Research On Clamping Force Servo Control System Of The Master-Slave Manipulator

With the development of human society the consumption of resources is increasingly augmenting. Nuclear energy has attracted attention all over the world, which is a kind of low cost and high reserves clean-energy, and it has set off a upsurge of development and utilization. Due to the nuclear radiation, it is difficult to operate closely, and the master-slave manipulator which can substitute the human to accomplish the correlative task is a first-rank choice. Now, the master-slave manipulator has been widely used in nuclear power plants and nuclear science experiments overseas. But it is still in its infancy in China and part of the core technology is blockaded by foreign. For master-slave operation, the force sense feedback is the key of master-slave manipulator work quality. Therefore, developing a master-slave manipulator control system with quickly and accurately realize the force feedback is of great significance for the development of nuclear industry.The paper has put forward a proposes control scheme with a motor driven wire rope-noose passing type clamping force servo based on the problems of force control strategy and research status existed in the application of force feedback. Firstly, this paper has introduced the master-slave hand clamping system scheme and principle, established drive executive element with the ac permanent magnet synchronous motor and provided the design project by using of wire rope-noose to transmit the main force. Then this paper has selected the key components such as motion controller, drive motors, sensors, wire rope, etc based on the above introduction. Master-slave hand clamping system is a typical two-way servo control system, which includes angular position servo control subsystem and the sense of force servo control subsystem. For the clamping force servo control system, the mathematical model is established through the derivation of transfer function, and then the PID controller has been designed, and the control effect has been verified by simulation. The interference effect of the system control characteristic is analyzed with the PID closed-loop control. The result shows that the angular position of the main hand interference can be ignored within the normal operating range. This paper has applied the PID parameter adapting method which is based on the closed loop responding characteristic of the system to optimize the parameter. The simulation result shows that step-response of the system is speedy and non-overshooting. At last, this paper has designed a fuzzy self-adapt PID controller based on the Fuzzy-PID control theory, and then this paper has established the simulation model of the system with the Matlab/Simulink to simulate the PID control and the step-response the fuzzy self-adapt PID control. The result shows that it can satisfy the control desire, and the dynamic performance along with the static performance of the system is very good, it has a good performance of import tracking. The parameter adapting is comparatively easy, quick and efficient, it especially adapts to the case that the transfer function of the system is known.