CN118123812B - A multi-modal active vibration suppression method based on a robotic arm joint servo system - Google Patents
A multi-modal active vibration suppression method based on a robotic arm joint servo system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
本发明公开了一种基于机械臂关节伺服系统的多模态主动振动抑制方法。方法包括：对机械臂关节伺服系统的关节伺服电机实施速度环与电流环PI控制和最大转矩电流比控制；在速度环控制频率下，根据实际系统与理想无振动系统转速获得系统转速误差；建立振动曲线模型，将多模态频率和电机角速度输入，输出系统在不同模态下的振动曲线；建立自适应振动补偿模型，将转速误差和振动曲线输入，输出系统多模态下的振动补偿量，将振动补偿量叠加并前馈到速度环输出指令中，能够实现多模态的主动振动抑制。本发明能够对弹性传动元件以及柔性连杆导致的机械臂关节伺服系统振动实现主动振动抑制，同时补偿多个模态的振动，具有更快的响应速度以及更小的速度过冲。
The present invention discloses a multi-modal active vibration suppression method based on a mechanical arm joint servo system. The method comprises: implementing speed loop and current loop PI control and maximum torque current ratio control on the joint servo motor of the mechanical arm joint servo system; obtaining the system speed error according to the actual system and the ideal vibration-free system speed under the speed loop control frequency; establishing a vibration curve model, inputting the multi-modal frequency and the motor angular velocity, and outputting the vibration curve of the system under different modes; establishing an adaptive vibration compensation model, inputting the speed error and the vibration curve, and outputting the vibration compensation amount under the multi-mode of the system, superimposing the vibration compensation amount and feeding forward to the speed loop output instruction, and realizing multi-modal active vibration suppression. The present invention can realize active vibration suppression of the mechanical arm joint servo system vibration caused by the elastic transmission element and the flexible connecting rod, and simultaneously compensate for the vibration of multiple modes, with faster response speed and smaller speed overshoot.
Description
Technical Field
The invention relates to a multi-mode active vibration suppression method for a servo system, in particular to a multi-mode active vibration suppression method based on a mechanical arm joint servo system.
Background
With the continuous development of the aerospace industry and advanced manufacturing industry, the response speed, control precision and other index requirements of the mechanical arm are continuously increased. Meanwhile, in order to improve the system efficiency, under most application scenes, the dead weight of the mechanical arm is required to be reduced as much as possible, and the load ratio and the working space are improved, so that the flexibility characteristic of the mechanical arm becomes non-negligible, vibration is generated, the positioning precision and the response speed of the mechanical arm are influenced, and the stable operation of the mechanical arm is adversely affected. In order to solve the problem of speed oscillation in the braking process of the motor caused by the mechanical arm structure and the flexibility of the transmission system, many researches are carried out by industry and researchers.
The conventional mechanical arm vibration suppression method can be classified into passive vibration suppression and active vibration suppression. The passive vibration suppression only uses an open-loop compensation or correction algorithm to suppress vibration, and the structure and parameters of the system controller are not changed. The filter is used as the most widely applied vibration suppression method, the designated frequency in the instruction can be effectively filtered out by inserting the notch filter into the speed controller, and the system vibration generated under the specific resonant frequency is suppressed, but the application effect of the method is very dependent on control parameters, the large phase angle lag is caused by the too wide notch width, and the reduction of the robustness of the vibration suppression frequency is caused by the too narrow notch width, so that the system vibration suppression level is reduced. The input shaping algorithm is also used as a passive control algorithm, and the system vibration is restrained by shaping the system input command to eliminate or weaken the signal component causing vibration in the signal. However, the vibration suppression effect and the robustness of the method depend on the design of the shaper structure and parameters, and can bring about different degrees of system hysteresis.
