基于比例导引法的机械臂拣矸过程轨迹规划方法研究
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摘要
为解决目前国内洗煤厂人工拣矸方式所存在的分拣效率低、工人健康危害大等问题,设计了一种煤矸分拣机器人,重点研究了其多矸石分拣优先级排序及机械臂拣矸过程运动轨迹规划问题。首先,基于优先抓取带式输送机上尺寸大、距离近并且与其它矸石重叠的矸石的规则,采用模糊逻辑推理方法构建了识别区域矸石的待抓取优先级排序模型,为机械臂有序、高效分拣矸石提供了合理的逻辑顺序;然后,为了解决带式输送机上矸石的机械臂动态跟踪轨迹规划问题,采用比例导引方法,建立了实现矸石匀速运动下的动态跟踪过程的机械臂运动轨迹规划模型,进一步采用增量比例导引法实现了矸石非匀速运动下的动态跟踪过程的机械臂运动轨迹规划;最后,基于Matlab工具对上述模型进行了仿真分析,验证了方法的可行性,为进一步进行机械臂拣矸控制关键技术的研究奠定了基础。
On the basis of a new separation system and separation method of coal gangue put forward by former researchers,the key technology of single machine picking gangue is studied. The position and size of the gangue are obtained by the recognition and processing module,and the priority of the multi gangue based on fuzzy logic is proposed to ensure the efficient and orderly gangue picking by single manipulator. On the basis of path planning for dynamic picking of manipulator, a proportional guidance method is proposed to guide the manipulator to track the target gangue dynamically. The simulation results show that it is reasonable to establish the priority of multi gangue,and the incremental proportional guidance method is used in dynamic tracking of the single manipulator to capture the target gangue,and the trajectory of the manipulator is smooth.It is also suitable for the situation when the speed of the gangue conveyer belt has a sudden change,and has a good dynamic tracking effect.
On the basis of a new separation system and separation method of coal gangue put forward by former researchers,the key technology of single machine picking gangue is studied. The position and size of the gangue are obtained by the recognition and processing module,and the priority of the multi gangue based on fuzzy logic is proposed to ensure the efficient and orderly gangue picking by single manipulator. On the basis of path planning for dynamic picking of manipulator, a proportional guidance method is proposed to guide the manipulator to track the target gangue dynamically. The simulation results show that it is reasonable to establish the priority of multi gangue,and the incremental proportional guidance method is used in dynamic tracking of the single manipulator to capture the target gangue,and the trajectory of the manipulator is smooth.It is also suitable for the situation when the speed of the gangue conveyer belt has a sudden change,and has a good dynamic tracking effect.
引文
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[4]陆军.煤矸石发电是扩大煤矸石综合利用的有效途径[J].中国煤炭,2001(7):36-37,42.
[5]郭洋楠,李能考,何瑞敏.神东矿区煤矸石综合利用研究[J].煤炭科学技术,2014,42(6):144-147.
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[7]边炳鑫.试论选煤厂原煤选矸工艺[J].选煤技术,1992(5):11-13.
[8]刘强.煤炭洗选发展中存在的问题和对策[J].中小企业管理与科技(下旬刊),2017(12):163-164.
[9]刘文中,孔力.煤矸石自动分选系统中高压气阀的模糊控制[D].长沙:华中理工大学,2000.
[10]严德?,王洋.大型空气重介流化床的逆系统控制[J].中国矿业大学学报,2003(5):39-41,46.
[11]严德?.大型空气重介流化床机理建模与仿真[J].系统仿真学报,2001(3):342-343,380.
[12]熊建军,梁春成,邢洪波.空气重介流化床干法选煤机的测量和控制方法探讨[J].煤矿机电,2004(1):43-46.
[13]崔正伟,复合式干法分选过程智能控制系统研究[D].北京:中国矿业大学(北京),2015.
[14]曹现刚,张瑞圆,费佳浩,等.一种煤矸石分离系统和分离方法:中国,B07C5/34[P]. 2017-2-1.
[15]丁冬,刘宗歧,杨水丽,等.基于模糊控制的电池储能系统辅助AGC调频方法[J].电力系统保护与控制,2015,43(8):81-87.