模糊整定PI参数的双柔性机械臂振动抑制  

Vibration Suppression of Dual-Flexible Manipulator with Fuzzy Tuning PI Parameters

作　　者：李小彭[1] 周赛男 刘佳琪 尹猛 LI Xiao-peng;ZHOU Sai-nan;LIU Jia-qi;YIN Meng(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：《东北大学学报（自然科学版）》2024年第2期217-225,共9页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(51875092);宁夏自然科学基金资助项目(2020AAC03279).

摘　　要：机械臂伺服驱动系统中柔性因素的存在易导致机械臂输出转速波动,甚至引发系统谐振.为抑制系统转速波动,使机械臂传动系统性能稳定,使用模糊理论整定PI控制器参数的控制策略.根据假设模态法和拉格朗日动力学方程建立了考虑LuGre摩擦模型的双柔性机械臂传动系统动力学方程,并分析了动力学方程中耦合非线性项对系统传动特性的影响.使用极点配置策略确定PI控制器参数的取值范围,后根据模糊规则实时调整控制器参数,以减小伺服系统输出转速的波动,进而抑制系统谐振.最后,借助数值仿真分析和机械臂控制实验,与传统PI控制策略对比,发现本文所述控制策略可使电机端转角跟踪误差绝对值的平均值降低43.066%,柔性负载转角误差的标准差降低46.506%,更加验证了所提模糊规则整定PI控制器参数抑振方法的有效性.The existence of flexible factors in the manipulator servo drive system can easily lead to the fluctuation of the output speed of the manipulator,and even lead to system resonance.In order to suppress the speed fluctuation of the system and stabilize the performance of the manipulator’s transmission system,the fuzzy theory is used to set the control strategy of PI controller parameters.According to the assumed mode method and Lagrange dynamic equation,the dynamic equation of the dual-flexible manipulator’s transmission system considering LuGre friction model is established,and the influence of the coupling nonlinear terms in the dynamic equation on the transmission characteristics of the system is analyzed.The pole assignment strategy is used to determine the value range of the PI controller parameters,and then the controller parameters are adjusted in real time according to the fuzzy rules to reduce the fluctuation of the servo system output speed and further suppress the system resonance.Finally,by means of numerical simulation analysis and manipulators’control experiment,compared with the traditional PI control strategy,it is found that the control strategy taken in this study can reduce the average value of the absolute value of the motor end angle tracking error by 43.066%,and the standard deviation of the flexible load angle error by 46.506%,which further verifies the effectiveness of the proposed vibration suppression method with fuzzy tuning PI controller parameters.

关 键 词：双柔性机械臂 柔性关节 柔性负载 模糊整定 PI控制 

分 类 号：TH113.1[机械工程—机械设计及理论] TP13[自动化与计算机技术—控制理论与控制工程]