Active vibration suppression typically achieves feed-forward or feedback suppression of vibration occurrence by observing the system state. For example, state space control, free configuration is carried out on poles of closed loop control by introducing system state feedback, and smooth control of speed is realized; the flexible connecting rod can be controlled by the boundary to track the joint angle and inhibit the elastic vibration of the connecting rod; for vibrations caused by external disturbances, the observer can be designed to compensate the system; in addition, feedforward control is used as a control method which is applied more in industry, and the motor driving state is utilized to predict and compensate the torsion of the joint based on a dynamics model of accurate analysis; the model prediction control also utilizes a model to calculate the optimal electromagnetic torque, so as to realize the suppression of speed fluctuation; in addition, the self-adaptive control can overcome the uncertainty of part of model parameters by combining with a singular disturbance theory and a robust control theory, and the precise control of the flexible mechanical arm is realized. Besides the control method for building the dynamic model, as the high-order flexible model has strong nonlinearity, a learner describes a system dynamic equation by using a multidimensional ordinary differential equation or partial differential equation, and solves the problem of complex control of the flexible joint dynamic model by using intelligent control algorithms such as fuzzy control, neural network control, model-free control and the like. These methods can suppress vibration induced by flexibility to some extent, but there are still problems to be solved in practical application.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a multimode active vibration suppression method based on a mechanical arm joint servo system. The method can realize active vibration suppression on the vibration of the mechanical arm joint servo system caused by the elastic transmission element and the flexible connecting rod, and simultaneously compensates the vibration of a plurality of modes, thereby having faster response speed and smaller speed overshoot.
The technical scheme adopted by the invention is as follows:
The invention discloses a multimode active vibration suppression method based on a mechanical arm joint servo system, which comprises the following steps:
1) And (3) implementing the traditional vibration compensation model speed loop PI control, maximum torque current ratio control and current loop PI control of the vibration compensation model on the joint servo motor in the mechanical arm joint servo system, so that the joint servo motor stably and normally operates.
2) Under the control frequency of a preset speed ring, an initial torque command is obtained according to the speed ring PI controller, and then the rotating speed error of the mechanical arm joint servo system in an ideal vibration-free state and in an actual state is obtained according to the initial torque command.
3) And under the control frequency of a preset speed ring, establishing a vibration curve model of the mechanical arm joint servo system under different modes, inputting the preset multi-mode frequency to be compensated and the motor angular speed parameters into the vibration curve model, and outputting the vibration curve of the mechanical arm joint servo system under different modes by the vibration curve model.
4) Under the control frequency of a preset speed ring, an adaptive vibration compensation model of the mechanical arm joint servo system under different modes is established, the rotating speed error in the step 2) and the vibration curve in the step 3) are input into the adaptive vibration compensation model, the adaptive vibration compensation model outputs vibration compensation amounts of the mechanical arm joint servo system under different modes, the vibration compensation amounts and an initial torque instruction are overlapped to obtain a new torque instruction, and finally multi-mode vibration suppression of the mechanical arm joint servo system is achieved.
In the step 2), the rotation speed error of the mechanical arm joint servo system in the ideal vibration-free state and the actual state is specifically as follows:
e is the rotating speed error of the mechanical arm joint servo system in an ideal vibration-free state and an actual state; τ ref is a torque command output by a joint servo motor rotating speed ring; g ideal is the rotating speed response of the mechanical arm joint servo system in the s domain under the ideal vibration-free state, namely the mechanical angular acceleration of the joint servo motor And the ratio between the electromagnetic torque τ; the mechanical angular velocity of the joint servo motor; and I T is the total inertia of the mechanical arm joint servo system relative to the rotating shaft of the joint servo motor.
In the step 3), the vibration curve model of the mechanical arm joint servo system under different modes is specifically as follows:
Wherein F i is a vibration curve of the mechanical arm joint servo system in the ith mode; omega i is the vibration frequency of the preset ith mode to be compensated; t is time; Is the mechanical angular velocity of the joint servo motor.
