多柔性搬运机械臂机电系统DE-ADRC抑振控制及仿真
DE-ADRC Vibration Suppression Control and Simulation of Multi-flexible Handling Robot Arm Electromechanical System
刘嘉庆 1刘竹丽 1宋伟2
作者信息
- 1. 郑州大学机械与动力工程学院,河南郑州 450001
- 2. 苏州优备精密智能装备股份有限公司,江苏苏州 215021
- 折叠
摘要
针对搬运过程中伺服机械臂因传动系统及臂杆柔性引发的机械谐振问题,以大型液晶面板搬运机械臂为对象,建立系统的刚柔耦合动力学模型,并对模型进行降阶处理;结合伺服串级控制思想,提出DE-ADRC控制算法模型,对伺服系统速度环采取基于模型的自抗扰控制策略;采用改进差分进化算法对控制参数进行寻优,在Simulink中搭建速度-电流双闭环伺服控制系统,开展仿真分析计算.结果表明:利用改进DE算法对ADRC参数进行整定后,臂杆末端最大位置偏差降低了 55.40%,相比PID算法降低了 10.41%,该方法可以有效抑制机械臂振动现象,具有较高的工程应用价值.
Abstract
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.
关键词
柔性机械臂/抑振控制/自抗扰控制/差分进化算法/参数整定Key words
flexible robot arm/vibration suppression control/self-resistant control/differential evolution algorithm/parameter tuning引用本文复制引用
出版年
2024
NETL
NSTL
万方数据