Development of Flow Rate Feedback Control in Tilting-ladle-type Pouring Robot with Direct Manipulation of Pouring Flow Rate
Development of Flow Rate Feedback Control in Tilting-ladle-type Pouring Robot with Direct Manipulation of Pouring Flow Rate
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DOI：
10.5220/0007951004600467
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发表时间：
2019-07
期刊：
影响因子：
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通讯作者：
Yuta Sueki;Y. Noda
中科院分区：
文献类型：
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作者：
Yuta Sueki;Y. Noda
介绍了铸造工业中倾包式浇注机器人的先进控制技术。在通过倾斜浇包将熔融金属浇注到模具的浇注盆中的浇注过程中，操作者难以以期望的浇注流速浇注熔融金属。因为浇注流量是通过控制钢包角度间接控制的。为了解决这一问题，在前期的研究中，我们开发了浇注机器人浇注流量直接控制系统。然而，期望的和实际的浇注流量之间的误差可以由浇注条件中的扰动引起。因此，在本研究中，我们开发了浇注流量反馈控制，以改善跟踪性能。在该方法中，浇注流量可以通过使用扩展卡尔曼滤波器来估计，并且反馈控制器可以通过基于估计的流量的增益调度PID控制来构造。所开发的系统应用于实验室型浇注机器人。根据实验，即使在有扰动的浇注条件下，操作者也可以根据需要控制浇注流量。
This paper describes the advanced control technology for the tilting-ladle-type pouring robots in the casting industry. In the pouring process in which the molten metal is poured into the pouring basin of the mold by tilting the ladle, it is difficult to pour the molten metal as desired pouring flow rate by the operator. Because the pouring flow rate is manipulated indirectly by manipulating the ladle’s angle. In order to solve this problem, in previous studies, we developed the direct manipulation system of the pouring flow rate in the pouring robots. However, the error between the desired and the actual pouring flow rate can be caused by the disturbances in the pouring condition. Therefore, in this study, we develop the pouring flow rate feedback control for improving the tracking performance. In this approach, the pouring flow rate can be estimated by using the extended Kalman filter, and the feedback controller can be constructed by the gain-scheduled PID control based on the estimated flow rate. The developed system is applied to the laboratory-type pouring robot. According to the experiments, the operator can manipulate the pouring flow rate as desired, even in the pouring condition with the disturbance.