CN107756448A - The test device and method that a kind of flexible joint Flexible Links residual oscillation suppresses - Google Patents
The test device and method that a kind of flexible joint Flexible Links residual oscillation suppresses Download PDFInfo
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Abstract
The invention discloses the test device that a kind of flexible joint Flexible Links residual oscillation suppresses, including data processing module, drive module, mechanical system module, signal acquisition module；The data processing module uses industrial computer, including man-machine interaction unit and real-time controlling unit；The drive module includes AC servo driver and AC servo motor；The mechanical system module includes support base, system base, flexible joint and flexible arm；The signal acquisition module includes three dimension acceleration sensor, Switching Power Supply and data acquisition unit, and the three dimension acceleration sensor is arranged on flexible arm end.Present invention also offers a kind of method that flexible joint Flexible Links residual oscillation suppresses.It is of the invention can the masters of quick obtaining flexible joint Flexible Links shake modal parameter, solve to cause input shaper to design irrational problem because system model parameter mismatches, effectively suppress the residual oscillation of mechanical system, realize that mechanical arm fast and accurately positions.
Description
Technical field
It is residual more particularly to a kind of flexible joint-Flexible Links the present invention relates to the vibration control field of industrial robot
The test device and method of remaining vibration suppression.
Background technology
Industrial robot is widely used in manufacturing field, with the raising of production requirement, realizes robot height
The high-precision motion of speed becomes particularly important.However, high-speed motion can cause mechanical arm to produce larger residual oscillation, it is actual raw
In production, it usually needs it is high position accuracy demand could to be carried out when residual oscillation disappearance or after decaying in allowed band
Process, this is difficult to the requirement for meeting production.Input shaper is that initial order and specific pulse train are carried out into convolution, generation
Shaping instruction as control system move input signal.Each pulse in reshaper pulse train can evoke one and shake
Dynamic response, when pulse amplitude and effect the moment set it is just right when, the vibration each evoked is cancelled out each other, and is disappeared with reaching
Except the purpose of system residual vibration.When designing input shaper, the amplitude of each pulse and during effect in reshaper pulse train
The solution at quarter requires accurate kinetic model, and its solution has serious dependence to model and change to model parameter is very
It is sensitive.
When suppressing residual oscillation using input shaper method, it is necessary first to obtain the modal parameter of system, existing method master
Have following several：Modal parameter is obtained by solving kinetics equation；Using model analysis equipment, entered by hammering method etc.
Row mode experiment obtains modal parameter；Limited element analysis technique obtains modal parameter.But these methods can not intuitively be shown in reality
The mode to be played a major role in the case of border, and based on simplification, Utopian kinetic model, this causes the mode got
The modal parameter of parameter and real system mismatches, and as a result often inhibition of vibration is undesirable.
The content of the invention
It is an object of the invention to provide the test device that a kind of flexible joint-Flexible Links residual oscillation suppresses, the dress
The motion of flexible joint-Flexible Links can be controlled in real time by putting, the convenient test for carrying out residual oscillation, collection flexible arm end
Residual vibration signal.
It is a further object of the present invention to provide the method that a kind of flexible joint-Flexible Links residual oscillation suppresses, it is intended to
The master for fast and accurately obtaining mechanical arm system shakes modal parameter, reshaper reasonable in design, effectively suppresses mechanical system
Residual oscillation, realize that mechanical arm fast and accurately positions.
The purpose of the present invention can be realized by following technical proposals：
The test device that a kind of flexible joint-Flexible Links residual oscillation suppresses,
Including：Data processing module, drive module, mechanical system module, signal acquisition module；
The data processing module uses industrial computer, including man-machine interaction unit and for controlling flexible arm operation in real time
Real-time controlling unit；
The drive module includes AC servo driver and AC servo motor；The AC servo driver control is handed over
Flow servo motor presses instruction operation；
The mechanical system module includes support base, system base, flexible joint and flexible arm, described flexible joint
It is fixed on by support base in system base, the flexible arm connects flexible joint, and the flexible arm end is equipped with load；
The signal acquisition module includes three dimension acceleration sensor, Switching Power Supply and data acquisition unit, described three-dimensional
Acceleration transducer is arranged on flexible arm end, and the Switching Power Supply is used to provide perseverance for acceleration transducer and data acquisition unit
Determine voltage, the data acquisition unit is used for after the analog signal that the three dimension acceleration sensor gathers is converted into data signal
Convey the data processing module.
