A flexible robotic arm and its flexible load may result in changes to such specific parameters as rotational inertia as the arm's posture changes,subsequently affecting the output speed of the servo drive system.By using a pole placement method with the same damping coefficient,the parameters of the proportional-integral(PI)controller in the drive system are adjusted,enabling the PI controller to automatically adjust its parameters in response to changes in the robotic arm's posture,thereby dynamically stabilizing the motor's output speed.A mathematical model is established based on the Lagrangian principles and continuum vibration theory,and the transfer function is obtained through state equations.The PI controller parameters are adjusted using the pole placement method with the same damping coefficient and applied to the speed loop control.The impact of the damping coefficient and natural frequency on the system's resonance peak,resonance frequency,and bandwidth is analyzed.Numerical simulation demonstrates that appropriately adjusting the damping coefficient can reduce speed fluctuations in the servo drive system.A comparison with the Ziegler-Nichols self-tuning(Z-N)method shows that the pole placement method with the same damping coefficient achieves system stability in a shorter time.
flexible robotic armflexible loadPI controllerpole placement method with the same damping coefficientservo drive system
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