Pnömatik olarak tahrik edilen bir robot kolunda uygun konum kontrolunun araştırılması
Position control analysis for a pneumaticaly driven robot arm
- Tez No: 21707
- Danışmanlar: PROF. DR. AYBARS ÇAKIR
- Tez Türü: Yüksek Lisans
- Konular: Makine Mühendisliği, Mechanical Engineering
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 1992
- Dil: Türkçe
- Üniversite: İstanbul Teknik Üniversitesi
- Enstitü: Fen Bilimleri Enstitüsü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 111
Özet
ÖZET Bu çalışmada» endüstride robot- sistemlerinde kullanılan tahrik çeşitlerinin bir genel mukayesesi ve incelemesi yapıl mis bunlardan endüstri tesislerinde uygulanması en kolay, -temiz ve maliyeti düstlk olan pnömatik tahrikli sistemlerin misal olarak gösterilen bir robotun model lenmesi ve simtilasyonu gerçekleştirilmiştir. Model iıı oluşturulmasından sonra, konum kontrolünün gerçekleştirilmesi amacı ile iki alternatif kontrol yaklaşımı tatbik edilmiştir. Öncelikle, genellikle bu çeşit sistemlerde kolaylıkla uygula.na.rt PD kontrolü bir kompüter programı kullanılarak modele entegre edilmiş, daha sonra da aynı modele lineer kuadratik kontrol yaklaşımı da entegre edilerek, her iki sistem için de çıkış değerleri alınmış, bu değerler MCAD çizim programı aracılığı ile grafiğe aktarılmıştır. Bu elde edilen grafiklerin incelenmesi neticesinde de lineer kuadratik kontrol yaklaşımının PD kontrole oranla çok daha hızlı cevap verdiği, hızın, basınçların ve konumun çok daha hızlı dengelendiği tesbit 'edilmiştir. Neticede pnömatik sistemler için bu kontrol algoritmasının çok daha uygun olduğu tesbit edilmiştir.
Özet (Çeviri)
POSITION CONTROL ANALYSIS FOR A PNEUMATIC ALY DRIVEN ROBOT ARM SUMMARY This study starts by comparing fluid power servomechaniames with electrical and mechanical systems because it seems important to establish the need for these devices before becoming too involved in the analysis of pneumatic and hydraulic sys terns. Following the analysis of the pneumatic servomechanismes and the pumps, valves and motors in Chapter 3 and 4. One chapter is devoted to the study of the model of the robot and one chapter to the lineer quadratic control approach. Öne complication with fluid power systems, compared with electrical systems, is that the governing equations are more nonlinear. However, much useful work can be achieved by using linearized analysis and the major part of this text deals with linearised equations. Pneumatic actuators are capable of providing high power output levels at a relatively low cost. In addition, they are clean, lightweight, and can be. easily serviced. The difficulty of achieving a high-bandwith, stable, pneumatic control system has limited its use in robotic position control applications. For open loop control applications, such as many robot grlppers, pneumatic actuators are often used. In this study, direct-drive pneumatic servo actuators are examined for their potential use in robotic applications. A complete mathematical model of the actuator is derived, and two control algorithms are tested numerically. Our analysis shows that pneumatic systems are practical for use in servo-control applications. The main limitation is that of the system response time, which is determined by the valve flow characteristics and supply pressure. Large output forces can be obtained and accurately controlled with the servo-valve and differential pressure transducer. The primary contributor to the high cost of industrial robots is their joint servo- actuators. The optimum robotic actuator would have a large power output to weight ratio, a high bandwith, low power consumption, and low cost. VIIn addition, many modern robot control algorithms require the ability to control directly the actuator output force or torque for compliant motions. Pneumatic actuators can potentially provide all of these features. The main contributions of this study are: 1. A set of equations is presented in state-space form which have been shown by simulation to represent the dominant d2/namics of the linearized pneumatic systems. The flow equations derived in this study have been presented previously only in a simplified classical formül ation, 2. A lineer quadratic control approach and a PD control approach are presented as two alternative position control algorithms for this pneumatic robot model. Because of their low cost, pneumatic actuators are used extensively in industry for applications which require the actuator to be located in one of two limiting positions. Due to the compressibility of air, pneumatic actuators have seldom been applied to the continuous control of position which is required for servo-control systems. The main advantages of using pneumatic actuators are that air is clean, inexpensive, and is readily available for use on the shop floor. Air can also provide high power for large loads. In contrast to electric motion control systems, no heavy motors with complex gearing are required if a pneumatic servo system is used. In addition, pneumatic systems can be used with direc-drive mechanisms for an easy implementation of force control applications. The number of