Vibration suppression method for flexible manipulators

A technology of vibration suppression and flexible arm, which is applied in the field of vibration suppression of flexible arms to achieve the effect of suppressing transient vibration

Inactive Publication Date: 2012-12-12
NANJING ESTUN AUTOMATION CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The object of the invention of the present invention is to propose a flexible arm vibration suppression method in order to effectively suppress the low-frequency vibration of the flexible arm and overcome the defects of the existing flexible arm vibration suppression method, which mainly solves the problems of mechanical components in flexible arms such as industrial robots and manipulators. Transient Vibration Problems

Method used

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  • Vibration suppression method for flexible manipulators
  • Vibration suppression method for flexible manipulators
  • Vibration suppression method for flexible manipulators

Examples

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Embodiment Construction

[0037] The present invention will be described in further detail below in conjunction with the embodiments.

[0038] The parameters in the example are shown in the table below:

[0039]

[0040] (1) The speed command ω is provided by the host computer or inside the drive cmd , for the reduced-order models of the servo drive and electrical components, respectively;

[0041] (2) The output current of the servo driver drives the motor to run, and the actual motor speed ω is obtained through the encoder detection m ;

[0042] (3) Calculate the motor speed in the model from the reduced-order model of the electrical components , and provides a reduced-order model of the mechanical component:

[0043] ω m m ω cmd m = 2 ξ e ω e...

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Abstract

The invention discloses a vibration suppression method for flexible manipulators. According to the method disclosed by the invention, a model compensation based control method is adopted, and a model is associated with a speed control ring and composed of an electrical component model and a mechanical component model which are subjected to order reduction. The difference value between the speed of a driven mechanical component and the speed of a motor is subjected to real-time calculation and multiplied by a factor, and then the obtained value is added into a speed instruction of the motor, thereby achieving an effect of suppressing the transient vibration of the driven mechanical component. According to the invention, the model compensation based control method is adopted, and a non-time-delay damping effect is established on the driven mechanical component, namely that a vibration attenuation effect is achieved, thereby effectively shortening the stabilization time of a system, and improving the vibration suppression control accuracy of flexible manipulators. The load speed is assessed through the model, thereby reducing the cost of hardware such as sensors and the like. Model parameters are acquired according to experimental data, and the parameters can be subjected to on-site adjustment; and the control method is simple, and easy to realize.

Description

technical field [0001] The invention relates to a vibration suppression method for flexible arms such as industrial robots and manipulators. Background technique [0002] Flexible arms such as industrial robots and manipulators have a gear reduction device between the motor shaft and the driving element. The insufficient torsional rigidity of the gear reduction device often leads to low-frequency vibrations in the mechanical part, which causes problems such as prolonged system stabilization time. In order to solve this problem, the prior art proposes a state feedback full-closed-loop control method based on sensors or observers and a speed feedback control method based on disturbance observers and software dynamic damping compensation. However, due to the constraints of the mechanical structure, the sensor-based full-closed-loop control technology is difficult to implement in the actual system, and the use of sensors will increase the system cost. In addition, the conventio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/05
Inventor 吴波王杰高齐丹丹
Owner NANJING ESTUN AUTOMATION CO LTD
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