Flow rate control based on differential flatness in automatic pouring robot
Flow rate control based on differential flatness in automatic pouring robot
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DOI：
10.1109/cca.2011.6044508
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发表时间：
2011-10
期刊：
影响因子：
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通讯作者：
Y. Noda;M. Zeitz;O. Sawodny;K. Terashima
中科院分区：
文献类型：
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作者：
Y. Noda;M. Zeitz;O. Sawodny;K. Terashima
通过机器人将熔融金属从浇包自动浇注到模具中需要对流量进行高精度的跟踪控制。由于液态金属的流体动力学，浇注过程的模型是高度非线性的，这对于基于模型的跟踪控制设计是必须考虑的。本文研究的两种设计方法结合了联合收割机的前馈和反馈控制，以获得精确和鲁棒的跟踪性能。因此，微分平坦的性质被用于设计的跟踪控制，和未测量的状态被重建的反馈控制的无味卡尔曼滤波器。通过对自动浇注机器人和浇注过程的仿真，对两种控制方案进行了比较。
The automatic pouring of molten metal from a ladle into a mold by a robot requires an high-precision tracking control of the flow rate. Due to the hydrodynamics of the liquid metal, the model of the pouring process is highly nonlinear which has to be considered for the model-based design of the tracking control. The two design approaches studied in the paper combine a feedforward and a feedback control in order to obtain a precise and robust tracking performance. Thereby, the property of differential flatness is used for the design of the tracking control, and the unmeasured states are reconstructed for the feedback control by an unscented Kalman filter. Two proposed control schemes are compared by simulations of the automatic pouring robot together with the pouring process.