Research On Trajectory Planning And Servo Control Technology Of Building Robot

In today’s society,the output value of construction industry is increasing year by year,but it also faced with some problems such as rising labor costs,frequent accidents and the lack of labor.Construction robot,as a product of the high development of industrial automation,is one of the effective ways to solve these problems in the construction industry.Industrial robots have been widely used in various industrial fields,but the construction robot has been invented for many years,it has not yet formed the scale of industrialization.There are still some limitations in terms of technology and application.Based on the servo control system of the construction robot,this paper focused on the studies of trajectory planning and servo control methods of the construction robot,and its main research contents can be divided as follows:1.This chapter is aimed at the improvement and optimization of the trajectory planning algorithm of the construction robot servo system.Considering the disadvantages that the traditional linear acceleration and deceleration control and the exponential acceleration and deceleration control don’t have continuous acceleration,the S-curve acceleration and deceleration control does not have continuous jerk,based on the higher order of the derivable function has the smoother curve and the infinitely continuous of the sinusoidal function,a modified sinusoidal function square curve trajectory planning is established.The related algorithm models and mathematical formulas are given.The simulation experiment results show that the addition speed of the improved algorithm is smoother and meets the performance requirements of the modern construction robot for the trajectory planning algorithm of the servo system.2.This chapter is aimed at the most widely used permanent magnet synchronous motor in the servo control system of the construction robot.The high order transfer function model of the permanent magnet synchronous motor(PMSM)position servo system is established by using the mathematical model in the d-q coordinate system.The method of determining the parameters of the PID controller based on the pole assignment is given and the simulation experiment is given in view of the different solutions of the characteristic root of the transfer function of the high order system.The influence of the selection of different parameters on the performance of the system is compared and discussed,and the selection range of the parameters is given,which has some reference significance in the practical engineering application.3.In view of the nonlinear,time-varying and time-delay of the servo control system of the construction robot,the control stability is poor and the control difficulty is very difficult.The traditional Smith predictive control can effectively overcome the effect of time delay,but it is limited to the system modeling precision and external disturbance,and the control performance of many occasions will be affected.In this paper,feed forward control is added to the traditional Smith predictive compensation controller based on the feed forward control that can compensate the disturbance in time.The simulation experiment shows that the method can overcome the influence of external disturbance to the Smith predictive controller and improve the performance of the control system.4.In ideal case,the phase gains of the two input phase of the robot driver in servo system are the same.But in the real world,there are some differences between these two phase gains of the drive because of the error of the electronic components.Then the track of stator flux linkage is not a circularity but an ellipse,which causes a big torque ripple and decrease the performance of the system.In some case of high speed,the big torque ripple will cause a vibration of the system.