多模态柔性振动的混合时滞滤波抑制方法  

Hybrid Time-Delay Filtering Suppression Method for Multi-Modal Flexible Vibration

作　　者：孙若怀 徐方[1,3] SUN Ruo-huai;XU Fang(Shenyang SIASUN Robot&Automation Co.,Ltd.,Liaoning Shenyang 110168,China;School of Astronautics,Harbin Institute of Technology,Heilongjiang Harbin 150006,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Liaoning Shenyang 110016,China)

机构地区：[1]沈阳新松机器人自动化股份有限公司,辽宁沈阳110168 [2]哈尔滨工业大学航天学院,黑龙江哈尔滨150006 [3]中科院沈阳自动化研究所机器人国家重点实验室,辽宁沈阳110016

出　　处：《机械设计与制造》2023年第12期170-175,共6页Machinery Design & Manufacture

基　　金：重大共性关键技术创新专项17-79-0-00;国家重点研发计划项目子课题(2017YFF0107804-01/02);国家重点研发计划项目子课题(2017YFE0101300-3)。

摘　　要：针对串联型柔性多关节机器人实时运动控制中存在多模态残余振动这一问题,提出了一种通过设计混合时滞滤波器构建多模态输入整形器的振动抑制方法。首先,分析了柔性多关节机器人产生振动的原因,介绍了抑制柔性振动所采用主要方法,并分析了ZVD型时滞滤波器在解决多模态柔性振动问题上存在的局限;其次,针对级联多模态时滞滤波器时滞过大的问题,构建了最优时滞滤波器;再次,给出了基于频率误差的性能指标函数,通过构建混合时滞滤波器,将脉冲幅值以及时间滞与混合参数λ建立线性映射关系,将优化残余振动的问题简化为优化混合参数λ;最后,通过机器人本体实验验证本方法在时滞和对频率误差适应性上的优势。Aiming at the problem of multi-modal residual vibration in real-time motion control of series flexible multi-joint robots,a vibration suppression method for constructing a multi-modal input shaper by designing a hybrid time-delay filter is proposed.First,the reasons for the vibration of the flexible multi-joint robot are analyzed,the main methods used to suppress the flexible vibration are introduced,and the limitations of the ZVD-type time delay filter in solving the multi-modal flexible vibration problem are analyzed;Secondly,to solve the problem of excessive time delay of the cascaded multi-modal time delay filter,an optimal time delay filter is constructed;Thirdly,a performance index function based on frequency error is given.By constructing a hybrid time-delay filter,the pulse amplitude and time delay are mapped to the mixing parameter λ to establish a linear mapping relationship,and the problem of optimizing residual vibration is simplified to optimizing the mixing parameterλ;Finally,the advantages of this method in terms of time delay and adaptability to frequency errors is verified by the robot body experiment.

关 键 词：柔性机器人 振动抑制 混合时滞滤波器 多模态振动 频率误差 残余振动 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]