Study On Control Strategy Of Connector Actively Flexible Docking System

This article is from an engineering project that has extremely high requirements on the on-site air dew point.It requires remote automatic operation to realize the fully automatic docking of various electrical connectors,signal connectors,pneumatic connectors and the entire process of each signal monitor.To ensure the successful docking of the connector is a necessary guarantee for the model experimental device to achieve safe and reliable transfer in each experimental section.In the process of connector docking,it is necessary to ensure the flexibility of the docking process.According to the task requirements,a connector active compliant docking system was designed.This system uses a six-degree-of-freedom parallel mechanism as the drive and uses a fuzzy adaptive impedance control strategy to perform control.The main research contents of this article are as follows:Through the functional analysis of the connector docking system and the experimental analysis of the passive compliant prototype,the active compliant docking method was determined,the connector selection and insertion force analysis were performed,and the overall structure of the connector’s active compliant docking system The scheme was designed,the docking process of the system was analyzed,and the key steps of docking were determined.Finally,the positive kinematics solution,the inverse kinematics solution,and the Jacobian matrix were solved for the active compliance mechanism.The basic principles of position-based impedance control and force-based impedance control are summarized,the control strategy using position-based impedance control as the research object of this paper is determined,and the effects of different impedance parameters and environmental stiffness on the performance of the impedance controller are studied by simulation For the connector’s active compliant docking system,a one-way force sensor-based docking force calculation method and expected force calculation method are proposed.In order to improve the system’s response sensitivity and operational stability in practical applications,various degrees of freedom are carried out A powerful control law design.Without affecting the overall analysis,the control strategy is simplified,the impedance control strategy of the joint simulation is designed,the joint simulation platform is established,the impedance controller based on the force outer loop and the PID controller based on the position inner loop are designed.After adjusting the parameters of the PID controller of the position inner loop,by changing the initial docking deviation conditions of the virtual prototype model,the simulation analysis under different deviations and different speeds was carried out,and the results of the simulation analysis and the geometric theory were derived The results are compared to verify the correctness of the impedance controller adjustment results.In view of the difference in control performance under different speed docking and varying environmental stiffness,an online real-time tuning method of impedance controller parameters is proposed,a fuzzy adaptive impedance controller is designed,and simulation verification is carried out to prove that the fuzzy adaptive controller is relative to the previous The result of manual tuning can make the docking process more stable,and the overshoot is smaller,and it can have better robustness and adaptability under different docking speeds.