Research On Dynamic Characteristics And Control Strategy Of Demolition Robot's Working Equipment

As a kind of remote control multifunctional working robot,demolition robot can carry out demolition,mining,cutting,handling and other operations in all kinds of disaster environment.Motion control of demotion robot's working device is the foundation of inteligent demolition.Therefore,based on electro-hydraulic proportional control technology,robotics,mechanics theory and inteligent control theory knowledge,this topic studies motion control of demotion robot's working device.The objective is to study the dynamic characteristics and control strategy of the hydraulic system of a demolition robot considering some nonlinear factors.The main content of this thesis is as follows:? A research object of this paper is introduced demolition robot.Then,the domestic and foreign research development of the motion control of working device of demolition robot is summarized.? The mechanical model of ADAMS is established and the simple kinematics and dynamics simulation analysis is carried out.? According to the analysis of the closed-loop position control system,mathematical model of each hydraulic component demolition robot of working device is established,with the transfer function of the hydraulic system establishing.The influence of some key parameters such as equivalent mass and natural frequency on the dynamic characteristics of the whole system is studied,as well as the other parameters of the system estimated.? Because of the existence of friction,the disturbance force and dead zone in the electro-hydraulic proportional position control system,the electro-hydraulic system is a typical nonlinear and complicated system.So it is difficult to get good control effect for the traditional design method of linear control system based on adaptive controller and poor anti-interference ability.However,the actual system requires a small steadystate error,fast response,good robustness,which brings many great difficulties to the design of the control system.In order to overcome these disadvantages and meet the requirements of the system,the sliding mode variable structure control strategy is applied to the electro-hydraulic proportional position control system.Simulation model of electro-hydraulic proportional position control system based on SimuLnk i is establishing.Considering the influence of the change of system parameters and disturbance force,respectively by using PID and sliding mode variable of electrohydraulic proportional position control system the results of simulation and structure control method was analyzed and compared.? Considering of the dead-zone nonlinear characteristics of valve control system,dead-zone compensation model is built,in order to reduce the impact of dead zone on system control.? Because co-simulation technology of ADAMS and SimuLnk i can more accurately simulate the actual state of the system,this paper has carried on the cosimulation analysis by the ADAMS and Matlab/SimuLnk.i Considering of the existence of the change of system parameters and the disturbing force and dead-zone nonlinear factors,compared with PID control,sliding mode variable structure control has better dynamic characteristics,and very strong robustness and self-adaptive ability,which achieves a higher proportional position control precision.