Design And Control Study Of Intelligent Assit Device For Large Parts Handling And Assembly

Intelligent Assist Device (IAD) is a new material handling device, based on ergonomic technology and computer control technology. At present, this technology is at its initial stage in the world. It has cooperative characteristics and can collaorate with a human operator in the same workspace. A kind of IAD is designed and the control technilogy is also studied in this thesis, which is integrated by Intelligent Rail System and Intelligent Lift System. The IAD is mainly used for the workplace of large parts handling and assembly.The thesis reviews the research and progress situations of IAD domestically and abroad and then compares with mechanism features, running principles, and the overall structure of the IAD is put forward. Each parts's function and work principle of the IAD are set forth. The structure rail system is also put forward. The overall mechanism structure of the intelligent trolley is designed. The design of Intelligent Rail System is completed through assembly. Combination of design requirements, the overall structure of IAD is completed at last.The intelligent trolley is one of the key components of Intelligent Rail System. Throuth controling the movement of the trolley, the load can move at will in the plane. The trolley is driven by the AC asynchronous servo motor, the performance of the motor impacts the dynamic performance of the whole system. Based on the analysis of the mathematical models of the AC asynchronous motor, the vector control simulink simulation model of the motor is established and the simulation analysis is carried out. The results of simulation analysis verifies the correctness of motor control model. The movement performance of the single trolley is studied, when the trolley is in the situation of no-load, with upload and pretightening force changes, the X, Y direction coordination control technology is simulated. The trajectory tracking control of Intelligent Rail System is realized in the plane. Aiming at load swing problem in the course of large parts moving, IAD anti-swing and tracking control is studied. By using Lagrange method, mathematical model of horizontal movement is built, and two kind of the load anti-swing control strategy are set forth. Fuzzy position and fuzzy load anti-swing controllers are designed respectively based on MATLAB Fuzzy Control Toolbox. The simulation study of IAD anti-swing and tracking control is carried out. And two kinds of the control strategies simulation results are compared and analyzed.Semi-physical simulation experiment study of single-degree-of-freedom IAD prototype is carried out by using dSPACE real-time simulation platform. The experiments mainly include the system speed closed-loop control experiment and position closed-loop control experiment, obtaines the control parameters of the system. The study has practice reference value for IAD design and motion control of large parts handling and assembly.