Further, the real-time controlling unit is connected by EtherCAT modes with AC servo driver, by 1ms's
Deformation trace is sent to servo-driver by time interval, controls flexible arm to be run by S type curve displacements track in real time.
Further, described man-machine interaction unit includes display interface and algorithm performs device.
Further, described flexible joint includes belt wheel transmission unit, timing belt, harmonic speed reducer, and the belt wheel passes
Moving cell includes driving wheel and driven pulley, and the driving wheel connects in succession with alternating current servo motor direct, the driven pulley with it is described humorous
Ripple decelerator is directly connected to, and the driven pulley and driving wheel pass through synchronous band connection.
Another object of the present invention can be realized by following technical proposals：
The method that a kind of flexible joint-Flexible Links residual oscillation suppresses, comprises the following steps：
S1, flexible arm are run by predetermined displacement input signal, the remnants of three dimension acceleration sensor collection flexible arm end
Vibration signal；
S2, FFT calculating is carried out to the residual vibration signal collected, obtain the spectrogram of vibration signal；
S3, the frequency according to the main mode of shaking of the spectrogram of vibration signal screening；
S4, set bandpass filter to screen the main signal that shakes, the damped coefficient of main mode of shaking is resolved using Logarithmic decrement method；
S5, zero vibration (ZV) type input shaper is designed according to the modal parameter recognized：
Wherein：
S6, by carrying out acceleration design to displacement input, compensate the delay of reshaper；
S7, the input signal after designing and reshaper will be accelerated to carry out convolution, the input signal after shaping is obtained, by shaping
Signal sends the suppression that control system realizes mechanical arm residual oscillation to.
Further, the step S1 is specifically included：Industrial computer is by displacement signal discrete processes, by between every millisecond of time
Every being sent to alternating-current servo controller, AC servo machinery driving flexible arm is moved by input signal, three at the end of displacement signal
Acceleration transducer synchronous acquisition flexible arm tip vibration signal is tieed up, signal acquisition module collects three dimension acceleration sensor
Residual vibration signal carry out discrete processes, pass industrial computer back.
Further, the step S3 is specifically included：
S301, setting spectrum amplitude compare threshold value Av；
S302, setpoint frequency change threshold ωv；
S303, screening amplitude are more than AvCrest frequency ωi；
S304, more adjacent crest frequency ωiIf ωi+1-ωi<ωv, then treat as with single order modal frequency.
Further, the step S4 is specifically included：
S401, the main signal that shakes of bandpass filtering screening is carried out to original residual vibration signal；
S402, the transmission function of mechanical arm system are：
Unit impulse response is：
Wherein：ωnFor natural frequency, ζ is damping ratio, and k is gain,For system damping frequency,
Vibration signal under i-th rank mode is：
Wherein：Mode of being shaken based on i sequence number, the quantity for mode of shaking based on N；
S403, from formula (3), vibration signal is the sinusoidal signal of decay, and its envelope is：
If two continuous peak values are Yn and Yn+1 in vibration signal, then：
Further, the step S6 is specifically included：
S601, typical reshaper are represented by：
Wherein n is umber of pulse, and reshaper is t to the delay that system is broughtn；
S602, former desired input trajectory S (t) (t ∈ [0, T]) is carried out accelerating change to obtain Sacc(τ)(τ∈[0,T-
tacc]), wherein tn≤tacc<T, take coefficient
Then Sacc(τ)=Sacc(kt)=S (t), t ∈ [0, T].
Further, it is described that the input signal after designing will be accelerated to carry out convolution with reshaper in the step S7, obtain
The step of input signal after shaping, specifically includes：To the track S after accelerationacc(τ) carries out shaping, obtains the track after shaping
SIS=fIS*SaccIf reshaper includes n pulse, then the track after shaping is：
Wherein S'acc(t) it is to sacc(t) extension, i.e.,：
In formula, u (t) is unit-step function：
The present invention is had the following advantages relative to prior art and effect：
The present invention need not carry out Dynamic Modeling to system, just can intuitively obtain and play a major role in practical situations both
Mode, and can accurately identify design input shaper needed for modal parameter：Frequency and damped coefficient, pass through acceleration
Design can effectively compensate the delay that reshaper is brought, and the present invention can effectively suppress the residual oscillation of mechanical arm system, carry
High mechanical arm tail end follows precision, realizes that mechanical arm fast and accurately positions.
