工业机器人功率等效模型与参数辨识  

Power equivalent model of industrial robot and parameter identification

作　　者：吴勇强 唐先智[1] 宋伟[2] 江沛 周进 陈元杰 WU Yongqiang;TANG Xianzhi;SONG Wei;JIANG Pei;ZHOU Jin;CHEN Yuanjie(School of Mechanical Engineering,Chongqing University,Chongqing 400044,P.R.China;China Petroleum Xinan Oil&Gas Field Company Chongqing Gas Mine,Chongqing 400021,P.R.China)

机构地区：[1]重庆大学机械工程学院,重庆400044 [2]中国石油西南油气田分公司重庆气矿,重庆400021

出　　处：《重庆大学学报》2021年第10期28-37,共10页Journal of Chongqing University

基　　金：国家自然科学基金资助项目(51705050)。

摘　　要：针对工业机器人能耗复杂,动态性强,实时功率难以预测的问题,在对机器人系统中永磁同步电机、伺服驱动器等功能部件能耗分析的基础上,提出了工业机器人功率等效模型。该模型通过高阶多项式建立起机器人损耗功率与电机扭矩、电机角速度的映射关系,其系数通过最小二乘法求解,可以在机器人电机参数未知的条件下进行功率预测。结果表明,基于功率模型的理论计算值和实验测量值的均方根相对误差为8.11%,证明了功率模型和辨识参数的正确性。Aiming at the problems of complex energy consumption of industrial robots, strong dynamics and unpredictable real-time power, based on the energy consumption analysis of permanent magnet synchronous motors, servo drives and other functional components in the robot system, an equivalent power model for industrial robots was proposed. The model established a mapping relationship between the robot’s loss power, motor torque, and motor angular velocity through high-order polynomials. The coefficients in the model were solved by least squares, and power prediction could be performed under unknown robot motor parameters. The results show that the root mean square relative error between the theoretical calculation value and the experimental measurement value based on the power model is 8.11%, which proves the correctness of the power model and identification parameters.

关 键 词：工业机器人 功率分析 参数辨识 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]