摘要
针对液压凿岩机器人在巷道掘进时凿岩钻孔定位精度低,导致凿岩钻孔效率低、出现超欠挖的问题,建立液压凿岩机器人电液位置伺服控制系统,设计反馈线性化滑模控制算法控制凿岩机器人实现钻孔精确定位。对凿岩机器人凿岩钻孔工况进行分析,并建立液压凿岩机器人液压系统数学模型。基于此,设计一种反馈线性化滑模控制器,以提高液压系统的控制精度,并采用Simulink建立控制器模型。最后,为了验证所设计液压系统和控制器的有效性,以一个钻孔工况为例,采用ADAMS、AMESim、Simulink对液压凿岩机器人钻孔定位运动过程进行机电液联合仿真。结果表明:凿岩机器人各关节最大跟踪误差分别为2.18 mm、4.51 mm、6.05 mm、0.25 rad、8.64 mm,X、Y方向的定位误差分别为13.68、10.05 mm。该误差在施工允许范围内,可以保证凿岩机器人凿岩钻孔精确定位,由此验证了所设计控制模型的有效性。
Aiming at the problems of low drilling efficiency and over and under drilling caused by the low positioning accuracy of drilling hole when hydraulic drilling robot is driving in roadway,the electro-hydraulic position servo control system of the hydraulic drilling robot was established,and the feedback linearized sliding mode control algorithm was designed to control the rock drilling robot to achieve accurate positioning of the borehole.The rock drilling robot was analyzed,and the hydraulic system mathematical model of the hydraulic drilling robot was established.Based on this,a feedback linearized sliding mode controller was designed to improve the control accuracy of the hydraulic system,and the controller model was established by Simulink.Finally,in order to verify the effectiveness of the designed hydraulic system and controller,taking a drilling case as an example,ADAMS,AMESim and Simulink were used to simulate the drilling positioning process of the hydraulic drilling robot.The results show that the maximum tracking errors of the rock drilling robot each joint are 2.18 mm,4.51 mm,6.05 mm,0.25 rad and 8.64 mm,respectively,and the positioning errors in the X and Y directions are 13.68 mm and 10.05 mm,respectively.The errors are within the allowable range of the construction,which can ensure the accurate positioning of the drilling hole,thus verifying the effectiveness of the designed control model.
作者
武慧挺
李爱莲
WU Huiting;LI Ailian(Department of Electrical Engineering,Shanxi Institute of Mechanical&Electrical Engineering,Changzhi Shanxi 046000,China;School of Automation and Electrical Engineering,Inner Mongolia University of Science&Technology,Baotou Inner Mongolia 014010,China)
出处
《机床与液压》
北大核心
2024年第24期171-177,共7页
Machine Tool & Hydraulics
基金
内蒙古自然科学基金项目(2022MS06003)。
关键词
凿岩机器人
电液位置伺服系统
反馈线性滑模控制
机电液联合仿真
drilling robot
electro-hydraulic position servo system
feedback linear sliding mode control
electromechanical hydraulic co-simulation
作者简介
武慧挺(1985-),男,硕士,讲师,主要研究方向为智能控制、机器人控制。E-mail:htwu1985@163.com;通信作者:李爱莲(1973-),女,硕士,教授,主要研究方向为优化建模。E-mail:Liailian1973@163.com。
