采用干扰补偿模糊整定的双柔性机械臂抑振策略  

Vibration suppression strategy for dual-flexible manipulator using disturbance compensation fuzzy setting control method

作　　者：尚东阳 李小彭[1] 尹猛 李凡杰 SHANG Dong-yang;LI Xiao-peng;YIN Meng;LI Fan-jie(School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,China;Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819 [2]中国科学院深圳先进技术研究院,广东深圳518055

出　　处：《振动工程学报》2024年第1期1-10,共10页Journal of Vibration Engineering

基　　金：国家自然科学基金资助项目(51875092);国家重点研发计划项目(2020YFB2007802);中央高校基本科研业务费专项资金资助项目(N2103025);宁夏回族自治区自然科学基金资助项目(2020AAC03279)。

摘　　要：双柔性机械臂由柔性关节和变长度的柔性负载组成,会同时受到柔性、摩擦和参数时变的影响,在运动过程中,它会出现振动的现象,导致末端执行器的跟踪精度降低。本文采用基于干扰观测器的模糊整定PI策略控制双柔性机械臂伺服系统的输出转速,通过控制柔性负载的转速波动间接抑制机械臂的振动。根据假设模态法和拉格朗日原理建立了考虑变形的双柔性机械臂伺服系统的动力学方程。根据鲁棒稳定性理论设计干扰观测器中的低通滤波器,使干扰观测器同时满足控制器参数时变和受控对象参数摄动的稳定性。通过数值仿真分析和双柔性机械臂伺服系统控制实验,验证了所提方法的有效性。实验结果表明,本文提出的控制策略可以更好地消除参数时变和柔性对于输出转速的影响,提高末端执行器的控制精度。The variable-length dual-flexible manipulator is composed of a flexible joint and a flexible load,which is affected by flexibility,friction,and time variation of parameters.It will vibrate in the process of moving,which will reduce the tracking accu-racy of the end-effector.In this paper,the fuzzy tuning PI control strategy based on disturbance observer is used to control the out-put speed of the dual-flexible manipulator servo system.The vibration of the manipulator can be suppressed indirectly by control-ling the speed fluctuation of the flexible load.Based on the assumed modal method and the Lagrange principle,the dynamic equa-tions of the dual-flexible manipulator are established.A low pass filter in the disturbance observer is designed according to the ro-bust stability theorem,so that the disturbance observer can satisfy the stability of the controller parameter time-varying and the controlled object parameter perturbation jointly.The effectiveness of the proposed method is verified by numerical simulation and control experiments of the dual-flexible manipulator servo system.The experimental results show that the proposed control strate-gy can better eliminate the influence of parameter time-varying and flexibility on the output speed,and improve the control preci-sion of the end-effector.

关 键 词：振动控制 柔性机械臂 干扰观测器 模糊整定 PI控制 

分 类 号：TP535[自动化与计算机技术] O313.7[理学—一般力学与力学基础]