In the step 4), the adaptive vibration compensation model of the mechanical arm joint servo system under different modes is specifically as follows:
Cisq＝Cisq0+kie·Fi,ki＞0,i＝1,2,3...
τ comp is a vibration compensation model of total system vibration compensation quantity of the mechanical arm joint servo system, and summing refers to a vibration compensation model of superposition of vibration compensation values of all modes to be suppressed; c isq is an amplitude parameter of vibration compensation quantity of the mechanical arm joint servo system in the ith mode; omega i is the vibration frequency of the preset ith mode to be compensated; f i is a vibration curve of the mechanical arm joint servo system in the ith mode; c isq0 is the value of the amplitude parameter C isq of the vibration compensation quantity of the mechanical arm joint servo system in the ith mode in the last control period; k i is the adaptive coefficient in the ith mode; and e is the rotating speed error of the mechanical arm joint servo system in an ideal vibration-free state and an actual state.
The vibration compensation model utilizes the rotation speed error and the vibration curve to adaptively identify vibration compensation quantity amplitude parameters of different modes so as to obtain compensation quantity; the multi-mode vibration compensation quantity is overlapped and fed forward to the speed loop instruction, so that multi-mode active vibration suppression can be realized. The method can only calculate and compensate for one vibration mode, and can also calculate and compensate for a plurality of vibration modes. Vibration compensation model
In the step 4), the multi-mode vibration of the mechanical arm joint servo system is generated due to the elastic connecting element and the flexible connecting rod.
The beneficial effects of the invention are as follows:
1) According to the invention, by utilizing information such as the angular speed of the motor and the like, the vibration compensation quantity is calculated in real time and fed forward to the speed loop instruction, and the strategy of active vibration suppression can be used for effectively suppressing the vibration without sacrificing the response speed of the system.
2) The vibration suppression device and the vibration suppression method describe vibration generated in multiple scenes such as the elastic connecting element, the flexible connecting rod and the like by utilizing the vibration curve, so that vibration suppression of multi-mode vibration in different scenes is realized.
3) The method can only calculate and compensate for one vibration mode, can also calculate and compensate for a plurality of vibration modes, can completely decouple the calculation of the vibration curve function and the vibration compensation quantity under different modes, and can inhibit the vibration of multiple modes at the same time.
In a word, the invention can realize active vibration suppression on the vibration of the mechanical arm joint servo system caused by the elastic transmission element and the flexible connecting rod, and simultaneously compensates the vibration of a plurality of modes, thereby having faster response speed and smaller speed overshoot.
Drawings
FIG. 1 is an overall control block diagram of a motor embodying the present invention;
FIG. 2 is a graph comparing experimental results of active vibration suppression in a single mode of the present invention, wherein (a) of FIG. 2 is a graph of experimental results when the algorithm of the present invention is not used, and (b) of FIG. 2 is a graph of experimental results when the algorithm of the present invention is used;
FIG. 3 is a graph showing the comparison of the frequency spectrum of the experimental vibration signal for realizing the active vibration suppression in a single mode of the present invention, wherein (a) of FIG. 3 is a graph of the frequency spectrum of the rotational speed vibration signal when the algorithm of the present invention is not used, and (b) of FIG. 3 is a graph of the frequency spectrum of the rotational speed vibration signal when the algorithm of the present invention is used;
FIG. 4 is a graph comparing experimental results of active vibration suppression in a plurality of modes according to the present invention, wherein (a) of FIG. 4 is a graph of experimental results when the algorithm according to the present invention is not used, and (b) of FIG. 4 is a graph of experimental results when the algorithm according to the present invention is used;
Fig. 5 is a graph showing comparison of experimental vibration signal spectra for realizing active vibration suppression in a plurality of modes according to the present invention, wherein (a) of fig. 5 is a graph of a rotational speed vibration signal spectrum when the algorithm according to the present invention is not used, and (b) of fig. 5 is a graph of a rotational speed vibration signal spectrum when the algorithm according to the present invention is used.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
The invention discloses a multimode active vibration suppression method based on a mechanical arm joint servo system, which comprises the following steps:
1) And (3) implementing the traditional vibration compensation model speed loop PI control, maximum torque current ratio control and current loop PI control of the vibration compensation model on the joint servo motor in the mechanical arm joint servo system, so that the joint servo motor stably and normally operates.
