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Method for controlling vibration of flexible manipulator based on vibration observer

A technology of flexible manipulators and observers, applied in the direction of manipulators, manufacturing tools, etc., can solve problems affecting the dynamic characteristics of flexible arms, complex system structure, high cost, etc., achieve the goal of tracking specified input without deviation, simplifying system structure, and saving costs Effect

Inactive Publication Date: 2015-05-06
CHINA UNIV OF MINING & TECH
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AI Technical Summary

Problems solved by technology

However, the use of attached sensors such as acceleration sensors and piezoelectric sensors will inevitably affect the dynamic characteristics of the flexible arm, such as natural modes, and will complicate the system structure. In addition, in some cases, the sensor is not easy to attach to the flexible arm; laser Sensors have the disadvantages of limited practical applications and high cost

Method used

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  • Method for controlling vibration of flexible manipulator based on vibration observer
  • Method for controlling vibration of flexible manipulator based on vibration observer
  • Method for controlling vibration of flexible manipulator based on vibration observer

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with accompanying drawing.

[0027] A specific system using the method of the present invention is as figure 1 As shown, the servo motor 2 drives the slider 6 to move on the guide rail 8 through the reducer 3 and the ball screw 4, and one end of the flexible mechanical arm 9 is rigidly connected to the slider 6 through the bolt 7; the displacement of the slider 6 is carried out by the grating ruler 5 For measurement, the vibration signal at the end of the flexible mechanical arm 9 is observed by the vibration observer 10 . Utilize the vibration signal obtained by the vibration observer 10, obtain the control signal through the state feedback integral controller 11, use the motion control card 12 and the motor driver 1 to output the control signal to the servo motor 2, control its motion, and realize the positioning of the end of the flexible mechanical arm 9 while suppressing residual vibration.

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Abstract

The invention discloses a method for controlling vibration of a flexible manipulator based on a vibration observer. The method comprises the following steps: 1, establishing a mathematic model of a flexible manipulator system and acquiring model information of the system; 2, designing the vibration observer; 3, designing a state feedback integral controller; 4, adjusting control parameters according to the combined simulation effect; 5, ending the design. When the residual vibration of the tail end of the flexible manipulator is tested and controlled, a vibration signal of the tail end of the flexible manipulator can be obtained without using a sensor in an existing method, the system structure is simplified, and the cost is saved. The state feedback controller with an integral is used at the same time, and unbiased tracked and specified input can be achieved while the dynamic characteristics of the system are effectively adjusted.

Description

technical field [0001] The invention relates to a flexible mechanical manipulator, in particular to a vibration control method for a flexible mechanical arm based on a vibration observer. Background technique [0002] The robotic arm is a very important type of tool in the modern industrial field. Due to the heavy load, wide working range and high degree of automation of the robotic arm, it has been widely used in the fields of medical equipment, industrial production, and aviation. Under the requirements of low energy consumption, high precision, and high efficiency, robotic arm technology is constantly developing in the direction of light weight, high speed, and high precision. [0003] Compared with the rigid manipulator, the flexible manipulator has the advantages of small size, fast speed and large load, but due to the dynamic characteristics of the flexible manipulator itself, such as small stiffness and low modal frequency, it is easy to generate residual vibration du...

Claims

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Application Information

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IPC IPC(8): B25J13/08
Inventor 李威鞠锦勇王禹桥刘玉飞杨雪锋范孟豹魏华贤徐晗路恩须晓锋盛连超董事
Owner CHINA UNIV OF MINING & TECH
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