Fuzzy self-adaptive sliding mode control method for compensating friction sudden change of sand blasting and rust removing parallel robot

Abstract

The invention discloses a fuzzy self-adaptive sliding mode control method for compensating friction sudden change of a sand blasting and rust removing parallel robot. The method comprises the following steps of firstly, carrying out kinematics analysis on a Stewart parallel mechanism; secondly, establishing a kinetic model by adopting a Lagrange method; then, based on the kinetic equation of the mechanism, a fuzzy self-adaptive sliding mode controller for compensating the sudden change of the friction force of the sand blasting and rust removing parallel robot is designed, and the influence onthe system caused by factors such as large variation, small repeatability, uncertainty and the like of parameters such as inertia, friction force and the like is reduced through a sliding mode control method; and finally, a sand blasting and rust removing parallel robot control system is constructed by adopting a distributed structure, the control quantity is sent to a motor driver, and a spray gun is controlled to move according to an expected track. According to the fuzzy self-adaptive sliding mode control method for compensating the sudden change of the friction force of the sand blastingand rust removing parallel robot, the robustness of the sand blasting and rust removing parallel robot control system is effectively improved, and sliding mode control buffeting is weakened.

Description

technical field [0001] The invention relates to the field of sandblasting and rust removal of steel box girders, in particular to a control method of a sandblasting and rust removal parallel robot based on a Stewart parallel mechanism. Background technique [0002] Most of the newly built long-span steel bridges use steel box girders. Before using the steel box girder, it is necessary to carry out sandblasting and derusting operations on the steel box girder to ensure the corrosion resistance of the steel box girder. At present, there are two main methods of sand blasting and rust removal for steel box girders: shot blasting machine sand blasting and manual sand blasting. The shot blasting machine is mainly used for derusting the upper plane of the steel box girder, and the manual sand blasting is mainly used for derusting the side of the steel box girder and the complex curved surface (U-shaped rib) of the steel box girder. However, the traditional sandblasting rust remov...

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Problems solved by technology

[0004] The literature "Robot Low-Speed ​​Control Based on Friction Fuzzy Modeling and Compensation" (Wu Wenxiang et al., Journal of Electrical Machinery and Control, 2013) uses the nonlinear function approximation performance of fuzzy systems to identify friction and perform control compensation, but it cannot solve the problem of joint overshoot. Influence of sudden change of friction force on robot control accuracy at zero speed

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