Brief description of the drawings
Fig. 1 is the surface structure signal for the test device that flexible joint in the present invention-Flexible Links residual oscillation suppresses
Figure.
Fig. 2 is each module principle signal of test device that flexible joint in the present invention-Flexible Links residual oscillation suppresses
Figure.
Fig. 3 is the idiographic flow schematic diagram for the method that flexible joint in the present invention-Flexible Links residual oscillation suppresses.
In figure：1- driving wheels；2- AC servo motors；3- timing belts；4- driven pulleys；5- harmonic speed reducers；6- flexible arms
Structure；7- is loaded；8- three dimension acceleration sensors；9- support bases；10- system bases；11- Switching Power Supplies；12- data acquisitions
Device；13- AC servo drivers；14- data processing modules.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are unlimited
In this.
Embodiment
Now using the mechanical arm of certain industrial robot as vibration control object, the suppression of residual oscillation is followed the steps below
System：
As shown in figure 1, the test device that the flexible joint of the present embodiment-Flexible Links residual oscillation suppresses, the test
Device includes：Data processing module 14, drive module, mechanical system module, signal acquisition module；
The data processing module 14 grinds IPC-510 built-in industrial control machines using China, including real-time controlling unit and man-machine
Interactive unit；The real-time controlling unit and man-machine interaction unit of data processing module are in Microsoft Visual Studio
Developed on 2010 platforms, the built-in deformation trace of flexible arm operation of real-time controlling unit：S type curves, real-time controlling unit lead to
Cross EtherCAT modes with servo-driver to couple, deformation trace is sent to servo-driver 13 by 1ms interval, in real time control
The operation of flexible arm 6 processed；Man-machine interaction unit includes display interface and algorithm performs device；
The drive module is made up of AC servo driver 13 and AC servo motor 2, using the ASD- of Delta company
A2Ether-CAT communication types AC servo driver 13 and ECMA-CA0604SS types AC servo motor 2, servo-driver control
Servomotor processed is by instruction operation；
The mechanical system module includes support base 9, system base 10, flexible joint and flexible arm 6, described flexibility
Joint is fixed in system base 10 by support base 9, and the flexible arm 6 connects flexible joint, and the end of flexible arm 6 is equipped with
Load 7, described flexible joint include belt wheel transmission unit, timing belt 3, harmonic speed reducer 5, and the belt wheel transmission unit includes
Driving wheel 1 and driven pulley 4, the driving wheel 1 are directly connected to AC servo motor 2, the driven pulley 4 and the harmonic reduction
Device 5 is directly connected to, and the driven pulley 4 and driving wheel 1 are connected by timing belt 3.
The signal acquisition module includes three dimension acceleration sensor 8, Switching Power Supply 11 and data acquisition unit 12, and described three
8395A type three dimension acceleration sensor of the acceleration transducer 8 using German KISTLER companies is tieed up, measurement range is -300m/
s2~+300m/s2；The NES-150-24 type Switching Power Supplies that the Switching Power Supply 11 is produced using MEAN WELL companies；The number
EK1100 pattern blocks according to collector 12 using Elektro Beckhoff GmbH's production；Three dimension acceleration sensor 8 is installed
In the end of flexible arm 6, Switching Power Supply 11 is that acceleration transducer 8 and data acquisition unit 12 provide 24v constant voltages, data acquisition
Device 12 is transmitted back to industrial computer after the analog signal that three dimension acceleration sensor 8 gathers is converted into data signal.
As shown in Fig. 2 the method that a kind of flexible joint-Flexible Links residual oscillation suppresses, comprises the following steps：
S1, flexible arm are run by predetermined displacement input signal, the remnants of three dimension acceleration sensor collection flexible arm end
Vibration signal；
S2, FFT calculating is carried out to the residual vibration signal collected, obtain the spectrogram of vibration signal；
S3, the frequency according to the main mode of shaking of the spectrogram of vibration signal screening；
S4, set bandpass filter to screen the main signal that shakes, the damped coefficient of main mode of shaking is resolved using Logarithmic decrement method；
S5, zero vibration (ZV) type input shaper is designed according to the modal parameter recognized：
Wherein：
S6, by carrying out acceleration design to displacement input, compensate the delay of reshaper；
S7, the input signal after designing and reshaper will be accelerated to carry out convolution, the input signal after shaping is obtained, by shaping
Signal sends the suppression that control system realizes mechanical arm residual oscillation to.
