东北大学学报（自然科学版）

东北大学学报（自然科学版） ›› 2023, Vol. 44 ›› Issue (5): 642-651.DOI: 10.12068/j.issn.1005-3026.2023.05.005

• 机械工程 • 上一篇    下一篇

双柔性机械臂伺服系统PI控制策略

李小彭1， 周赛男1， 尹猛2， 樊星1   

  1. (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)
  • 发布日期:2023-05-24
  • 通讯作者: 李小彭
  • 作者简介:李小彭(1976－)，男，江西宁都人，东北大学教授，博士生导师.
  • 基金资助:
    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).

PI Control Strategy of Double-Flexible Manipulator’s Servo System

LI Xiao-peng1， ZHOU Sai-nan1， YIN Meng2， FAN Xing1   

  1. 1. School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China; 2. Shenzhen Institute of Advanced Technology， Chinese Academy of Sciences， Shenzhen 518055， China.
  • Published:2023-05-24
  • Contact: LI Xiao-peng
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摘要： 柔性机械臂系统中的负载柔性、关节柔性会导致输出转速波动，故使用PI控制策略对伺服系统进行控制.根据连续体振动理论和拉格朗日方程建立同时考虑负载和关节两种柔性的动力学模型，并分析了两种柔性对系统传动特性的影响.使用Arnoldi方法对传递函数进行降阶，并对降阶误差进行评价.采用极点配置方法设计控制器参数，讨论了极点阻尼系数、自然频率等对系统动态特性的影响.最后进行双柔性机械臂的仿真分析和转动控制实验，结果表明:适当调整控制器参数可以有效减弱柔性机械臂伺服传动系统末端的转速波动，进而抑制机械谐振现象，使系统趋于稳定.

关键词: 双柔性机械臂； 伺服传动系统； 关节柔性； 负载柔性； 极点配置

Abstract: The load flexibility and joint flexibility in the flexible manipulator system will lead to the fluctuation of output speed， so the PI control strategy is used to control the servo system. Based on the continuum vibration theory and Lagrange equation， a dynamic model considering both the load and joint flexibilities is established， and the influence of the two flexibilities on the transmission characteristics of the system is analyzed. The Arnoldi method is used to reduce the order of transfer functions， and the error of order reduction is evaluated. The pole assignment method is used to design the controller’s parameters， and the effects of the pole damping coefficient and natural frequency on the system dynamic characteristics are discussed. Finally， the simulation analysis and rotation control experiment of the double-flexible manipulator are carried out. The results show that adjusting the controller’s parameters properly can effectively reduce the speed fluctuation of the servo drive system of the flexible manipulator， and then suppress the mechanical resonance phenomenon， so that the system tends to be more stable.

Key words: double-flexible manipulator; servo drive system; joint flexibility; load flexibility; pole assignment

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