工业机器人关节振动的机电耦合机理与控制方法研究  

Research on electromechanical coupling mechanism and the control method of joint vibrations of industrial robot

作　　者：张来喜 师杰 陈远疆 吴明亮[1] Zhang Laixi;Shi Jie;Chen Yuanjiang;Wu Mingliang(School of Mechanical and Electrical Engineering,Lanzhou University of Technology,Gansu Lanzhou,730050,China)

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《机械设计与制造工程》2025年第3期59-66,共8页Machine Design and Manufacturing Engineering

基　　金：国家自然科学基金(51765031);甘肃省自然科学基金(20JR5RA457)。

摘　　要：针对六自由度工业机器人关节机电耦合振动问题,应用拉格朗日-麦克斯韦理论构建永磁交流伺服驱动系统机电耦合动力学模型,将关节伺服驱动系统简化为三惯量两轴模型后对系统响应结果进行仿真分析。针对传统PI控制鲁棒性差、自适应能力弱等不足,提出一种基于模糊自抗扰原理的永磁同步电机控制策略,并进行了仿真分析研究,结果表明,该策略可有效抑制机器人关节伺服系统机电耦合振动,具有一定的自适应能力和鲁棒性。Industrial robots generates the vibration due to flexibility of the manipulator and the joints in operation,and the servo system also produces the impulse vibration in driving the robot as the control.The two kinds of vibration are coupled together to form complex terminal vibration,which increases the difficulty of vibration control.For the coupling vibrations of joint of an 6-DOF manipulator,an electromechanical coupling dynamic modeling of the permanent magnet AC servo driving system is established with Lagrange Maxwell's theory,the joint servo driving system is simplified to an three-mass&two-axis model and the system response is analyzed by means of simulation.To address the shortcomings of traditional PI control such as poor robustness and weak self-adaptability,a control strategy of PMSM based on fuzzy-ADRC method is proposed,and the simulation analysis is carried out.The results show that the proposed strategy can effective suppress the electromechanical coupling vibration of the robot,and has obvious adaptability and robustness.

关 键 词：工业机器人 关节伺服驱动系统 机电耦合动力学 振动控制 模糊自抗扰 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]