Flexible Joint Control Strategy Based on Posture Change of Transmission Line Inspection Robots

doi:10.12068/j.issn.1005-3026.2020.11.009

Abstract

Abstract: In order to reduce the fluctuation degree of output velocity of flexible joints of transmission line inspection robots， the controller parameter of the flexible joint servo drive system is designed by pole assignment. The choice of this parameter changes with the change of the robot posture so that the robot flexible joint servo drive system can obtain a stable output speed. Firstly， the dynamic equation of the robot flexible joint servo drive system is established and the transfer function of motor speed to electromagnetic torque is obtained. Then PI control strategy is applied to the flexible joint servo control to obtain the closed-loop transfer function of the control system. Then the pole assignment strategy with the same damping coefficient is used to design the controller parameter. Finally， the experiment of flexible joint control under the condition of the patrol robot surmounting obstacles is carried out， which shows that the flexible joint can obtain a good output speed by selecting pole assignment parameters properly.

Key words: flexible joint, PI control strategy, servo system, inspection robot, posture change

CLC Number:

TP13
TP249

LI Xiao-peng， SHANG Dong-yang， LI Fan-jie，WEN Bang-chun. Flexible Joint Control Strategy Based on Posture Change of Transmission Line Inspection Robots[J]. Journal of Northeastern University Natural Science, 2020, 41(11): 1577-1583.

References

[1]Ma C，Cao J，Qiao Y.Polynomial-method-based design of low-order controllers for two-mass systems［J］.IEEE Transactions on Industrial Electronics，2013，60(3):969-978.
[2]Member O S.High-precision robust force control of a series elastic actuator［J］.IEEE/ASME Transactions on Mechatronics，2017，22(1):71-80.
[3]O″Sullivan T M，Bingham C M，Schofield N. High-performance control of dual-inertia servo-drive systems using low-cost integrated SAW torque transducers［J］.IEEE Transactions on Industrial Electronics，2006，53(4):1226-1237.
[4]Spong M W，Hutchinson S，Vidyasagar M. Robot modeling and control［J］.Industrial Robot-An International Journal，2006，17(5):709-737.
[5]Ghorbel F，Hung J Y，Spong M W. Adaptive control of flexible-joint manipulators［J］.IEEE Control Systems Magazine，1989，9(7):9-13.
[6]Hori Y，Sawada H，Chun Y. Slow resonance ratio control for vibration suppression and disturbance rejection in torsional system［J］.IEEE Transactions on Industrial Electronics，1999，46(1):162-168.
[7]Bang J S，Shim H，Park S K，et al.Robust tracking and vibration suppression for a two-inertia system by combining back stepping approach with disturbance observer［J］.IEEE Transactions on Industrial Electronics，2010，57(9):3197-3206.
[8]Yun J N，Su J，Kim Y I，et al.Robust disturbance observer for two-inertia system［J］.IEEE Transactions on Industrial Electronics，2013，60(7):2700-2710.
[9]Saarakkala S E，Hinkkanen M. State-space speed control of two-mass mechanical systems:analytical tuning and experimental evaluation［J］.IEEE Transactions on Industry Applications，2014，50(5):3428-3437.
[10]Szabat K，Orlowska-Kowalska T. Vibration suppression in a two-mass drive system using PI speed controller and additional feedbacks—comparative study［J］.IEEE Transactions on Industrial Electronics，2007，54(2):1193-1206.
[11]Wang C，Zheng M，Wang Z，et al.Robust two-degree-of-freedom iterative learning control for flexibility compensation of industrial robot manipulators［C］//International Conference on Robotics and Automation (ICRA).Stockholm，2016:2381-2386.
[12]Yang S M，Wang S C. The detection of resonance frequency in motion control systems［J］.IEEE Transactions on Industry Applications，2014，50(5):3423-3427.
[13]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.
[14]丁有爽，肖曦.基于极点配置的永磁同步电机驱动柔性负载PI调节器参数确定方法［J］.中国电机工程学报，2017(4):293-307.(Ding You-shuang，Xiao Xi.Parameter tuning methods based on pole placement for PI controllers of flexible loads driven by PMSM［J］.Proceedings of the CSEE，2017(4):293-307.)
[15]Wang L P，Wang D，Wu J.Dynamic performance analysis of parallel manipulators based on two-inertia-system［J］.Mechanism and Machine Theory，2019，137:237-253.
[16]Zhang G.Speed control of two-inertia system by PI/PID control［J］.IEEE Transactions on Industrial Electronics，2000，47(3):603-609.
[17]Chen Y Y，Yang M.Analysis of oscillation frequency deviation in elastic coupling digital drive system and robust notch filter strategy［J］.IEEE Transactions on Industrial Electronics，2019，66:90-101.
[15]关守平，房少纯.一种新型的区间-粒子群优化算法［J］.东北大学学报(自然科学版)，2012，33(10):1381-1384.(Guan Shou-ping，Fang Shao-chun.A new interval particle swarm optimization algorithm［J］.Journal of Northeastern University(Natural Science)，2012，33(10):1381-1384.)