2) Under the control frequency of a preset speed ring, an initial torque command is obtained according to the speed ring PI controller, and then the rotating speed error of the mechanical arm joint servo system in an ideal vibration-free state and in an actual state is obtained according to the initial torque command.
In the step 2), the rotating speed errors of the mechanical arm joint servo system in an ideal vibration-free state and an actual state are specifically as follows:
e is the rotating speed error of the mechanical arm joint servo system in an ideal vibration-free state and an actual state; τ ref is a torque command output by a joint servo motor rotating speed ring; g ideal is the rotating speed response of the mechanical arm joint servo system in the s domain under the ideal vibration-free state, namely the mechanical angular acceleration of the joint servo motor And the ratio between the electromagnetic torque τ; the mechanical angular velocity of the joint servo motor; and I T is the total inertia of the mechanical arm joint servo system relative to the rotating shaft of the joint servo motor.
3) And under the control frequency of a preset speed ring, establishing a vibration curve model of the mechanical arm joint servo system under different modes, inputting the preset multi-mode frequency to be compensated and the motor angular speed parameters into the vibration curve model, and outputting the vibration curve of the mechanical arm joint servo system under different modes by the vibration curve model.
In the step 3), vibration curve models of the mechanical arm joint servo system under different modes are specifically as follows:
Wherein F i is a vibration curve of the mechanical arm joint servo system in the ith mode; omega i is the vibration frequency of the preset ith mode to be compensated; t is time; Is the mechanical angular velocity of the joint servo motor.
4) Under the control frequency of a preset speed ring, an adaptive vibration compensation model of the mechanical arm joint servo system under different modes is established, the rotating speed error in the step 2) and the vibration curve in the step 3) are input into the adaptive vibration compensation model, the adaptive vibration compensation model outputs vibration compensation amounts of the mechanical arm joint servo system under different modes, the vibration compensation amounts and an initial torque instruction are overlapped to obtain a new torque instruction, and finally multi-mode vibration suppression of the mechanical arm joint servo system is achieved.
In the step 4), the self-adaptive vibration compensation model of the mechanical arm joint servo system under different modes is specifically as follows:
Cisq＝Cisq0+kie·Fi,ki＞0,i＝1,2,3...
τ comp is a vibration compensation model of total system vibration compensation quantity of the mechanical arm joint servo system, and summing refers to a vibration compensation model of superposition of vibration compensation values of all modes to be suppressed; c isq is an amplitude parameter of vibration compensation quantity of the mechanical arm joint servo system in the ith mode; omega i is the vibration frequency of the preset ith mode to be compensated; f i is a vibration curve of the mechanical arm joint servo system in the ith mode; c isq0 is the value of the amplitude parameter C isq of the vibration compensation quantity of the mechanical arm joint servo system in the ith mode in the last control period; k i is the adaptive coefficient in the ith mode; and e is the rotating speed error of the mechanical arm joint servo system in an ideal vibration-free state and an actual state.
The vibration compensation model utilizes the rotation speed error and the vibration curve to adaptively identify vibration compensation quantity amplitude parameters of different modes so as to obtain compensation quantity; the multi-mode vibration compensation quantity is overlapped and fed forward to the speed loop instruction, so that multi-mode active vibration suppression can be realized. The method can only calculate and compensate for one vibration mode, and can also calculate and compensate for a plurality of vibration modes. Vibration compensation model
In step 4), the multi-modal vibration of the robotic arm joint servo system is caused by the elastic connecting element and the flexible link.
