| Aluminum is known as a renewable strategic metal for recycling and efficient utilization,and occupies an indispensable position in the development of national economy,science and technology,and national defense.As a key process of aluminum production,continuous casting of aluminum ingots will cause impurities such as dross to appear in the production process,and slagging treatment on its surface is an important process.Traditional slagging is generally done manually,which has the disadvantages of low work efficiency,high risk factor,high work intensity and high labor cost.To realize automatic slagging,the control technology is difficult,and the slag removal tool and the casting mold will have an uncertain collision problem in the slagging process,which seriously affects the stability of the system.Therefore,it is urgent to design a system for automatic slagging of molten aluminum and solve its collision problem.Therefore,aiming at the manual slagging process in continuous casting of aluminum ingots,this paper uses industrial robots to design an automated dynamic slagging control system,designs a slagging robot admittance control system for the existing collision problem,and uses a variety of control algorithms to improve and optimize it,verify the effectiveness of the algorithm through MATLAB,and finally realize the co-simulation in Robot Studio.The main research contents are as follows:(1)Slagging robot control system design.Encoders,sensors and robot tracking boards are mainly used to achieve high-precision follow-up control and accurate measurement of liquid level in the mold conveyor chain,so as to design the operation trajectory and key actions of slagging,and build a hardware system,and then program PLC and robot programs to complete laboratory tests,and put into use in actual production to operate reliably and stably.(2)Research on admittance control algorithm.Aiming at the collision problem that may occur in the slag robot system in practice,first establish a mathematical model of the slagging robot;Then,the collision detection algorithm is designed,and in view of the difficulty of accurate measurement and modeling of robot joint friction in the robot system that requires linearization or variable parameter processing,a admittance control algorithm based on inverted sliding mode control is proposed,which realizes the high-precision position control and flexible operation performance of the slagging robot.(3)Research on variable admittance control algorithm.This is mainly aimed at the problems of the admittance control parameters mentioned above that cannot be adaptively adjusted with external forces,and the uncertainty in the robot dynamics model is treated as simply bounded,and the uncertain terms in the robot dynamics model are processed according to simple bounded,the RBF inversion sliding mode controller is proposed,which can realize the adjustment of adaptive admittance parameters and improve the admittance control performance.(4)MATLAB and Robot Studio joint virtual simulation.Using industry-oriented simulation software to realize digital twin technology,a slagging robot system simulation platform is established in Robot Studio simulation software to complete the Socket communication between Robot Studio and MATLAB,so as to realize joint simulation. |
PDF Full Text Request