旋转柔性机械臂系统的实验模型辨识及伺服速度抑振控制  

Experimental identification and servo velocity-based vibration suppression of a rotating flexible manipulator system

作　　者：贾振 娄军强[1] 杨依领 陈特欢 魏燕定[2] JIA Zhen;LOU Junqiang;YANG Yiling;CHEN Tehuan;WEI Yanding(School of Mechanical Engineering and Mechanics,Ningbo University,Ningbo 315211,China;China Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province,School of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]宁波大学机械工程与力学学院,浙江宁波315211 [2]浙江大学机械工程学院,浙江省先进制造技术重点实验室,杭州310027

出　　处：《振动与冲击》2020年第24期76-82,133,共8页Journal of Vibration and Shock

基　　金：国家自然科学基金(51975517,51805276);浙江省自然科学基金(LQ15E050002);浙江省省属高校基本科研业务费专项资金(SJLY2021014);宁波市自然科学基金(2019A610112)。

摘　　要：研究了伺服驱动的旋转柔性机械臂系统的实验模型辨识和伺服速度抑振控制问题。建立了从伺服电机的速度驱动信号到旋转柔性机械臂根部应变振动信号的传递函数模型,并对模型关键参数进行了实验辨识。实验结果显示辨识模型预测输出在伪随机信号和扫频激励信号下与实际结构动态响应的吻合度分别为78.8%和89.8%,证实了所建立模型和参数辨识结果的正确性,掌握了柔性臂在旋转过程中的振动特性。提出了一种基于极点配置的伺服速度抑振控制方法。通过二阶系统最佳阻尼比确定了闭环极点位置,得到了闭环反馈增益。实验中旋转柔性机械臂系统在梯形速度曲线下的残余振动衰减时间缩短为3 s,其一阶固有频率振动幅值由77.5 dB衰减到32.9 dB。通过伺服电机速度控制实现了旋转柔性机械臂系统振动的快速有效抑制。Experimental identification and servo velocity-based vibration suppression of a rotating flexible manipulator system were studied in this paper.The transfer function model from the driving signal of the velocity of the servo motor to the stain gauges-based vibration signal of the flexible manipulator was derived,and the model parameters were identified experimentally.Experimental results show that the agreement percentages between the predictive output of the identified model and structural dynamic responses are 78.8% and 89.8%,with the pseudo-random and swept excitation signals respectively.Thus,the feasibilities of the established model and identified parameters were confirmed,and vibration characteristics of the flexible manipulator during rotation were obtained.Then,a servo velocity-based vibration suppression controller was proposed,based on the poles placement method.Locations of the closed-loop poles were determined using the optimal damping ratio of a second order system.And the closed-loop feedback gains were calculated.With the proposed control method,experimental results show that the damping period of the residual vibration of the rotating flexible manipulator system reduced to 3 s,and the magnitude of the 1st natural frequency vibration was attenuated from 77.5 dB to 32.9 dB.As a result,rapid and effective vibration suppression of the rotating flexible manipulator system was realized with the proposed method.

关 键 词：旋转柔性机械臂 系统辨识 伺服速度抑振 极点配置法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TH113[自动化与计算机技术—控制科学与工程]