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首页> 外文期刊>Mathematical Problems in Engineering >Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model
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Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model

机译：基于斯特里贝克摩擦模型的长伸缩臂重载转移机器人的低速控制

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摘要

The severe low-speed creep phenomenon occurs in the telescopic boom system of a heavy-load transfer robot with a long telescopic boom as a result of nonlinear friction. In order to improve control precision and operation performance at low speeds, we built a three-loop control nonlinear model of an AC servo motor with Stribeck friction disturbance. Traditional proportional-integral-derivative controller (PID) and fuzzy PID controls were, respectively, adopted in the position loop, and the control performance was simulated. The results showed that a system with fuzzy PID control eliminates "flat top" position tracking and "dead zone" speed tracking, which are generated by traditional PID, and thereby decreases the effect of friction on the performance of the servo system. This elimination also improved the tracking accuracy and robustness of the system.
机译：由于非线性摩擦，在具有长伸缩臂的重载转移机器人的伸缩臂系统中会发生严重的低速蠕变现象。为了提高低速时的控制精度和运行性能，我们建立了带有Stribeck摩擦干扰的交流伺服电机的三环控制非线性模型。在位置环中分别采用传统的比例积分微分控制器（PID）和模糊PID控制，并对控制性能进行了仿真。结果表明，具有模糊PID控制的系统消除了传统PID产生的“平顶”位置跟踪和“死区”速度跟踪，从而减少了摩擦对伺服系统性能的影响。这种消除也提高了系统的跟踪精度和鲁棒性。

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  • 来源
    《Mathematical Problems in Engineering》 |2012年第12期|432129.1-432129.12|共12页
  • 作者

    Bo You; Ming Qiao; Jiazhong Xu; Dan Liu;

  • 作者单位

    College of Automation, Harbin University of Science and Technology, Harbin 150080, China;

    College of Automation, Harbin University of Science and Technology, Harbin 150080, China;

    College of Automation, Harbin University of Science and Technology, Harbin 150080, China;

    College of Automation, Harbin University of Science and Technology, Harbin 150080, China;

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