静力学辨识力矩补偿控制抑制机械臂振动研究
Research on Elimination of Manipulator Vibration by Torque Compensation Control Based on Statics Identification
董文强 1杨旗 1周杨 1牛金辉1
作者信息
- 1. 沈阳理工大学机械工程学院,辽宁 沈阳 110159
- 折叠
摘要
机械臂在完成定位抓取时,由于本身存在柔性引起振动影响机械臂的工作效率.因此,大多专家学者通过设计控制器进行开环前馈控制,但由于忽略机械臂关节端摩擦和电机端摩擦等非线性因素,控制器控制精度不足,抑制关节振动效果欠佳.对此提出通过静力学辨识得到准确的摩擦力矩补偿量,设计精确的关节力矩补偿控制律.最后,通过MATLAB仿真验证方法的有效性.
Abstract
During positioning and grabbing operation of the manipulator,vibration caused by flexibility of the manipulator affects operation efficiency.Therefore,many experts and scholars design controllers to carry out open-loop feedforward control.However,due to neglect of nonlinear factors such as the friction of the joint end of the manipulator and the friction of the motor end,the control accuracy is insufficient,and the effect of joint vibration elimination is unsatisfactory.To solve this problem,this paper proposes a method to obtain accurate friction torque compensation through statics identification,and then design the accurate joint torque compensation control rate.Finally,have the effectiveness of the method verified by MATLAB simulation.
关键词
静力学辨识/力矩补偿控制/输入整形器/振动抑制Key words
Statics identification/torque compensation control/input shaper/vibration elimination引用本文复制引用
出版年
2024
NETL
NSTL
万方数据