主从式带电作业机器人控制系统

摘要

介绍一种液压驱动的带电作业机器人主从式控制系统.首先简单说明整个系统的组成，系统采用液压驱动方式.然后提出将带电作业机器人控制系统分为主、从控制系统，且主、从控制器都采用微处理器 TMS320 F2812.最后对控制系统的算法进行研究，提出一种模糊PID 控制的闭环控制方案，并进行 matlab 仿真，结果证明这是一种有价值的控制方案.%This paper introduces a master-slave control system of hydraulic driven live working robot. Start with a brief description of the whole system, and adopt hydraulic drive way. Then put forward the idea that divide the live working robot control system into master control system and slave control system, the two sub-control systems adopt microprocessor TMS320 F2812.Finally, study the algorithm of the control system and propose a closed-loop control scheme depending on the fuzzy PID. Then make simulation of the control system by matlab, and the results prove that this is a valuable control scheme.