娄军强, 魏燕定, 杨依领, 谢锋然, 赵晓伟. 智能柔性机械臂的建模和振动主动控制研究[J]. 机器人, 2014, 36(5): 552-559,575. DOI: 10.13973/j.cnki.robot.2014.0552
引用本文: 娄军强, 魏燕定, 杨依领, 谢锋然, 赵晓伟. 智能柔性机械臂的建模和振动主动控制研究[J]. 机器人, 2014, 36(5): 552-559,575. DOI: 10.13973/j.cnki.robot.2014.0552
LOU Junqiang, WEI Yanding, YANG Yiling, XIE Fengran, ZHAO Xiaowei. Modeling and Active Vibration Control of an Intelligent Flexible Manipulator System[J]. ROBOT, 2014, 36(5): 552-559,575. DOI: 10.13973/j.cnki.robot.2014.0552
Citation: LOU Junqiang, WEI Yanding, YANG Yiling, XIE Fengran, ZHAO Xiaowei. Modeling and Active Vibration Control of an Intelligent Flexible Manipulator System[J]. ROBOT, 2014, 36(5): 552-559,575. DOI: 10.13973/j.cnki.robot.2014.0552

智能柔性机械臂的建模和振动主动控制研究

Modeling and Active Vibration Control of an Intelligent Flexible Manipulator System

  • 摘要: 针对伺服电动机、谐波齿轮减速器、柔性臂及压电致动器组成的智能柔性机械臂系统,基于假设模态法和Hamilton原理建立系统动力学方程.为了实现系统较高精度的位置控制,同时快速抑制柔性臂的弹性振动,提出了对伺服电动机采用PD(proportional derivative)控制、对压电致动器采用模糊(fuzzy)控制的复合控制策略.在数值仿真分析的基础上,搭建了智能柔性机械臂系统测控平台.数值仿真和实验结果表明所提出的控制策略是可行的:PD控制算法控制伺服电动机以较高的位置精度完成了系统运动控制,模糊控制算法控制压电致动器较快地抑制了柔性臂的弹性振动.实验中柔性臂的振动衰减时间由6.5s缩短为3.5s,提高了柔性臂末端的定位控制精度,改善了系统的操作效率.

     

    Abstract: The dynamic model of an intelligent flexible manipulator system, which consists of a sevo-motor, a harmonic gear reducer, a flexible manipulator and a couple of PZT (piezoelectric) actuators, is derived using the assumed mode method and Hamilton's principle. In order to improve system precision and to suppress elastic vibration of the flexible manipulator rapidly, a composite strategy combing the PD (proportional derivative) controller applied to servo-motor and fuzzy controller applied to PZT actuators, is presented. After some numerical simulations, the experimental system of the intelligent flexible manipulator system is designed and set up. Both the simulation and comparative experimental results verify that the presented strategy is practicable. The PD control algorithm can improve position precision of the sevo-motor in system motion control, and the fuzzy control algorithm can reduce elastic vibration of the flexible manipulator through PZT actuators. The experimental results show that the vibration damping of the manipulator is reduced to 3.5s from 6.5s. So the proposed control strategy can improve position precision of the flexible manipulator's end-effector and enhance operating efficiency of the system.

     

/

返回文章
返回