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首页> 外文会议>International Conference on Engineering, Applied Sciences and Technology >The Closed Loop Controller for Mini Demo Biomass Power Plant Fuel-Feeding Arm based Pneumatic System
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The Closed Loop Controller for Mini Demo Biomass Power Plant Fuel-Feeding Arm based Pneumatic System

机译：用于迷你演示生物量发电厂燃料供给臂的闭环控制器的气动系统

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摘要

This paper shows the establishment of a mini demo Biomass power plant fuel-feeding arm with controller, motor and pneumatics system to study how to control arm for picking and placing of fuel operation properly. The arm mechanical elements, control driver circuit and electrical components were designed, built and selected follows the real Biomass power plant fuel-feeding arm. Low level PID controller, proportional pneumatics valve and motor with encoder are utilized for defining the correct close loop position of mini demo arm. Moreover, this system is designed to plug with the Robot operating system (ROS) the easy robotics motion control system which use to calculate the desired position before sending to the robot arm close loop system. The results show the effectiveness of the established mini demo Biomass arm can archive the correct position even controlled by nonlinear air flow system.
机译：本文展示了与控制器，电机和气动系统的迷你演示生物量发电厂燃料饲料刀具的建立，以研究如何控制手臂采摘和放置燃料操作。 设计，构建和选择臂机械元件，控制驱动器电路和电气元件跟随真正的生物量电厂燃料供给臂。 低水平PID控制器，采用比例气动阀和带编码器的电机用于定义Mini Demo Arm的正确闭环位置。 此外，该系统旨在插入机器人操作系统（ROS）易于机器人运动控制系统，用于在发送到机器人臂关闭环系统之前计算所需位置。 结果表明，建立的迷你演示生物量臂的有效性可以归档甚至由非线性气流系统控制的正确位置。

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