Open AccessResearch on Stability of Sand Core Handling Robot System Based on PID Control
Author(s) -
Xianxin Lin,
Guojin Li,
Qian Su,
Xi Li
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2101/1/012044
Subject(s) - pid controller , overshoot (microwave communication) , control theory (sociology) , grasp , matlab , controller (irrigation) , clamping , vibration , core (optical fiber) , transfer function , robot , control system , stability (learning theory) , control engineering , engineering , computer science , mechanical engineering , control (management) , temperature control , artificial intelligence , acoustics , physics , software engineering , telecommunications , agronomy , electrical engineering , machine learning , biology , operating system
When an industrial robot uses a gripper with half hardness and flexibility to carry a hollow sand core, mechanical vibration will cause the gripper to grasp the sand core unsteadily or cracks in the sand core due to excessive pressure. In this paper, the mathematical model is constructed based on the elements such as gripper structure, clamping pressure and mechanical vibration, the system stability is analyzed, the PID controller is added for correction, the parameter values of K p , T i and T d are set by Ziegler-Nichols method, the transfer function of PID controller is obtained, and then the corrected system function is calculated. The dynamic response performance of the system is simulated and analyzed by Matlab / Simulink, the parameters in the PID controller are adjusted, and the overshoot of the system is reduced from 85% to 25%, which effectively reduces the impact of mechanical vibration interference on the sand core and realizes the optimal control of the system.