Specifically, the step S1 is specifically included：Industrial computer is by displacement signal discrete processes, by between every millisecond of time
Every being sent to alternating-current servo controller, AC servo machinery driving flexible arm is moved by input signal, three at the end of displacement signal
Acceleration transducer synchronous acquisition flexible arm tip vibration signal is tieed up, signal acquisition module collects three dimension acceleration sensor
Residual vibration signal carry out discrete processes, pass industrial computer back.
Specifically, the step S3 is specifically included：
S301, setting spectrum amplitude compare threshold value Av；
S302, setpoint frequency change threshold ωv；
S303, screening amplitude are more than AvCrest frequency ωi；
S304, more adjacent crest frequency ωiIf ωi+1-ωi<ωv, then treat as with single order modal frequency.
Specifically, the step S4 is specifically included：
S401, the main signal that shakes of bandpass filtering screening is carried out to original residual vibration signal；
S402, the transmission function of mechanical arm system are：
Unit impulse response is：
Wherein：ωnFor natural frequency, ζ is damping ratio, and k is gain,For system damping frequency,
Vibration signal under i-th rank mode is：
Wherein：Mode of being shaken based on i sequence number, the quantity for mode of shaking based on N；
S403, from formula (3), vibration signal is the sinusoidal signal of decay, and its envelope is：
If two continuous peak values are Yn and Yn+1 in vibration signal, then：
Specifically, the step S6 is specifically included：
S601, typical reshaper are represented by：
Wherein n is umber of pulse, and reshaper is t to the delay that system is broughtn；
S602, former desired input trajectory S (t) (t ∈ [0, T]) is carried out accelerating change to obtain Sacc(τ)(τ∈[0,T-
tacc]), wherein tn≤tacc<T, take coefficient
Then Sacc(τ)=Sacc(kt)=S (t), t ∈ [0, T].
Specifically, it is described that the input signal after designing will be accelerated to carry out convolution with reshaper in the step S7, obtain
The step of input signal after shaping, specifically includes：To the track S after accelerationacc(τ) carries out shaping, obtains the track after shaping
SIS=fIS*SaccIf reshaper includes n pulse, then the track after shaping is：
Wherein S'acc(t) it is to sacc(t) extension, i.e.,：
In formula, u (t) is unit-step function：
Above-described embodiment is only the clearly explanation present invention, is the preferable embodiment of the present invention, and is not pair
The restriction of embodiment of the present invention.Without departing from the spirit and scope of the present invention, the present invention also have various change and
Deformation, and the obvious change and deformation extended of these connotations for belonging to the present invention, are still included in the present invention
Protection domain within.
Claims (10)
1. the test device that a kind of flexible joint-Flexible Links residual oscillation suppresses, it is characterised in that including：Data processing
Module, drive module, mechanical system module, signal acquisition module；
The data processing module uses industrial computer, including man-machine interaction unit and for controlling the real-time of flexible arm operation in real time
Control unit；
The drive module includes AC servo driver and AC servo motor；The AC servo driver control exchange is watched
Motor is taken by instruction operation；
The mechanical system module includes support base, system base, flexible joint and flexible arm, and described flexible joint passes through
Support base is fixed in system base, and the flexible arm connects flexible joint, and the flexible arm end is equipped with load；
The signal acquisition module includes three dimension acceleration sensor, Switching Power Supply and data acquisition unit, described three-dimensional acceleration
Degree sensor is arranged on flexible arm end, and the Switching Power Supply is used to provide constant electricity for acceleration transducer and data acquisition unit
Pressure, the data acquisition unit are used to after the analog signal that the three dimension acceleration sensor gathers is converted into data signal convey
The data processing module.
2. the test device that a kind of flexible joint according to claim 1-Flexible Links residual oscillation suppresses, its feature
It is：The real-time controlling unit is connected by EtherCAT modes with AC servo driver, by 1ms time interval by position
Move track and be sent to servo-driver, control flexible arm to be run by S type curve displacements track in real time.
3. the test device that a kind of flexible joint according to claim 1-Flexible Links residual oscillation suppresses, its feature
It is：Described man-machine interaction unit includes display interface and algorithm performs device.
