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气动系统具有良好的柔顺性,且具有干净、安全、轻巧和成本相对低廉的优点,适应在特殊环境下工作。当气动机械手被运用在行走机械上,变化的路面环境会对机械手末端点控制带来困难,因此,对气动多自由度机械手在崎岖路面环境下的末端位置控制具有现实意义。通过搭建六自由度电动仿真平台模拟崎岖地面环境,设计气动多自由度机械手,提出压力补偿PID的控制方法。通过Simulink与AMESim的联合仿真研究验证了带压力补偿的位置闭环PID算法对气动机械手控制的有效性。
Pneumatic system has good flexibility, and has the advantages of clean, safe, lightweight and relatively low cost, to adapt to work in special environments. When the pneumatic manipulator is used on a traveling machine, the changing pavement environment will cause difficulty to manipulator end point control. Therefore, it is of practical significance to control the end position of a pneumatic multi-freedom manipulator under rough terrain environment. By building a six degree-of-freedom electric simulation platform to simulate the rough terrain, a pneumatic multi-degree-of-freedom manipulator is designed and the pressure compensation PID control method is proposed. Simulated Simulink and AMESim simulations verify the effectiveness of the closed-loop PID algorithm with pressure compensation in the control of a pneumatic manipulator.