Servo Control Design and Realization of Six Axis Hydraulic Actuator Robot

• Main Authors: Hsu-Lun Tsai, 蔡旭倫
• Other Authors: Chwan-Hsen Chen
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/08436021752706070269

碩士 === 元智大學 === 機械工程學系 === 92 === Hydraulic actuator robots are widely used in some industrial applications for their high load capacity. The controller design for hydraulic actuator robot is much more difficult, due to complicated hydraulic system. This paper describes the rapid control prototyping (RCP) technology to design a control system for a six axis hydraulic servo robot. All real time software running in the robot controller is developed with MATLAB, SIMULINK, Real Time Workshop® and xPCTarget from Mathworks. We not only to design the feedback loop control level, but also to the supervisory control level for command-mode switching, event monitoring, and fault detection. The supervisory control functions are presented by the Stateflow block diagrams. Some conventional approaches to control design have to be adapted to the block-diagram approach in rapid control prototyping. The complete control system is supplemented with a networked user interface host computer for remote operation, the host computer provides video display, data monitoring, data logging, and real-time 3D animation to display current robot gesture. We first design a digital PI controller and then we estimate the axis model by using frequency domain system identification. Finally we use LQR and RST strategy with friction compensator to design the controller. The built-in intelligence in the human machine interface help an operator achieves safer and smoother robotic application.