船体清理综合解决方案及位置伺服系统建模与仿真分析
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摘要
针对传统大型船舶除锈与喷涂作业效率及质量等级低、环保型性差的问题,提出了一种新型综合机械化作业解决方案。建立了除锈喷涂执行机构气动位置伺服定位控制系统的数学模型,对比并分析了常规控制方法与采用PID控制方法优缺点,利用MATLAB(Simulink)软件对系统做仿真分析研究,获得了喷涂机构气动位置伺服控制内在规律。分析结果表明,在气动位置伺服控制系统中加入PID控制环节,可以实现系统较高精度的位置控制,误差小于±20 mm,满足除锈喷涂作业设计要求。
In view of the problem of low efficiency and low quality grade as well as poor environmental protection of the traditional large ship's rust removing and spraying, a new type of comprehensive mechanized operating solution is put forward. The mathematical model of the pneumatic servo position positioning of the rust removing spraying actuator is analyzed and established.The characteristics of conventional pneumatic servo control and PID control method are compared and analyzed using the software of MATLAB(Simulink) for simulation. The inherent law of pneumatic position servo control of spraying mechanism is obtained.The results show that high precision position control can be realized by adding PID to Pneumatic Servo Control system, and the error is less than 20 mm, which meets the design requirements of rust removal spraying operation.
In view of the problem of low efficiency and low quality grade as well as poor environmental protection of the traditional large ship's rust removing and spraying, a new type of comprehensive mechanized operating solution is put forward. The mathematical model of the pneumatic servo position positioning of the rust removing spraying actuator is analyzed and established.The characteristics of conventional pneumatic servo control and PID control method are compared and analyzed using the software of MATLAB(Simulink) for simulation. The inherent law of pneumatic position servo control of spraying mechanism is obtained.The results show that high precision position control can be realized by adding PID to Pneumatic Servo Control system, and the error is less than 20 mm, which meets the design requirements of rust removal spraying operation.
引文
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[2]张志献,刘明,杨俊卿,等.洞库油罐除锈、喷漆机器人的研制[J].机械设计与研究,2006,22(3):97-107.ZHANG Zhi-xian,LIU Ming,YANG Jun-qing,et al.Development of rust-removing and paint-spraying robot for oil tank in cavern[J].Mechanical Design and Research,2006,22(3):97-107.
[3]訚耀保,水野毅,荒木献次.非对称高速气动伺服阀的研究[J].流体传动与控制,2007(3):4-8.YIN Yao-bao,MIZUNO Takeshi,ARAKI Ken-ji.Research on an Asymmetric Pneumatic Servovalve[J].Fluid Power Transmission and Control,2007(3):4-8.
[4]WANG T,CAI M,KAWASHIMA K,et al.Modelling of a nozzle-flapper type pneumatic servo valve including the in-fluence of flow force[J].International Journal of FluidPower,2005,6(3):33-43.
[5]訚耀保,水野毅,乌建中,等.具有不均等负重合量的非对称气动伺服阀压力特性研究[J].中国机械工程,2007,18(18):2169-2173.YAN Yue-bao,MIZUNO Takeshi,WU Jian-zhong,et al.Study on pressure characteristics of asymmetrical pneumatic servo valve with unequal load weight[J].China Mechanical Engineering,2007,18(18):2169-2173.
[6]宁辰校,张戌社,赵剑,等.气动技术入门与提高[M].北京:化学工业出版社,2017.NING Chen-xiao,ZHANG Xu-she,ZHAO Jian,et al.Introduction and improvement of Pneumatic Technology[M].Beijing:Chemical Industry Press,2017.
[7]王祖温,詹长书,杨庆俊,等.气压伺服系统高性能鲁棒控制器的设计[J].机械工程学报,2005,41(11):15-69.WANG Zu-wen,ZHAN Chang-shu,YANG Qing-jun,et al.Design of high performance robust controller for pneumatic servo system[J].Journal of Mechanical Engineering,2005,41(11):15-69.
[8]LIU B,GAO Y,et al.Position Servo Control for a Direct-Drive Actuator Based on Genetic Algorithm[J].Research Journal of Applied Sciences,Engineering and Technology,2013,5(23):5359-5364.
[9]陈慧蓉,李中望,张松兰.自动控制技术及应用[M].北京:电子工业出版社,2014.CHEN Hui-rong,LI Zhong-wang,ZHANG Song-lan.Automatic control technology and application[M].Beijing:Electronics Industry Press,2014.
[10]王飞,段振霞,刘建国,等.气动位置伺服控制系统设计与研究[J].现代制造工程,2017(7):90-94.WANG Fei,DUAN Zhen-xia,LIU Jian-guo,et al.Design and Research of Pneumatic position Servo Control system[J].Modern Manufacturing Engineering,2017(7):90-94.
[11]王伟伟,陈冰冰,舒曼.基于比例阀控缸的气动机械手柔性定位[J].东华大学学报,2016,12(2):248-252.WANG Wei-wei,CHEN Bing-bing,SHU Man.Flexible positioning of pneumatic manipulator based on proportional valve-controlled cylinder[J].Journal of Donghua University,2016,12(2):248-252.
[12]白晶,刘德君.运动控制系统[M].北京:高等教育出版社,2012.BAI Jing,LIU De-jun.Motion control system[M].Beijing:Higher Education Press,2012.
[13]YANG Y,WANG W G,YU D J,et al.A fuzzy parameters adaptive PID controller design of digital positional servo system[C]//International Conference on Machine Learning&Cybernetics.IEEE,2002.
[14]孙跃光,林怀蔚,周华茂.基于临界比例度法整定PID控制器参数仿真研究[J].现代电子技术,2012,35(8):192-194.SUN Yue-guang,LIN Huai-wei,ZHOU Hua-mao.Simulation study on tuning parameters of PID controller based on critical scale method[J].Modern Electronic Technology,2012,35(8):192-194.
[15]刘晓东,韦燚.基于PID调节器的Buck电路的系统设计与仿真[J].新型工业化,2015,5(11):27-33.LIU Xiao-dong,WEI Yi.The System Design and Simulation of Buck Circuit based on PID regulator[J].The Journal of New Industrialization,2015,5(11):27-33.
[16]罗均,周玉美,胡钜奇,等.基于模糊PID的仿生机械云台系统研究[J].新型工业化,2013,3(10):16-22.LUO Jun,ZHOU Yu-mei,HU Ju-qi,et al.Bionic PTZ system research based on fuzzy PID controlling[J].The Journal of New Industrialization,2013,3(10):16-22.