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| 大型零件搬运装配的智能辅助设备防摆控制 | |
| 引用本文： | 董玉红,许洪涛,张立勋,陈雄标.大型零件搬运装配的智能辅助设备防摆控制[J].哈尔滨工程大学学报,2009,30(6). |
| 作者姓名： | 董玉红 许洪涛 张立勋 陈雄标 |
| 作者单位： | 1. 哈尔滨理工大学,机械动力工程学院,黑龙江,哈尔滨,150080 2. 哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001 3. 萨斯喀彻温大学,机械工程系,加拿大,萨斯喀彻温,S7N 5A9 |
| 基金项目： | 黑龙江省教育厅海外学人项目 |
| 摘 要： | 智能辅助设备(IAD)是一种可与操作者在同一作业空间共同完成作业任务的智能机械装置.针对大型零件搬运装配过程中存在的负载摆动问题,对IAD的防摆控制进行研究,利用拉格朗日功能平衡原理建立了负载水平运动的数学模型,提出了负载防摆控制策略,分别设计了位置控制器和负载防摆控制器,并对防摆控制进行了仿真研究.研究结果表明,这种控制策略有效可行,在分别改变钢丝绳长和负载质量的情况下,小车运动能够跟踪参考位置,并且在启动加速和减速停止过程中,有效抑制了负载的摆角,使摆角快速衰减到零.该研究对于大型零件搬运装配的IAD运动控制系统的设计与实现具有实际的参考价值. |
| 关 键 词： | 智能辅助设备 负载防摆 水平运动 控制策略 |
Design of an intelligent assist device for control of swing caused by movement and assembly of large-scale parts |
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| DONG Yu-hong,XU Hong-tao,ZHANG Li-xun,CHEN Xiong-biao.Design of an intelligent assist device for control of swing caused by movement and assembly of large-scale parts[J].Journal of Harbin Engineering University,2009,30(6). | |
| Authors: | DONG Yu-hong XU Hong-tao ZHANG Li-xun CHEN Xiong-biao |
| Affiliation: | 1.School of Mechanical and Power Engineering;Harbin University of Science and Technology;Harbin 150080;China;2.College of Mechanical and Electrical Engineering;Harbin Engineering University;Harbin 150001;3.Department of Mechanical Engineering;University of Saskatchewan;Saskatoon SK S7N 5A9;Canada |
| Abstract: | An intelligent assist device(IAD) is a mechanical device which cooperates with human operators in the same work space.Anti-swing control was studied to see if an IAD can reduce the problem of load swing during moving and assembly of large-scale parts.A mathematical model of horizontal movement was built using Lagrange's principle for work and energy balance.An anti-swing control strategy was developed,and then separate positional and load anti-swing controllers were designed.A simulating study of anti-swing... |
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