Vibration Suppression of Dual-Flexible Manipulator with Fuzzy Tuning PI Parameters

doi:10.12068/j.issn.1005-3026.2024.02.009

Abstract

Abstract:

The existence of flexible factors in the manipulator servo drive system can easily lead to the fluctuation of the output speed of the manipulator， and even lead to system resonance. In order to suppress the speed fluctuation of the system and stabilize the performance of the manipulator’s transmission system， the fuzzy theory is used to set the control strategy of PI controller parameters. According to the assumed mode method and Lagrange dynamic equation， the dynamic equation of the dual-flexible manipulator’s transmission system considering LuGre friction model is established， and the influence of the coupling nonlinear terms in the dynamic equation on the transmission characteristics of the system is analyzed. The pole assignment strategy is used to determine the value range of the PI controller parameters， and then the controller parameters are adjusted in real time according to the fuzzy rules to reduce the fluctuation of the servo system output speed and further suppress the system resonance. Finally， by means of numerical simulation analysis and manipulators’ control experiment， compared with the traditional PI control strategy， it is found that the control strategy taken in this study can reduce the average value of the absolute value of the motor end angle tracking error by 43.066%， and the standard deviation of the flexible load angle error by 46.506%， which further verifies the effectiveness of the proposed vibration suppression method with fuzzy tuning PI controller parameters.

Key words: dual-flexible manipulator, flexible joint, flexible load, fuzzy tuning, PI control

CLC Number:

TH 113.1

Xiao-peng LI, Sai-nan ZHOU, Jia-qi LIU, Meng YIN. Vibration Suppression of Dual-Flexible Manipulator with Fuzzy Tuning PI Parameters[J]. Journal of Northeastern University(Natural Science), 2024, 45(2): 217-225.

Figures/Tables 14

References 14

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参数	名称	参数	名称
J_m/（kg·m²）	电机转动惯量	θ_m/rad	电机转角
I_a/（kg·m²）	负载转动惯量	θ_l/rad	负载转角
T_m/（N·m）	电机电磁转矩	ω_m/（rad·s^-1）	电机角速度
T_l/（N·m）	负载转矩	ω_l/（rad·s^-1）	负载角速度
K_s/ （N·m·rad^-1）	传动系统扭转刚度	y（x，t）/m	负载变形量

参数	名称	参数	名称
J_m/（kg·m²）	电机转动惯量	θ_m/rad	电机转角
I_a/（kg·m²）	负载转动惯量	θ_l/rad	负载转角
T_m/（N·m）	电机电磁转矩	ω_m/（rad·s^-1）	电机角速度
T_l/（N·m）	负载转矩	ω_l/（rad·s^-1）	负载角速度
K_s/ （N·m·rad^-1）	传动系统扭转刚度	y（x，t）/m	负载变形量

ΔK_P		EC
ΔK_P		NB	NM	NS	ZO	PS	PM	PB
E	NB	PB	PB	PM	PM	PS	ZO	ZO
	NM	PB	PB	PM	PS	PS	ZO	NS
	NS	PM	PM	PM	PS	ZO	NS	NS
	ZO	PM	PM	PS	ZO	NS	NM	NM
	PS	PS	PS	ZO	NS	NS	NM	NM
	PM	PS	ZO	NS	NM	NM	NM	NB
	PB	ZO	ZO	NM	NM	NM	NB	NB

ΔK_P		EC
ΔK_P		NB	NM	NS	ZO	PS	PM	PB
E	NB	PB	PB	PM	PM	PS	ZO	ZO
	NM	PB	PB	PM	PS	PS	ZO	NS
	NS	PM	PM	PM	PS	ZO	NS	NS
	ZO	PM	PM	PS	ZO	NS	NM	NM
	PS	PS	PS	ZO	NS	NS	NM	NM
	PM	PS	ZO	NS	NM	NM	NM	NB
	PB	ZO	ZO	NM	NM	NM	NB	NB

ΔK_I		EC
ΔK_I		NB	NM	NS	ZO	PS	PM	PB
E	NB	NB	NB	NM	NM	NS	ZO	ZO
	NM	NB	NB	NM	NS	NS	ZO	ZO
	NS	NB	NM	NS	NS	ZO	PS	PS
	ZO	NM	NM	NS	ZO	PS	PM	PM
	PS	NM	NS	ZO	PS	PS	PM	PB
	PM	ZO	ZO	PS	PS	PM	PB	PB
	PB	ZO	ZO	PS	PS	PM	PB	PB