摘要
焊缝跟踪的高精度要求使得跟踪系统动力学问题愈加突出.建立了移动焊接机器人具有非完整力学系统形式的动力学模型,并设计了基于移动焊接机器人动力学和十字滑块协调控制的滑模变结构控制器,考虑了焊接机器人的惯性、电机动力学、工件表面不平度等因素对跟踪精度的影响.理论分析和系统仿真证明了动力学模型和滑模变结构控制算法在焊缝轨迹跟踪中的正确性和有效性.为智能控制方法在移动焊接机器人中离线编程、仿真和动态控制奠定了重要基础.
As the requirement of high accuracy in seam tracking,the systems dynamics become more prominent in seam tracking process. The non-complete dynamic model for the four wheeled mobile welding robot was established. Variable structure controller with sliding mode has been designed to complete coordinately controlling of cross-slider and mobile welding robot.Several factors have been considered including the influence of the inertia,electrical machinery dynamics,surface irregularity and other factors in seam tracking process on the tracking accuracy. Through the theoretical analysis and simulation,it has been proved that the dynamic model and the variable structure controller with sliding mode are correct and valid in seam tracking. It has set up important foundation for off-line programming,simulation and dynamic control of mobile welding robot.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2013年第10期13-16,113-114,共4页
Transactions of The China Welding Institution
基金
上海市重点实验室电站自动化技术实验室资助项目(04DZ05901)
国家自然科学基金资助项目(51107080
61003089)
关键词
移动焊接机器人
轨迹跟踪
动力学
mobile welding robot
seam tracking
dynamics
variable structure control with sliding mode
