基于套索驱动机械臂柔性伺服系统抑振控制  

Vibration Suppression Control Strategy for Flexible Servo System of Manipulators Driven byTendon-Sheath Transmission

作　　者：刘青宜[1] 张志峰 王宁 赵飞 LIU Qingyi;ZHANG Zhifeng;WANG Ning;ZHAO Fei(Xuchang Vocational and Technical College,Xuchang 461000 China;School of Physics&Electronic Engineering,Zhengzhou University of Light Industry,Zhengzhou 450002,China;不详)

机构地区：[1]许昌职业技术学院,许昌461000 [2]郑州轻工业大学物理与电子工程学院,郑州450002 [3]河南钜控消防技术有限公司,许昌461000 [4]太原理工大学机械与运载工程学院,太原030024

出　　处：《组合机床与自动化加工技术》2023年第9期53-58,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(52075359)。

摘　　要：套索驱动机械臂中的独立关节伺服系统受到时变位姿和关节柔性的影响,会出现振动的问题,进而影响机械臂的运动精度。采用模糊整定的控制策略,通过提高伺服系统的转角控制精度间接的抑制机械臂的振动。首先,根据套索传动原理建立了机械臂柔性关节伺服传动系统的动力学模型,求得系统速度环中负载转速到电磁转矩的传递函数;其次,根据极点配置策略适当选取机械臂位于不同位姿下的比例积分(PI)控制器参数,并应用模糊整定控制策略实现控制器参数的实时调整;最后,通过数值仿真和机械臂控制实验,验证了方法的有效性。结果表明,所提出的控制策略可以更好地抵消转动惯量变化引起的速度波动,从而改善柔性关节的转速输出。Independent joint servo systems in manipulators driven by tendon-sheath transmission are affected by time-varying pose and joint flexibility,which will lead to vibration problems,and then affect the motion accuracy of manipulators.In this paper,the control strategy of fuzzy tuning is proposed to suppress the vibration of manipulators indirectly by improving the angle control accuracy of servo systems.Firstly,according to the principle of tendon-sheath transmission,the dynamic model of the flexible joint servo system of manipulators is established,and the transfer function from the load speed to the electromagnetic torque in the speed loop of the system is obtained.Then,according to the pole placement strategy,the proportional integral(PI)controller parameters of manipulators in different positions and posture are appropriately selected,and the fuzzy adaptive control strategy is applied to realize the real-time change of the controller parameters.Finally,the effectiveness of the proposed method is verified by numerical simulation and manipulator control experiments.The experimental results show that the proposed control strategy can better counteract the speed fluctuation caused by the change of moment of inertia,thus improving the speed output of the flexible joint.

关 键 词：套索驱动机械臂 柔性关节 PI控制 模糊自适应控制 

分 类 号：TH164[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]