一种基于内模控制的工业机器人关节伺服系统振动抑制算法
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摘要
由于减速器的柔性导致工业机器人关节伺服控制系统存在谐振点,传统PI控制在极端位置指令下会出现振动。该文根据工业机器人单关节的弹性传动模型,基于内模控制原理提出一种工业机器人关节伺服系统振动抑制算法,通过在传统伺服控制器位置环与速度环之间添加抑振滤波器实现振动抑制,无需额外的传感器与复杂的控制算法。仿真与实验证明了该方法简单可行,能有效抑制机械振动,且具有较强的参数鲁棒性。
There exists resonance point in industrial robot joint servo system due to the flexibility of the gear reducer, which may lead to mechanical vibration under extreme position reference using conventional PI controller. In this paper, a vibration suppression algorithm for industrial robot joint servo system is proposed based on the kinematics model and internal model control, the vibration can be suppressed by adding an anti-vibration filter between the position loop and the velocity loop without additional sensors and complicated control algorithm. The simulation and experiment show that the method has obvious vibration suppression effect and parameter robustness.
There exists resonance point in industrial robot joint servo system due to the flexibility of the gear reducer, which may lead to mechanical vibration under extreme position reference using conventional PI controller. In this paper, a vibration suppression algorithm for industrial robot joint servo system is proposed based on the kinematics model and internal model control, the vibration can be suppressed by adding an anti-vibration filter between the position loop and the velocity loop without additional sensors and complicated control algorithm. The simulation and experiment show that the method has obvious vibration suppression effect and parameter robustness.
引文
[1]王田苗,陶永.我国工业机器人技术现状与产业化发展战略[J].机械工程学报,2014,50(9):1-13.Wang Tianmiao,Tao Yong.Research status and industrialization development strategy of chinese industrial robot[J].Journal of Mechanical Engineering,2014,50(9):1-13.
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[13]郑美茹,王圣,王丰,等.基于分数阶次符号函数的永磁同步电机滑模控制技术[J].电工技术学报,2017,32(9):60-66.Zheng Meiru,Wang Sheng,Wang Feng,et al.The sliding-mode control based on fractional order sign function of permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2017,32(9):60-66.
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[16]尹忠刚,张迪,蔡剑,等.基于三自由度内模控制的永磁同步电机矢量控制方法[J].电工技术学报,2017,32(21):59-68.Yin Zhonggang,Zhang Di,Cai Jian,et al.A vector control method based on three-degree-of-freedom internal model control for permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2017,32(21):59-68.
[17]秦娜娜,张井岗.二自由度控制方法研究[J].控制工程,2017,24(4):895-900.Qin Nana,Zhang Jinggang.An overview two-degreeof-freedom control[J].Control Engineering of China,2017,24(4):895-900.
[18]张井岗,刘志运,裴润.交流伺服系统的二自由度内模控制[J].电工技术学报,2002,17(4):45-48.Zhang Jinggang,Liu Zhiyun,Pei Run.Two-degree-offreedom internal model control for AC servo system[J].Transactions of China Electrotechnical Society,2002,17(4):45-48.
[2]北京中智正业研究院115报告中心.2013-2017年中国工业机器人行业产销需求预测与转型升级分析报告[R].北京,2013.
[3]Fang Jian,Zhao Jianghai,He F,et al.Design and research of three-layers open architecture model for industrial robot software system[C]//IEEE International Conference on Mechatronics and Automation,Takamatsu,Japan,2013:104-109.
[4]孟明辉,周传德,陈礼彬,等.工业机器人的研发及应用综述[J].上海交通大学学报,2016,50(S1):98-101.Meng Minghui,Zhou Chuande,Chen Libin,et al.Areview of the research and development of industrial robots[J].Journal of Shanghai Jiaotong University,2016,50(S1):98-101.
[5]丁有爽,肖曦.永磁同步电机直接驱动柔性负载控制方法[J].电工技术学报,2017,32(4):129-138.Ding Youshuang,Xiao Xi.Control strategies of flexible load driven directly by permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2017,32(4):129-138.
[6]杨明,郝亮,徐殿国.基于自适应陷波滤波器的在线机械谐振抑制[J].哈尔滨工业大学学报,2014,46(4):63-69.Yang Ming,Hao Liang,Xu Dianguo.Online suppression of mechanical resonance based on adapting notch filter[J].Journal of Harbin Institute of Technology,2014,46(4):63-69.
[7]Zhang Guoguang,Furusho J.Speed control of twoinertia system by PI/PID control[J].IEEETransactions on Industrial Electronics,2000,47(3):603-609.
[8]巫佩军,马少康,陈乔,等.基于特定振动反馈的柔性系统振动抑制方法[J].电工技术学报,2017,32(2):194-200.Wu Peijun,Ma Shaokang,Chen Qiao,et al.Resonant suppression of flexible system by feedback compensation of resonant frequencies[J].Transactions of China Electrotechnical Society,2017,32(2):194-200.
[9]Levin J,Ioannou P.Multirate adaptive notch filter with an adaptive bandwidth controller for disk drives[C]//IEEE American Control Conference,Seattle,WA,USA,2008:4407-4412.
[10]Li Gang.A stable and efficient adaptive notch filter for direct frequency estimation[J].IEEE Transactions on Signal Processing,1997,45(8):2001-2009.
[11]Lee D H,Lee J H,Ahn J W.Mechanical vibration reduction control of two-mass permanent magnet synchronous motor using adaptive notch filter with fast Fourier transform analysis[J].IET Electric Power Applications,2012,6(7):455-461.
[12]Katsura S,Ohnishi K.Force servoing by flexible manipulator based on resonance ratio control[J].IEEETransactions on Industrial Electronics,2007,54(1):539-547.
[13]郑美茹,王圣,王丰,等.基于分数阶次符号函数的永磁同步电机滑模控制技术[J].电工技术学报,2017,32(9):60-66.Zheng Meiru,Wang Sheng,Wang Feng,et al.The sliding-mode control based on fractional order sign function of permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2017,32(9):60-66.
[14]Erbatur K,Kaynak M O,Sabanovic A.A study on robustness property of sliding-mode controllers:a novel design and experimental investigations[J].IEEETransactions on Industrial Electronics,1999,46(5):1012-1018.
[15]Szabat K,Serkies P,Cychowski M.Application of the MPC to the robust control of the two-mass drive system[C]//IEEE International Symposium on Industrial Electronics,Gdansk,Poland,2011:1901-1906.
[16]尹忠刚,张迪,蔡剑,等.基于三自由度内模控制的永磁同步电机矢量控制方法[J].电工技术学报,2017,32(21):59-68.Yin Zhonggang,Zhang Di,Cai Jian,et al.A vector control method based on three-degree-of-freedom internal model control for permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2017,32(21):59-68.
[17]秦娜娜,张井岗.二自由度控制方法研究[J].控制工程,2017,24(4):895-900.Qin Nana,Zhang Jinggang.An overview two-degreeof-freedom control[J].Control Engineering of China,2017,24(4):895-900.
[18]张井岗,刘志运,裴润.交流伺服系统的二自由度内模控制[J].电工技术学报,2002,17(4):45-48.Zhang Jinggang,Liu Zhiyun,Pei Run.Two-degree-offreedom internal model control for AC servo system[J].Transactions of China Electrotechnical Society,2002,17(4):45-48.
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