Intelligent Electro-pneumatic Module for Industrial Robots

Abstract

The task of developing and researching the industrial robots control system electro-pneumatic module is considered. The electro-pneumatic module consists of a pneumatic cylinder, electromagnetic pneumatic distributor, fuzzy controller and sensors: pressure, position and control of the external environment. Poor damping and large non-linearities due to mechanical friction and high compressibility of air cause the use of intelligent control of pneumatic systems. The equations of motion of the piston of the pneumatic cylinder, the rate of change of pressure in the cavities of the cylinder and the mass of the syrup of air are nonlinear. Therefore, it is recommended to control the pneumatic distributor on the basis of fuzzy logic. The mathematical description of the operation of the module pneumatic drive is taken into account in the equations of the dynamics of ambient pressure, inactive cylinder volumes, mechanical and electrical parameters of the pneumatic distributor. The method of creating an intelligent module with a pneumatic valve for control systems of industrial robots with a pneumatic actuator differs by integrating PD and PID controllers with elements of fuzzy logic and the sequence of data processing. Development of a fuzzy model is made using the Fuzzy Logic application package MatLab. The membership functions of the input and output parameters are triangular. The simulation results of the control system of a robot with pneumatic actuator showed an increase in positioning accuracy by 2 times and speed by 4.15 times. Based on the studies performed, the effectiveness of using intelligent electro-pneumatic modules to control industrial robots with pneumatic actuators is shown.