基于自适应干扰估测器的协作机器人关节速度波动抑制方法  

Speed Ripple Suppression Based on an Adaptive Disturbance Observer for Collaborative Robot Joint

作　　者：王冲冲 杨桂林[1] 陈庆盈 辛强 孙贤备 王尉军 WANG Chongchong;YANG Guilin;CHEN Chinyin;XIN Qiang;SUN Xianbei;WANG Weijun(Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Sciences,Ningbo 315201,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院宁波材料技术与工程研究所,浙江宁波315201 [2]中国科学院大学,北京100049

出　　处：《机器人》2023年第1期48-57,共10页Robot

基　　金：国家自然科学基金青年基金(51805523);宁波市自然科学基金(2019A610115)。

摘　　要：针对协作机器人对高载荷自重比和高精度速度控制的需求,设计了基于双定子永磁同步电机和谐波减速器的关节模块,利用双定子结构提升了电机的转矩密度。为了提高关节速度控制精度,将摩擦等低频非线性因素、电机转矩波动和谐波减速器传递误差对关节速度波动的影响等效为关节系统的输入力矩干扰,并对其进行补偿以抑制关节速度波动。为提高干扰估测精度,提出一种基于双干扰估测器与自适应算法的方法。双定子电机性能测试结果表明,相较于单定子结构,本文的双定子电机转矩密度提升11%。关节速度控制实验表明,与单纯的比例-积分速度控制器相比,采用本文方法,关节的低速稳态波动误差的均方根减小约40%~60%,中、高速稳态波动误差的均方根减小约30%~40%,速度控制精度提升。Aiming at the requirements of collaborative robots for high load-to-weight ratio and high-precision speed control, a joint module is designed, which integrates a double-stator permanent magnet synchronous motor and a harmonic drive reducer. The characteristics of the double-stator structure are utilized to increase the torque density of the motor. In order to improve the control accuracy of joint speed, an equivalent input torque disturbance to the joint system is used to describe the lumped effect of all factors acting on the joint speed ripple, including the low-frequency nonlinearities such as friction,the motor torque ripple, and the transmission error of the harmonic drive reducer, and the joint speed ripple is suppressed by compensating this equivalent input torque disturbance. In order to improve the disturbance estimation precision, a method is proposed which utilizes double disturbance observers and an adaptive algorithm. A performance test on the double-stator motor demonstrates that the torque density of the double-stator motor is increased by 11% compared with the single-stator structure. The joint speed control experiment verifies that compared with the conventional proportional-integral(PI) speed controller, the root mean square(RMS) of the joint low-speed steady-state fluctuation errors is reduced by 40%~60%, while the RMS of medium-speed and high-speed steady-state fluctuation errors is reduced by about 30%~40% with the proposed method, and the speed control accuracy is improved.

关 键 词：协作机器人关节 双定子电机 谐波减速器 干扰估测器 自适应算法 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]