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Non-contact type suspension grabbing system and model reference self-adaptive control method thereof

An adaptive control and model reference technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as contact damage and pollution, achieve low power consumption, enhance system stability and rapidity , does not limit the effect of carrying capacity

Pending Publication Date: 2021-08-06
QUFU NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the problem that the traditional machine gripper directly contacts the object and easily causes contact damage and pollution, and provides a non-contact grasping and handling system based on magnetic levitation and its model reference adaptive control method, which is characterized in that: Linear motors, disc motors and magnetic levitation support technology cooperate to complete multi-degree-of-freedom suspension, grasping and handling work

Method used

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  • Non-contact type suspension grabbing system and model reference self-adaptive control method thereof
  • Non-contact type suspension grabbing system and model reference self-adaptive control method thereof
  • Non-contact type suspension grabbing system and model reference self-adaptive control method thereof

Examples

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Effect test

example 1

[0115] Example 1: A variable grasping height tracking simulation experiment, such as image 3 , Figure 4 As shown, in the stable suspension stage of grabbing objects at t=0, the initial grabbing height is 14mm. When t=4s~8s, the grabbing height becomes 6mm, and then returns to 14mm in 8s~12s, and so on until 20s Suspension grabbing performance as shown in Table 2, start time 0.15s, height change transition time is 0.35s, overshoot is 0.2mm, this experiment has verified that the present invention control has stronger grabbing tracking ability and rapidity and Stability is good.

[0116] Table 2 Performance of variable grasping height tracking simulation experiment

[0117]

example 2

[0118] Example 2 Axial grasping and ascending simulation experiment, such as Figure 5 , Figure 6 and Figure 7 As shown, the suspension grabbing height is set to 14mm, the suspension grabbing is started at t=0s, and the wind resistance in the rapid ascent process is simulated at t=5s, and the axial resistance of 0.9sin[9(t-5)]N is applied to carry out the The comparison results of axial air gap tracking under PID control and the axial air gap tracking of the present invention are shown in Table 3. No matter in terms of grasping height change, recovery time, air gap oscillation range and stabilization time, the control effect of the present invention is Obviously better than PID control.

[0119] Table 3 Performance comparison of axial interference force application

[0120]

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PUM

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Abstract

The invention discloses a non-contact type suspension grabbing system and a model reference self-adaptive control method thereof. A magnetic suspension supporting technology is introduced into a manipulator grabbing system, so that an object is grabbed and carried in two degrees of freedom under the action of magnetic attraction force of a suspension winding and the driving of an axial disc type motor. A non-contact suspension grabbing two-degree-of-freedom motion model is constructed, interference of the two-degree-of-freedom model is attributed to single degree of freedom, active and passive axial horizontal air gap control is achieved, model reference self-adaptive control is adopted, a strictly linear non-interference non-contact suspension grabbing expectation model is selected, and the state, input gain and interference items are adjusted online. The problem of object oscillation caused by slow multi-adaptive parameter adjustment speed and overlarge adaptive gain is solved through adjustment of interference terms, and control over the position, speed and acceleration of non-contact type suspension grabbing is completed. The stability and the capability of adapting to various working conditions of the non-contact type suspension grabbing system are greatly improved, and the system is promoted to be widely applied in practice.

Description

technical field [0001] The invention relates to a non-contact magnetic levitation grasping device and its model reference adaptive control method, especially for the pollution-free and non-contact grasping and handling of conductors and high magnetic permeability objects, solving the difficult problem of magnetic levitation nonlinear control, and belongs to the non-contact The field of magnetic levitation transmission. Background technique [0002] With the improvement of intelligent automation technology, the robot arm system is widely used in the national economy and people's livelihood industries such as logistics handling and steel production, which greatly improves production efficiency. Operation, its precise and reliable action, quick response, high rigidity and other advantages greatly improve the production efficiency, but the traditional robot arm directly touches and grabs the object, which is easy to cause deformation, damage and pollution of the object, and even...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 褚晓广宋蕊蔡彬王伟超
Owner QUFU NORMAL UNIV