本文關(guān)鍵詞： 噴射機 冗余自由度 梯度投影 多目標(biāo)優(yōu)化 閉環(huán)控制　出處：《哈爾濱工業(yè)大學(xué)》2013年碩士論文　論文類型：學(xué)位論文

【摘要】：混凝土噴射機是一種通過噴射速凝混凝土進行開挖斷面支護的工程機械，目前廣泛應(yīng)用于隧道、公路和煤礦等施工工程中。相比于傳統(tǒng)的人工混凝土噴射施工方法，混凝土噴射機降低了工人的勞動強度、提高了施工效率和施工質(zhì)量。但是，現(xiàn)階段使用的大多數(shù)噴射機只能對臂架進行單關(guān)節(jié)的控制，操作復(fù)雜性較高，難以保證較高的噴射質(zhì)量。隨著工業(yè)自動化程度的不斷提高，不論是在學(xué)術(shù)上還是實際的工程中，具有智能控制功能，能實現(xiàn)多關(guān)節(jié)聯(lián)動控制的噴射機臂架，正成為研究熱點。本文將噴射機臂架的控制機器人化，對臂架運動學(xué)展開研究，以注重工程的開發(fā)應(yīng)用及其理論研究的探索作為研究目的，擬解決以下幾個方面的問題： 首先，建立現(xiàn)有噴射機臂架的運動學(xué)模型。噴射機臂架是一個液壓驅(qū)動機械臂，不同的關(guān)節(jié)其驅(qū)動方式不一樣，其運動學(xué)關(guān)系也不一樣。通過對臂架結(jié)構(gòu)的詳細分析，對其做相應(yīng)的簡化，得到臂架的運動學(xué)模型，并最終建立了關(guān)節(jié)的驅(qū)動空間、關(guān)節(jié)空間和臂架末端任務(wù)空間三者之間的運動學(xué)關(guān)系。為進行臂架系統(tǒng)的驅(qū)動空間到末端任務(wù)空間的運動設(shè)計與規(guī)劃提供了基礎(chǔ)。 其次，，在不考慮末端噴射頭的情況下，噴射機臂架一共包括七個自由度，含有一個冗余自由度，其運動學(xué)逆解非常復(fù)雜。本文結(jié)合噴射機臂架結(jié)構(gòu)和實際施工情況，設(shè)計了能同時對關(guān)節(jié)運動位置和速度進行優(yōu)化的運動學(xué)逆解算法。該算法主要基于梯度投影法，通過對各個優(yōu)化目標(biāo)的加權(quán)處理，解決了多目標(biāo)優(yōu)化問題，實現(xiàn)了在保證臂架運動平穩(wěn)的前提下，防止關(guān)節(jié)位移的超限的控制目標(biāo)。 最后，由于梯度投影算法是一種基于雅克比矩陣偽逆的控制算法，因此，在計算機控制系統(tǒng)進行算法實施的過程中，不可避免的產(chǎn)生迭代誤差。本文對這種算法的不精確性做了詳細的研究，并提出了一種閉環(huán)控制策略，使誤差收斂。 綜上所述，本文建立了噴射機臂架的運動學(xué)模型，對運動學(xué)問題進行了詳細的探討，設(shè)計了一種逆運動學(xué)算法。并且，通過對控制算法的改進，提出一種閉環(huán)控制策略，保證了臂架末端跟蹤的精確性。算法整體的設(shè)計方案和研究結(jié)果可為同類機械臂架提供研究的理論依據(jù)和實踐參考。
[Abstract]:The concrete ejector is a kind of construction machinery which is used to support the excavation section by shotcrete, which is widely used in tunnel, highway, coal mine and other construction projects. Compared with the traditional artificial concrete shotcrete construction method, concrete ejector is widely used in the construction of tunnel, highway and coal mine. The concrete ejector reduces the labor intensity of the workers and improves the construction efficiency and construction quality. However, most of the ejectors used at the present stage can only control the boom with a single joint, and the operation complexity is high. It is difficult to guarantee high injection quality. With the continuous improvement of industrial automation, no matter in academic or practical engineering, it has intelligent control function and can realize multi-joint linkage control of ejector boom. In this paper, the control robot of the boom of ejector and the kinematics of the boom are studied. The purpose of this research is to pay attention to the development and application of engineering and the exploration of its theory, and to solve the following problems:. Firstly, the kinematics model of the ejector boom is established. The ejector arm is a hydraulically driven mechanical arm, which has different driving modes and different kinematic relationships among different joints. The structure of the boom is analyzed in detail. The kinematics model of the arm is obtained, and the driving space of the joint is established. The kinematics relationship between the joint space and the arm terminal task space provides a basis for the motion design and planning from the actuating space of the boom system to the terminal task space. Secondly, the ejector boom consists of seven degrees of freedom, including one redundant degree of freedom, and the inverse kinematics solution is very complicated. An inverse kinematics algorithm which can optimize the position and velocity of joint motion at the same time is designed. The algorithm is mainly based on gradient projection method, and the multi-objective optimization problem is solved by weighted processing of each optimization object. The control goal of preventing the joint displacement from exceeding the limit is achieved on the premise of ensuring the smooth motion of the boom. Finally, because the gradient projection algorithm is a kind of control algorithm based on Jacobian matrix pseudo inverse, so in the process of implementing the algorithm in the computer control system, The inaccuracy of this algorithm is studied in detail, and a closed-loop control strategy is proposed to make the error converge. To sum up, the kinematics model of the boom of jet engine is established, the kinematics problem is discussed in detail, a inverse kinematics algorithm is designed, and a closed-loop control strategy is proposed by improving the control algorithm. The whole design scheme and the research results of the algorithm can provide the theoretical basis and practical reference for the research of the similar mechanical boom.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：TU643

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