DE-ADRC Vibration Suppression Control and Simulation of Multi-flexible Handling Robot Arm Electromechanical System
In view of the problem of mechanical resonance caused by the drive system and arm flexibility of servo robot arm in the handling process,taking the large LCD panel handling robot arm as the object,the rigid-flexible coupling dynamics model of the system was established and the model was downgraded.Combining with the idea of servo cascade control,the DE-ADRC control algorithm mod-el was proposed,and the model-based self-resistant control strategy was adopted for the speed loop of the servo system;and the im-proved differential evolution algorithm was adopted to optimize the control parameters,and the dual closed-loop speed-current servo control system was built in Simulink to carry out simulation analysis and calculation.The results show that the maximum position devia-tion of the end of the arm is reduced by 55.40%under the improved DE algorithm for ADRC parameter tuning,compared with the PID algorithm,the deviation is reduced by 10.41%,and this method can effectively suppress the vibration phenomenon of the robot arm,which is of high value for engineering applications.
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