【作者】 都明宇；

【导师】 胥芳；

【作者基本信息】 浙江工业大学 ， 机械电子工程， 2003， 硕士

【摘要】 驱动器和驱动系统是所有机器人技术中不可缺少的组成部分，驱动器可以提供机器人关节、肢体运动所需要的力、力矩、机械位移等。随着机器人技术的发展，人们不断的研究和发展出各种新颖、有效的驱动器。这其中浙江工业大学机器人研究所研制成功了一种新型的气动橡胶驱动器，与其它驱动器相比，这种橡胶驱动器具有重量轻、结构简单、柔韧性好等特点，显示出了巨大的应用发展潜力。 目前用开关阀实现的气动伺服控制已成为流体动力控制领域竞相研究的对象。以普通开关阀为电-气转换元件的气动脉宽调制系统是一种廉价的、有很大实用价值的新型电-气开关／伺服控制系统。本文以气动橡胶驱动器为研究对象，利用开关阀PWM调制对其实现快速、精确的位置控制。对橡胶驱动器静、动态特性和开关阀式气动位置伺服系统进行了详细的理论分析，建立了相应的非线性数学模型，并在此模型基础上设计了常规PID控制器，取得了较好的稳态控制效果。 本文的重点是基于气动橡胶驱动器的蠕动机器人位置伺服控制系统的应用性研究。由于气压控制系统是一个具有严重非线性的系统，而模糊逻辑控制是在熟练控制操作者的经验基础上，对控制对象进行非线性控制的一种有效控制方法。因此本文对模糊逻辑控制在其中的应用进行了深入的研究。数字仿真分析表明，模糊逻辑控制补偿了系统非线性因素，使系统的动态性得到了明显的改善。本文所采用的模糊自适应PID控制器，有效的结合了模糊逻辑控制器的非线性补偿能力和PID控制器消除静态误差的优点，不仅提高了系统的稳态精度，而且改善了系统的动态性能。在此基础自上，本文研制出了数字式气动位置伺服控制器，为今后的应用研究打下了坚实的基础。更多还原

【Abstract】 Actuators and actuation systems are essential features of all robots, providing the forces, torques, and mechanical motions needed to move the joints, limbs or body. Different effective and newly typed actuators are developed as the progress of robot technologies. The robotic research institute in Zhejiang University of Technology is now developing a new typical squirming robot based on pneumatic columnar elastic shell actuator. Compared to other kinds of actuators, the columnar elastic shell actuator have the advantages of small weight, simple structure and smooth motion. So it possesses valuable developing potential.At present, the pneumatic servo control using on-off valves has become a subject researched on competitively in the domain of fluid power control. The pneumatic control system with ordinary on-off valves in Pulse-Width Modulation (PWM) is a new type of electro-pneumatic on-off/servo control with low cost and high practical significance.This thesis takes pneumatic columnar elastic shell actuator as its object of study, using on/off valve PWM to improve the high-speed and accurate position control. We give theoretical analyses to the static and dynamic characteristics of columnar elastic shell actuator and on-off valves position servo system, and derive the nonlinear model basis of mechanical equilibrium and energy balance. According to the model obtained, the PID controller is designed and the effect of static control is satisfied.The emphasis is application research of position servo control system in squirming robot based on pneumatic columnar elastic shell actuator in this article. The pneumatic control system is a serious nonlinearity system. Based on the experience of professional operator, the fuzzy logic control is an effective control method to nonlinearity system. Therefore this thesis focuses on using fuzzy logic control on electro-pneumatic position servo system. The results of simulation show that fuzzy logic control can compensate the nonlinearity factor of the system, thus the dynamic performance of system is improved. The fuzzy adaptive PID controller, proposed in this paper, combines effectively the nonlinearity compensative capability of the fuzzy logic controller with the PID controller’s advantage of eliminating static error, not only enhances the static accuracy, but also improves the dynamic performance of system. For the first tune the pneumatic position digital servo controller is manufactured. This lays a steady foundation for the future application research.更多还原