自动物料分拣机器人控制系统设计+Matlab源程序+图纸
毕业论文关键词： 虚拟样机、神经网络、PID参数控制、导师学习规则
Design General Information：It is the focus of research related to the material to do an automatic sorting robot in a part of this thesis. In the whole design process is pided into four main important aspects are the main design and modeling an automated material sorting robot; 2 automatic control system design materials robot; 3 automatic material robot vision positioning technology; 4 automatic material Robot visual positioning system design and test.This topic will be to automatic material sorting of the robot control system design.The use of virtual prototyping technology to design the control system.It describes the control system and the intelligent control algorithm.Most of the traditional sorting system based on computer technology and established on the basis of control theory. Automatic material sorting of the robot is mainly composed by three linear drive unit plus the end of the actuator and control system. And the precision requirement of the design and intelligent degree is high .so based on single neuron setting parameters of the PID controller to control the whole system and improve the system dynamic characteristics ,Change trend of action will sensing and let us know in advance and make the system adaptability for complex environment can do. This design not only achieve high precision control and accomplish the intelligent pick up。The main research topics direction is to design the control system of automated material sorting robot, in order to control the situation, but the movement of the robot using a virtual prototype technology robot physical prototypes to experiment and performance testing, will always be able to use the virtual respect prototype modification, etc. come to the best solution during the first physical prototype fabrication designed the entire control system specific pision modules. The so-called intelligent control part of the planning pision of the control mode module hardware needed to complete the type of control system design. Select the control mode for the motion controller and IPC control mode with each other.The physical prototype model into the software to create a virtual prototype of the software used in the design is Matlab2014a. The main issue in the design of three-dimensional model into a virtual model to create a virtual prototype of the bitmap. Precision motion control demanding physical prototypes reach 0.02mm accuracy. Enter the amount of time to take into account the requirements of precision and accuracy requirements of the system homeostasis traditional PLC accuracy requirements so difficult to achieve the desired ruled out a program of selected high computing power Matlab / Simulink as this virtual prototype simulation software. Borrowing Matlab / Simulink software to generate automated material sorting the virtual prototype model; then use this virtual prototyping to design control systems; virtual prototype model of the entire automated material sorting robot simulation analysis in the final build.In the control process of sorting materials require accurate control of movement so using PID control motion control card, however in the course of the simulation was found that if just choose to set a good parameter to be controlled can cause the motor not running smoothly precise and traditional PID control does turn and control objects related. Objects changed PID controller itself does not need to make adjustments so PID tuning parameters and optimization. Control neural networks have a strong self-learning ability to improve the control precision real-time control of neural network to join the PID control parameters only once per object After updating the neural network learning module can continue to recover according to the closed-loop error to own Learning to adjust function parameters and then by the PID controller to control the output of the new rate for the robot to exercise control.The design of the neural network will use the supervised learning rule of a single neuron self-learning control PID tuning parameters optimization.Various extreme positions are provided with a sensor in the design as a boundary alarm signal. In order to prevent wrong it will be because of intelligent control the risks of accidents.And this project is designed to bring in a nutshell is the use of virtual prototyping technology uses a single neuron in a virtual simulation to tuning PID control servo motor operation.