基于动态转矩反馈的机械臂柔性系统振动抑制  

Vibration Suppression of Flexible Manipulator System Based on Dynamic Torque Feedback

作　　者：李佩颖 夏加宽[1] 万成超 LI Peiying;XIA Jiakuan;WAN Chengchao(School of Electrical Engineering,Shenyang University of Technology,Shenyang 110870,Liaoning,China;Shenyang Yuheng Drive Technology Co.,Ltd.,Shenyang 110027,Liaoning,China)

机构地区：[1]沈阳工业大学电气工程学院,辽宁沈阳110870 [2]沈阳裕衡驱动科技有限公司,辽宁沈阳110027

出　　处：《电气传动》2023年第4期9-14,共6页Electric Drive

基　　金：辽宁省高等学校产业技术研究院重大项目(201834011)。

摘　　要：针对机械臂关节伺服系统由于谐波减速器、齿皮带等柔性环节的存在使系统发生机械振动现象,建立了考虑刚度系数变化和大减速比的数学模型,分析机械谐振产生机理,提出了一种动态转矩反馈的控制策略,由扰动观测器实时观测动态转矩构成动转矩闭环。为进一步抑制振动现象,增强系统鲁棒性和抗扰能力,研究了随动态转矩实时调整的转速变增益PI控制方法。仿真表明,采用动态转矩反馈的转速变增益PI控制策略能够很好地抑制机械振动且有较强的抗扰能力和动态响应性能。In view of the mechanical vibration of the manipulator joint servo system due to the existence of flexible links such as harmonic reducer and toothed belt,a mathematical model considering the change of stiffness coefficient and large reduction ratio was established,the mechanism of mechanical resonance was analyzed,and a dynamic torque feedback control strategy was proposed.The dynamic torque was observed in real time by a disturbance observer to form a dynamic torque closed loop.In order to further suppress the vibration phenomenon and enhance the robustness and disturbance rejection ability of the system,the speed variable gain PI control method adjusted in real time with dynamic torque was studied.Simulation results show that the speed variable gain PI control strategy with dynamic torque feedback can suppress mechanical vibration well,and has strong antidisturbance ability and dynamic response performance.

关 键 词：机械谐振 变增益PI控制 动态转矩反馈 扰动观测器 

分 类 号：TM351[电气工程—电机]