4. the test device that a kind of flexible joint according to claim 1-Flexible Links residual oscillation suppresses, its feature
It is：Described flexible joint includes belt wheel transmission unit, timing belt, harmonic speed reducer, and the belt wheel transmission unit includes master
Driving wheel and driven pulley, the driving wheel connect in succession with alternating current servo motor direct, and the driven pulley and the harmonic speed reducer are direct
Connection, the driven pulley and driving wheel pass through synchronous band connection.
5. the flexible joint based on test device any one of Claims 1-4-Flexible Links residual oscillation suppression side
Method, it is characterised in that comprise the following steps：
S1, flexible arm are run by predetermined displacement input signal, the residual oscillation of three dimension acceleration sensor collection flexible arm end
Signal；
S2, FFT calculating is carried out to the residual vibration signal collected, obtain the spectrogram of vibration signal；
S3, the frequency according to the main mode of shaking of the spectrogram of vibration signal screening；
S4, set bandpass filter to screen the main signal that shakes, the damped coefficient of main mode of shaking is resolved using Logarithmic decrement method；
S5, zero vibration (ZV) type input shaper is designed according to the modal parameter recognized：
Wherein：
S6, by carrying out acceleration design to displacement input, compensate the delay of reshaper；
S7, the input signal after designing and reshaper will be accelerated to carry out convolution, the input signal after shaping is obtained, by reshaping signal
Send the suppression that control system realizes mechanical arm residual oscillation to.
6. the method that flexible joint according to claim 5-Flexible Links residual oscillation suppresses, it is characterised in that institute
Step S1 is stated to specifically include：Displacement signal discrete processes are sent to AC servo control by industrial computer by every millisecond of time interval
Device processed, AC servo machinery driving flexible arm are moved by input signal, and three dimension acceleration sensor is synchronous at the end of displacement signal
Flexible arm tip vibration signal is gathered, the residual vibration signal that signal acquisition module collects three dimension acceleration sensor is carried out
Discrete processes, pass industrial computer back.
7. the method that flexible joint according to claim 5-Flexible Links residual oscillation suppresses, it is characterised in that institute
Step S3 is stated to specifically include：
S301, setting spectrum amplitude compare threshold value Av；
S302, setpoint frequency change threshold ωv；
S303, screening amplitude are more than AvCrest frequency ωi；
S304, more adjacent crest frequency ωiIf ωi+1-ωi<ωv, then treat as with single order modal frequency.
8. the method that flexible joint according to claim 5-Flexible Links residual oscillation suppresses, it is characterised in that institute
Step S4 is stated to specifically include：
S401, the main signal that shakes of bandpass filtering screening is carried out to original residual vibration signal；
S402, the transmission function of mechanical arm system are：
Unit impulse response is：
Wherein：ωnFor natural frequency, ζ is damping ratio, and k is gain,For system damping frequency,
Vibration signal under i-th rank mode is：
Wherein：Mode of being shaken based on i sequence number, the quantity for mode of shaking based on N；
S403, from formula (3), vibration signal is the sinusoidal signal of decay, and its envelope is：
If two continuous peak values are Yn and Yn+1 in vibration signal, then：
。
9. the method that flexible joint according to claim 5-Flexible Links residual oscillation suppresses, it is characterised in that institute
Step S6 is stated to specifically include：
S601, typical reshaper are represented by：
Wherein n is umber of pulse, and reshaper is t to the delay that system is broughtn；
S602, former desired input trajectory S (t) (t ∈ [0, T]) is carried out accelerating change to obtain Sacc(τ)(τ∈[0,T-
tacc]), wherein tn≤tacc<T, take coefficient
Then Sacc(τ)=Sacc(kt)=S (t), t ∈ [0, T].
10. the method that flexible joint according to claim 5-Flexible Links residual oscillation suppresses, it is characterised in that institute
State in step S7, it is described that the input signal after designing will be accelerated to carry out convolution with reshaper, obtain the input signal after shaping
Step specifically includes：To the track S after accelerationacc(τ) carries out shaping, obtains the track S after shapingIS=fIS*SaccIf shaping
Device includes n pulse, then the track after shaping is：
Wherein S'acc(t) it is to sacc(t) extension, i.e.,：
In formula, u (t) is unit-step function：
。
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