伺服关节驱动的柔性臂系统耦合动力学模型辨识与实验
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摘要
针对整个伺服关节驱动的柔性机械臂系统,在考虑其机电、刚柔耦合特性的基础上,理论上进行了动力学建模。分析了包含直流伺服电机、谐波减速器以及伺服驱动器的伺服关节的驱动及摩擦特性,对实验中测到的电机匀速正反转数据进行线性拟合,得到了关节驱动模型中的库伦摩擦力常数和黏滞摩擦力系数。分别建立了从伺服电机驱动电压到光电编码器检测的电机转角、从伺服驱动电压到代表柔性臂振动的应变桥路输出之间的理论传递函数,以伪随机二进制序列为激励信号,通过实验辨识得到了此对应伺服关节柔性臂转动与振动耦合以及机电耦合的两个传递函数,在伪随机和正弦信号激励下,辨识得到的传递函数模型与实际结构的转动位移和振动响应具有较高的一致性。从而得到了伺服关节驱动的柔性臂系统刚柔耦合、机电耦合的动力学模型。
Aiming at a flexible manipulator system driven by servo joint, considering its electro-mechanical and rigid-flexible coupled characteristics, its dynamic model was established theoretically. Driving and friction characteristics of the servo joint containing a DC servo motor, a harmonic reducer and a servo driver were analyzed. By linearly fitting constant speed forward and reverse rotation data of the motor, Coulomb friction force constant and viscous friction force coefficient in the servo joint driving model were obtained. Then, the theoretical transfer function from the driving voltage of the servo motor to the motor rotating angle detected by a photoelectric encoder and the other from the driving voltage of the servo motor to output of strain bridge circuit representing the flexible manipulator's vibration were built. Taking pseudo-random binary sequence as excitation signals, two transfer functions corresponding to rotation-vibration coupling and electro-mechanical coupling of the flexible manipulator were acquired through test recognition. Test results showed that under pseudo-random and sine signal excitations, the two identified transfer function models are better consistent to the two theoretical ones; responses calculated with the two theoretical transfer function models agree well with rotation displacement responses and vibration ones of the actual structure; so the correctness of the established coupling dynamic model of the flexible manipulator system driven by servo joint is verified.
Aiming at a flexible manipulator system driven by servo joint, considering its electro-mechanical and rigid-flexible coupled characteristics, its dynamic model was established theoretically. Driving and friction characteristics of the servo joint containing a DC servo motor, a harmonic reducer and a servo driver were analyzed. By linearly fitting constant speed forward and reverse rotation data of the motor, Coulomb friction force constant and viscous friction force coefficient in the servo joint driving model were obtained. Then, the theoretical transfer function from the driving voltage of the servo motor to the motor rotating angle detected by a photoelectric encoder and the other from the driving voltage of the servo motor to output of strain bridge circuit representing the flexible manipulator's vibration were built. Taking pseudo-random binary sequence as excitation signals, two transfer functions corresponding to rotation-vibration coupling and electro-mechanical coupling of the flexible manipulator were acquired through test recognition. Test results showed that under pseudo-random and sine signal excitations, the two identified transfer function models are better consistent to the two theoretical ones; responses calculated with the two theoretical transfer function models agree well with rotation displacement responses and vibration ones of the actual structure; so the correctness of the established coupling dynamic model of the flexible manipulator system driven by servo joint is verified.
引文
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[2] 娄军强,魏燕定,杨依领,等.空间柔性机械臂弯扭耦合振动的主动控制研究[J].振动工程学报,2014,27(3):400-407.LOU Junqiang,WEI Yanding,YANG Yiling,el al.Active control of bending-torsion-coupled vibration of a space flexible manipulator[J].Journal of Vibration Engineering,2014,27(3):400-407.
[3] 张奇,刘振,谢宗武,等.具有谐波减速器的柔性关节参数辨识[J].机器人,2014,36(2):164-170.ZHANG Qi,LIU Zhen,XIE Zongwu,el al.Parameters identification of flexible joints with harmonic driver[J].Robot,2014,36(2):164-170.
[4] LOU J Q,WEI Y D,YANG Y L,et al.Hybrid PD and effective multi-mode positive position feedback control for slewing and vibration suppression of a smart flexible manipulator[J].Smart Materials and Structures,2015,24:035007.
[5] REIS J C P,COSTA J S D.Motion planning and actuator specialization in the control of active-flexible link robots[J].Journal of Sound and Vibration,2012,331(14):3255-3270.
[6] CHANG T K,SPOWAGE A,CHAN K Y.Review of control and sensor system of flexible manipulator[J].Journal of Intelligent and Robotic Systems,2015,77(1):187-213.
[7] MOHAMED Z,SAYAHKARAJY M,FAUZI A A M.Review of modelling and control of flexible-link manipulators[J].Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2016,230(8):861-873.
[8] 孙汉旭,褚明,贾庆轩.柔性关节摩擦和不确定补偿的小波神经——鲁棒复合控制[J].机械工程学报,2010,46(13):68-75.SUN Hanxu,CHU Ming,JIA Qingxuan.Hybrid control using wavelet neural networks and robust method for flexible joint with friction and uncertainties compensation[J].Journal of Mechanical Engineering,2010,46(13):68-75.
[9] 邱志成,吴传健.行星减速器驱动旋转双柔性梁T-S模糊振动控制[J].振动、测试与诊断,2016,36(4):764-770.QIU Zhicheng,WU Chuanjian.T-S fuzzy vibration control of rotating double flexible beams driven by planetary reducer[J].Journal of Vibration,Measurement and Diagnosis,2016,36(4):764-770.
[10] CAMBERA J C,FELIU-BATLLE V.Input-state feedback linearization control of a single-link flexible robot arm moving under gravity and joint friction[J].Robotics and Autonomous Systems,2017,88:24-36.
[11] BOSSI L,ROTTENBACHER C,MIMMI G,et al.Multivariable predictive control for vibrating structures:an application[J].Control Engineering Practice,2011,19(10):1087-1098.
[12] HE W,OUYANG Y,HONG J.Vibration control of a flexible robotic manipulator in the presence of input deadzone[J].IEEE Transactions on Industrial Informatics,2017,99:1-1.
[13] FORBES J R,DAMAREN C J.Single-link flexible manipulator control accommodating passivity violations:theory and experiments[J].IEEE Transactions on Control Systems Technology,2012,20(3):652-662.
[14] SHARMA S K,SUTTON R,TOKHI M O.Local model and controller network design for a single-link flexible manipulator[J].Journal of Intelligent & Robotic Systems,2014,74(3/4):605-623.