studies on pneumatic ser vo-sys terns is very limited in comparison with research reportedon electrical and hydraulic servo-systeais. In the early work of Shearer, a linearised mathematical model of a pneumatic servomotor is derived which is valid only for the midstroke position of the actuator. Burrows further expanded Shearer's mathematical model to accomodate all positions of the actuator. However, Burrows simplified the derivation by assuming that the initial pressure difference between the two chambers was zero. No complete test results have been presented for verifying the mathematical models of Shearer or Burrows. Subsequent studies on pneumatic system design have been presented, but these papers are primarily concerned with modeling individual components of the system, rather than investigating the performance of the closed-loop system. Figure shows the configuration of the general system VIIthat has been investigated. The cylinder is mounted to a fixed vertical beam which serves a base support. One end of the arm is attached through a pivot directly to the piston. The other end of the arm supports a dumbbell which represents an end effector and payload. An electromagnetic 4-way servovalve is mounted on the beam as close to the cylinder as possible. cylinder pressure transducer“*.. 6 -way valve -/ /'/”7 /7“7 A similar analysis to that which is presented in Shearer is developped for the servomotor shown in the figure. Exhaust Supplv T.T l * S B jr EZZQ3ZJ 1,11111,11)1 I I I '< V,P,T,,. ”-' a a /“ it,,, run r: 3.*- Contrnl Volume For the model, the four state equation obtained as. Ap. v. Ay + Ap = C u - C Ap [13 T R T rR s Apbi _ vbi 1 Ay + Ae> = - C u - C Ap, b x 2 b £23 T R s T rR VIIIm Ay + bAy = AC Ap - Ap ) s ”" ab [33 Ay = Ay, Ay = Ay C43 The four state equations are written in state space matrix in copact form as, x = Ax + Bu If it is written in an extensive form» Ay Ay Ap_ Ap. O o -b/m -Ap r/v O Ap. r/v bt bt A/m -A/m -c T Rr/v. O 2 s aı O -c T Rr/v. 2 s bi Ay, Ay. Ap_ AP. O c T Rr/v 1 a ax -c T Rr/v,. 1 a bi U As it is informed above, PD and the linear quadratic control approaches are presented in this study. But only the linear quadratic approach is examinated in an extensive manner. The solution of the linear control problem is approached from three different viewpoints. First the Hamil ton-Jacobi approach is directly applied to the problem to develop a matrix form of solution in the time domain known as the matrix Riccati equation. Some IXconcepts from the second method of Liapunov can be employed» in two alternate approaches» to derive this same matrix result. The third approach concerns the translation of the matrix result into a frequency-domain expression commonly reffered to as the Kalman equation. But only the first approach is employed and presented in this study. A linearized mathematical model of a pneumatic servo system has been presented in state-space form. Using this mathematical model » it is investigated a classical C PD>, and a modern C LQ) aproach to feedback control. This analysis shows that pneumatic systems are practical for use in servo control applications. Large loads can be quickly and accurately positioned. Pneumatic s2/stems are inexpensive, with the major contributor to the cost being that of the servovalve. The main limitation is that of the system response time» which is determined tey the valve flow characteristics and supply pressure. From the graphics that we obtain for PD and LQ control by using MCAD graphic pocket programme it is clear that the LQ control has many advantages comparing with the PD control. The use of the LQ control can be a solution for the response time of the pneumatic systems.
Benzer Tezler
- Programmable soft robotic arms with auxetic metamaterials
Ökzetik metamalzemeler ile programlanabilir yumuşak robot kol
GÜRAY GÜMÜŞ
Yüksek Lisans
İngilizce
2023
Makine MühendisliğiAnkara Yıldırım Beyazıt ÜniversitesiMetalurji ve Malzeme Mühendisliği Ana Bilim Dalı
DOÇ. DR. MEHMET FATİH ÖKTEM
- Pnömatik tek dane doğrudan ekim makinelerinde ekim performansını arttırmaya yönelik tahrikli kesme ünitesi tasarımı
Design of a drive cutting unit of a pneumatic presicion direct seeding machine to increase seeding performance
METİN KAAN UYGUNTÜZEL
Doktora
Türkçe
2022
ZiraatEge ÜniversitesiTarım Makineleri ve Teknolojileri Mühendisliği Ana Bilim Dalı
PROF. DR. ERDEM AYKAS
- Şeritsel toprak işlemeli ve hassas ilaçlama yapabilen tek dane ekim makinasının tasarımı ve geliştirilmesi
Design and development of precision planter equipped with strip till and selective herbicide sprayer
ZİYA ALTINÖZ
Doktora
Türkçe
2023
ZiraatEge ÜniversitesiTarım Makineleri ve Teknolojileri Mühendisliği Ana Bilim Dalı
PROF. DR. ERDEM AYKAS
- The correlation of experimental tests for pneumatic valves of vacuum system in diesel engines by using 1D simulation method
Dizel motolarında vakum ile çalışan pnömatik valflerin deneysel testlerinin 1 boyutlu simülasyon metodu ile korelasyonu
ÖMER CEYHUN
Yüksek Lisans
İngilizce
2011
Makine Mühendisliğiİstanbul Teknik ÜniversitesiMakine Mühendisliği Ana Bilim Dalı
YRD. DOÇ. DR. OSMAN AKIN KUTLAR