摘要
为规范机车车轮的检修转运作业,保证转运机械手的操作精度,设计了基于模糊PID的机车车轮转运机械手升降控制系统。在硬件设计中,采用模糊PID控制技术构建系统框架,分别按照X轴、Y轴、Z轴设定升降承载装置;在软件设计中,获取转运机械手升降参数值,构建转运机械手升降控制流程。试验结果表明:以机车车轮检修转运为测试对象,分别按照常规和扰动两个模式进行测试,系统可以保证转运机械手的升降精度,具有较高的转运效率。
In order to standardize the maintenance and transfer operation of locomotive wheels and ensure the operation accuracy of transfer manipulator, the lifting control system of locomotive wheels transfer manipulator based on fuzzy PID was studied. The hardware design used fuzzy PID to set the control system frame. The lifting bearing device was arranged according to X, Y and Z axes respectively. In the software design, the lifting parameter value of the transfer manipulator was obtained, and the lifting control process of the transferred manipulator was constructed. The experiment results show that taking the locomotive wheeled maintenance and transferring as the test object, the test is carried out according to the conventional mode and the disturbance mode, which can ensure the lifting accuracy of the transfer manipulator and improve the transfer efficiency.
作者
方琪琦
许衍根
高志超
司召云
王子浩
FANG Qiqi;XU Yangen;GAO Zhichao;SI Zhaoyun;WANG Zihao(Cuoneng Railway Equipment Co.,Ltd.,Beijing 100048,China;Cangzhou Locomotive and Rolling Stock Maintenance Branch of Guoneng Railway Equipment Co.,Ltd.,Cangzhou 061113,China;Beijing Tiekeheli Technology Co.,Ltd.,Beijing 100082,China)
出处
《大连交通大学学报》
CAS
2024年第6期43-48,共6页
Journal of Dalian Jiaotong University
关键词
模糊PID控制
机车车轮
转运机械手
控制系统
偏差调节
承载装置
fuzzy PID control
locomotive wheels
transfer manipulator
control system
deviation adjustment
bearing device
