基于机电联合仿真的清淤机器人调速控制研究
DREDGING ROBOT SPEED CONTROL BASED ON ELECTROMECHANICAL CO-SIMULATION
罗继曼 1印辉 1刘择明 1刘士恒 1丛丽娜2
作者信息
- 1. 沈阳建筑大学机械工程学院 辽宁沈阳 110168
- 2. 沈阳中正特种设备检测有限公司 辽宁沈阳 110013
- 折叠
摘要
传统控制系统研究都是基于阶跃响应的控制曲线进行分析.针对这种情况,提出一个更加有效、直观的对比分析方法来分析不同控制算法(普通PID和模糊PID)的控制效果.采用机电联合仿真方法,建立虚拟平台使得SolidWorks中的机械模型在运动时,LabVIEW的控制平台可实时监测控制系统的控制效果.结果表明通过LabVIEW和SolidWorks的联合仿真,既能实现控制算法对三维模型精准的运动控制,又实现了不同算法的运动效果对比.三维模型的运动曲线很直观地表明,模糊PID控制系统具有更少的控制响应时间和更好的运动速度稳定性.
Abstract
Traditional control system research is based on the analysis of the step response control curve.In view of this,a more effective and intuitive comparative analysis method is proposed to analyze the control effect of different control algorithms(normal PID and fuzzy PID).The method of electromechanical co-simulation was adopted to building a virtual platform.When the mechanical model of SolidWorks was in motion,the Lab VIEW control platform could monitor the control effect of the control system in real time.The results show that through the co-simulation of LabVIEW and SolidWorks,not only the motion of three-dimensional model is controlled precisely by the control algorithm,but also the comparison of the motion effects of different algorithms is realized.The motion curve of the three-dimensional model shows intuitively that the fuzzy PID control system has less control response time and better motion speed stability.
关键词
管道清淤机器人/清淤装置/调速控制/机电联合仿真/模糊控制/三维模型运动控制Key words
Pipeline dredging robot/Dredging device/Speed control/Electromechanical co-simulation/Fuzzy con-trol/Motion control of three-dimensional model引用本文复制引用
基金项目
国家自然科学基金(51575365)
辽宁省自然科学基金(201602620)
出版年
2024
国家科技期刊平台
NSTL
万方数据