摘要
针对传统的搬运机械自动化轨迹规划方法规划出的轨迹稳定性能差的问题,提出基于PID控制的物流搬运机械自动化轨迹规划方法,以提高物流搬运机械自动化轨迹的稳定性能。采用末端效应逆运动模型选取搬运机械自动化轨迹控制参数,根据逆运动学运算,选定机械需经过的路径点,并设定性能指标,主要包括时间指标和脉动性能指标,在此基础上,描述物流搬运机械轨迹位置,重构物流搬运机械自动化轨迹,最后利用PID控制对物流搬运机械自动化轨迹的误差进行修正,优化自动化轨迹。实验对比结果表明,此次设计的基于PID控制的物流搬运机械自动化轨迹规划方法稳定性能比传统方法稳定性能高,满足物流搬运机械工作的实际要求。
Aiming at the problem of poor trajectory stability planned by traditional trajectory planning method for handling machinery,a trajectory planning method based on PID control is proposed to improve the trajectory stability of logistics handling machinery automation.The end effect inverse motion model is used to select the automatic trajectory control parameters of the handling machinery.According to the inverse kinematics calculation,the path points that the machinery needs to go through are selected,and the performance indicators are set,mainly including time indicators and pulsation performance indicators.On this basis,the trajectory position of the logistics handling machinery is described and the logistics handling machinery is reconstructed.Finally,PID control is used to correct the error of automation trajectory of logistics handling machinery and optimize the automation trajectory.The experimental results show that the stability of the design method based on PID control is higher than that of the traditional method,and it meets the practical requirements of the logistics handling machinery.
作者
周高鹏
徐驰
ZHOU Gaopeng;XU Chi(Shaanxi institure of technology Xi’an 710300,China;Shenzhou Digital Rongxinyun Technology Service Co.,Ltd,Xi’an 710077,China)
出处
《自动化与仪器仪表》
2020年第7期54-57,共4页
Automation & Instrumentation
基金
陕西省教育科学十三五规划2016年度课题:基于职业标准的《仓储管理实务》课程改革研究(No.SGH16V048)。
关键词
PID控制
物流
搬运
机械
自动化
轨迹规划
PID control
logistics
handling
machinery
automation
trajectory planning
