摘要
针对烟囱攀爬机器人多电机协同控制精度不高与稳定性不足的问题,提出了一种多层多电机同步控制系统。上层采用交叉耦合控制实现多电机同步,中层通过FOC电机三环控制确保快速精确响应,底层利用蚁群优化算法优化RBF-PID控制器参数提升协同性能。仿真结果表明:ACO-RBF-PID控制器相较RBF-PID控制器和ACO-PID控制器,搭载平台到达目标位置的时间分别缩短了3.38%与18.57%,平台倾斜角度均方根减小了43.33%与51.42%,电机响应速度相较RBF-PID控制器提高了34.78%;交叉耦合控制相较偏差耦合控制,平台倾斜角度均方根减小了65.79%,显著增强了机器人的运行稳定性和可靠性。
In response to the insufficient control accuracy and stability of multi-motor cooperative control for chimney-climbing robots,a hierarchical control system is proposed.The upper layer adopts cross-coupling control to achieve multi-motor synchronization;the middle layer employs FOC three-loop motor control to ensure rapid and precise response;and the bottom layer utilizes an ant colony optimization algorithm to optimize the parameters of an RBF-PID controller,thereby enhancing cooperative performance.Simulation results demonstrate that,compared to the RBF-PID controller and the ACO-PID controller,the ACO-RBF-PID controller shortens the time for the platform to reach the target position by 3.38%and 18.57%,respectively,reduces the root mean square of the platform tilt angle by 43.33%and 51.42%,and improves the motor response speed by 34.78%relative to the RBF-PID controller.Furthermore,cross-coupling control reduces the root mean square of the platform tilt angle by 65.79%compared to deviation coupling control,significantly enhancing the operational stability and reliability of the robot.
作者
杨晨
王淋
吴乐祺
庞明秀
苏宇鸿
赵俊生
Yang Chen;Wang Lin;Wu Leqi;Pang Mingxiu;Su Yuhong;Zhao Junsheng(Shanxi Construction Investment Group Co.,Ltd.,Shanxi Taiyuan,030032,China;School of Mechanical Engineering,North University of China,Shanxi Taiyuan,030051,China)
出处
《机械设计与制造工程》
2026年第4期61-67,共7页
Machine Design and Manufacturing Engineering
