Simulation under MATLAB was performed to verify the correctness of the equations and control system structure proposed above.ADAMS model was built and exported into MATLAB to continue the simulation. Simulation result for an actual boom shows that the incremental equations, derived from infinitesimal increment, can be used widely, and the computational error makes a slightly trajectory deviation from reference straight line, which would not influence the final position, which is important in actual situation.