Reserch On Compliance Control Of Intelligent Balance Crane Based On Dynamic Characteristics

At present,China has entered an aging society,the effective labor force is gradually declining,and the labor cost is gradually increasing.At the same time,the volume and weight of industrial production workpieces are becoming larger and larger.It is no longer able to meet the needs of daily production only by manpower or constant speed lifting products such as electric hoist.Therefore,intelligent balance crane,a mechatronics product,came into being,and it is widely used for handling and assembly.The intelligent balance crane abandons the original setting of remote control constant speed for lifting industrial products,but adopts the way of direct contact between the operator and the handle or the operator and the load,which can realize the action of lifting or lowering the load at any speed.However,it is necessary to study the flexibility of the intelligent balance crane because the action of lifting the load requires direct contact between the operator and the load,which directly determines the stability and safety of the operator in man-machine cooperation.In this paper,aiming at a self-developed intelligent balance crane,its dynamic model in the vertical direction is established,and its control system is constructed and analyzed based on this.The flexible control strategy of variable parameter admittance and the anti-rebound control strategy in suspension mode are put forward,and the corresponding simulation analysis and physical experiment analysis are carried out.The specific research contents are as follows:Firstly,the vibration equation of the wire rope used to lift the load on the intelligent balance crane is analyzed,and then the wire rope is regarded as a rigid body for analysis.Based on this,the lifting dynamics model of the intelligent balance crane in the vertical direction is established,and the influence of the parameters in the model on the movement is analyzed.Combined with the working principle of intelligent balance crane,its control system is constructed,its stability is analyzed,and the inertia force is compensated by taking the load quality as the negative feedback link.Secondly,the compliance control method based on variable parameter admittance model of intelligent balance crane is constructed,and the admittance parameters are segmented according to the end load speed value to meet the requirements of alignment accuracy at low speed and transportation speed at high speed,and numerical simulation is carried out in the simulation platform.In view of the rebound phenomenon of the balance crane in suspension mode,the corresponding anti-rebound strategy is designed.Finally,according to the designed inertial force compensation link,the designed admittance control strategy with variable parameters in suspension mode and the anti-rebound algorithm for touchdown,the correctness of the theoretical analysis is verified According to the test results,the admittance parameter values at low speed and high speed are obtained,and the speed threshold of admittance parameter change is established The control strategy of suspension anti-rebound is tested,and the threshold of operating force for triggering anti-rebound is given.