| With the rapid of the tire industry,higher and higher requirements have been put forward on the accuracy and efficiency of tire handling and sorting.Using gantry robots to improve the level of automation has been more and more widely used.However,the beams of gantry robots were usually driven by separate-driving mode to get large span and driving force,which leads to the synchronization problem and residual vibration.The emergence of these problems poses a new challenge to the control algorithms of gantry robots.In order to solve these problems,this paper takes the self-developed gantry robot as the object of study,and studies the control of synchronization and vibration suppression of large-span and heavy-loaded gantry robot.A bias-coupled fuzzy sliding mode synchronous control method with torque compensat ion and a time-varying input shaper are proposed,and the asymmetric S type trajectory planning is applied to the beam motion.Finally,the experimental control platform based on EtherCAT field bus is set up,and the theoretical analysis is verified by experiments.Firstly,the truss beam structure characteristics of the gantry robot are analyzed.Considering the characteristics of flexible gear reducer and wheel-rail contact,the dynamics model of the dual driving beam is established.A virtual prototype model of dual driving beam is established by the use of ADAMS to simulate and verify the accuracy of the dynamic model,which lay the foundation for the subsequent design of control algorithm.Secondly,according to time-varying,uncertainty and frequent disturbances features of the dual driving beam,the synchronization control algorithm is put forward and the deviation coupling torque compensation is introduced to reduce the influence of the cantilever beam on synchronization of both ends of the beam.In order to improve the anti-interference ability and response speed,combining the advantages of fuzzy control and sliding mode control,the fuzzy sliding mode control method is put forward.The simulation results show that the synchronization control algorit hm can reduce synchronization error and have better robustness.Thirdly,the relationship of the natural frequency with mass ratio and position ratio of the coupled system of double-drive beams and cantilevers is analyzed.A time-varying input shaper is proposed to suppress the residual vibration of the beam at the specified position.And in the aspect of trajectory planning,the unsymmetrical S curve is designed to make the crossbeam move with high acceleration and low acceleration positioning capability,thus the residual vibration of the beam is suppressed.Finally,the experimental platform of gantry robot motion control based on EtherCAT field bus is set up,and the synchronization and vibration suppression control of the dual drive crossbeam of large-span and heavy-loaded gantry robot are studied.The experimental results show that compared with the traditional method of synchronous control,synchronous control algorithm proposed in this paper can effectively reduce synchronization error of the beam,which is 11.6mm with the use of this algorithm and repositioning precision of the system is ?0.4mm;The time-varying input shaper and asymmetric S type trajectory planning play a significant ly inhibitory role on the residual vibration of the beam which can modify the system from the need of 3s to eliminate the vibration of maximum amplitude of 2.3mm to the need of only 0.5s to reach a stable position and eliminate the vibration of maximum amplitude of 0.6 mm.In conclusion,the control algorithm proposed in this paper can obviously improve the control effect of the dual drive beam of gantry robot,and the algorithm is more effective. |
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