变长度柔性机械臂的双柔性伺服驱动系统振动抑制策略  

Vibration Suppression Strategy for Dual-Flexible Servo Drive System in Flexible Manipulator of Variable Length

作　　者：刘佳琪 李小彭[1] 尹猛 周赛男 LIU Jia-qi;LI Xiao-peng;YIN Meng;ZHOU Sai-nan(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4期530-539,共10页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(52275090);辽宁省应用基础研究计划项目(101300159)。

摘　　要：变长度的柔性机械臂在旋转运动过程中由于受到环境扰动以及自身柔性的影响导致了伺服驱动系统输出转速的波动现象,这会加剧柔性机械臂的振动,严重影响了柔性机械臂的运动精度.基于此,设计了一种基于干扰观测器的PI控制策略来抑制伺服驱动系统转速的波动.首先使用拉格朗日原理建立了双柔性伺服驱动系统的动力学模型并分析了双柔性伺服驱动系统的传动特性;其次将基于干扰观测器的PI控制策略应用于双柔性伺服驱动系统的速度环中,并通过鲁棒稳定性分析设计干扰观测器中的低通滤波器参数;最后开展了数值仿真分析和控制实验.实验结果验证了提出的控制策略能够有效减少变长度柔性机械臂的转速波动,提高伺服驱动系统的运动精度.The output rotational speed of the servo drive system fluctuates due to the influence of environmental disturbances and the flexibility of the flexible manipulator with variable length during the process of rotation.The phenomenon will exacerbate the vibration of the flexible manipulator and affect the motion accuracy of the flexible manipulator seriously.Therefore,a proportional-integral(PI)control strategy based on the disturbance observer is designed to suppress the rotational speed fluctuation of the servo drive system.Firstly,the dynamic model of the dual-flexible servo blrive system was established and the transmission characteristics of the dual-flexible servo drive system were analyzed by using the Lagrange’s theorem.Then the PI control strategy based on the disturbance observer was applied to the speed loop in the dual-flexible servo drive system.The low pass filter parameters of the disturbance observer were designed by robust stability analysis.Finally,numerical simulation analysis and control experiments were carried out.The results verify that the proposed control strategy can effectively reduce the rotational speed fluctuation of the flexible manipulator with variable length and improve the motion accuracy of the servo drive system.

关 键 词：伺服驱动系统 转速波动 关节柔性 控制策略 PI控制 

分 类 号：TH212[机械工程—机械制造及自动化] TP213.3[自动化与计算机技术—检测技术与自动化装置]