Research On Trajectory Tracking Control Of Multi Degree Of Freedom Pneumatic Servo Manipulator

In recent years,the Cartesian coordinate pneumatic manipulator is also more and more important in the field of industrial production,like other pneumatic manipulators.But because the rectangular pneumatic manipulator movement coupling,system friction and transmission medium strong compression and other factors,makes the nonlinearity of the system is very strong,so the cylinder stagnation and the system control accuracy is not high phenomenon in the process of movement.Therefore,it isof great significance for the future industrial production to improve the motion controlaccuracy of the pneumatic servo manipulator.In order to improve the pneumatic servo manipulator motion control precision,this paper on the one hand multi DOF pneumatic servo manipulator kinematics decoupling,and establish the mathematical model according to the working principle of the pneumatic servo system,to reduce the nonlinearity of the system;on the other hand,using LabVIEW as the PC motion control platform,and use the NI-7358 movement design of control card controller,to reduce the motion error,thus enhances the control accuracy.On the basis of consulting a large amount of data,this paper summarizes the research status of multi degree of freedom pneumatic servo manipulator at home and abroad,and analyzes their advantages and disadvantages.According to the trajectory planning of D-H coordinate method for multi axis pneumatic servo manipulator,the mathematical model of cylinder system equation to establish the pneumatic servo system and control according to the mass flow equation,valve pneumatic servo system,finally obtains the transfer function of the system.In this paper,based on the understanding of the working performance and principle of the cylinder,the servo valve and the grating position sensor,the experimental bench of the rectangular coordinate pneumatic manipulator is reconstructed.According to the principle of signal transmission,the servo amplifier is redesigned and the system controller is designed.Secondly,in order to better control the trajectory tracking of the Cartesian coordinate manipulator,the performance of the system based on PID control and PID controller based on extended state observer is studied theoretically and simulated.By comparison,the control system PID control system based on the tracking effect,and the extended state observer PID control of the external disturbances and system uncertainties have strong robustness based,so its tracking effect is better than PID control.Finally,the tracking error of the Cartesian coordinate manipulator is 0.4mm.In this paper,according to the working principle of the rectangular coordinate type pneumatic manipulator and the principle of the extended state observer PID control,the upper computer control program is written by Lab VIEW software platform,which can control the motion of the manipulator.In order to ensure the stability of the input signal,the signal input and output of the servo amplifier is tested.Based on the experimental platform,the experiment of the multi axis positioning and speed control of the manipulator is carried out.On the basis of the previous work,the trajectory tracking experiment of pneumatic manipulator is carried out.The mechanical hand X,Y two experiments were carried out by the theory and experiment results and the simulation results were compared to the rectangular pneumatic manipulator trajectory tracking the maximum error is 0.5imm,and analyzed the reasons of error.Finally,it shows that the manipulator based on this control method has good control effect.