As shown in fig. 1, the mechanical arm joint servo system generates an initial torque command τ ref based on the control of a conventional PI speed controller, and calculates an ideal rotational speed response and a mechanical angular speed of a motor through an ideal vibration-free state system model G ideal Subtracting to obtain a rotation speed error e, and combining the rotation speed error e with the mechanical angular speed of the motorThe vibration compensation quantity tau comp is calculated through the self-adaptive multi-mode vibration compensation algorithm and is overlapped with the initial torque command tau ref to generate a new torque command, d and q-axis current loop commands i qref and i dref are generated according to the maximum torque current ratio control algorithm, u dref and u qref are calculated through the PI current controller through the two current commands, and the motor driver switching function S abc is calculated through the SVPWM vector control algorithm to drive the joint servo motor to stably and normally operate. Wherein, the self-adaptive multi-mode vibration compensation algorithm passes through the angular velocity of the motorAfter F i functions are calculated, vibration function amplitude parameters C isq under different modes and compensation amounts under corresponding modes are calculated according to the rotating speed error e, and finally vibration compensation amounts tau comp are obtained; d. the q-axis current feedback value is obtained by Park conversion of the actual motor current I abc and the motor electric angle theta e, and the motor electric angle theta e is obtained by calculation of the motor mechanical angle theta M and the pole pair number p; the electromechanical angular velocity is derived from electromechanical angle θ M over time.
In this embodiment, the control units in the experiment were each composed of a digital signal processor DSP (TMS 320F 28388D), the current sampling and control frequency was set to 20kHz, and the speed sampling and control frequency was set to 2kHz. The experiment adopts a speed step instruction, and the embodiment is divided into single-mode vibration suppression and multi-mode vibration suppression.
The servo motor system test platform and the surface mounted permanent magnet synchronous motor parameters used in the single-mode vibration suppression example are shown in the following table 1.
Table 1 servo motor system test platform and table subsides formula PMSM parameter
In the experiment, a speed step instruction is set to be 0-300r/min, and experimental comparison results of the method provided by the embodiment of the invention are shown in fig. 2 (a) and fig. 2 (b), wherein each waveform shown in the diagram is respectively a motor rotating speed n and a reference rotating speed n ref from top to bottom, a q-axis current instruction i qref and an actual q-axis current i q, and a motor phase current i A,iB. The start time and the speed fluctuation due to the start are denoted as t s1 and an 1, respectively. As shown in fig. 3 (a) and 3 (b), a spectrum comparison graph of the motor rotational speed vibration signal under the condition is given, and it can be seen from the graph that the motor speed fluctuation is reduced from 122r/min to 84r/min under the step command of 300r/min, and the speed rise time is shortened from 0.22s to 0.080s, and the rotational speed fluctuation is reduced while the system response speed is improved. Meanwhile, as can be seen from the spectrum comparison chart of the vibration signal, the vibration signal is obviously attenuated at the suppressed frequency of 1.3Hz, and the speed vibration is obviously suppressed.
Examples of vibration suppression for multiple modes were tested using a single joint servo system with flexible links, with system parameters as shown in table 2 below.
Table 2 single joint servo system test platform parameters
In the experiment, the joint speed step command is set to be 0-12r/min, and as shown in fig. 4 (a) and fig. 4 (b), experimental comparison results of the method provided by the embodiment of the invention are given, wherein each waveform shown in the figure is respectively a motor rotating speed n and a reference rotating speed n ref from top to bottom, a q-axis current command i qref and an actual q-axis current i q, and a motor phase current i A,iB. The start time and the speed fluctuation due to the start are denoted as t s2 and an 2, respectively. As shown in fig. 5 (a) and fig. 5 (b), a spectrum comparison diagram of the motor rotational speed vibration signal under the condition is given, it can be seen that under the step command of 12r/min, the joint speed fluctuation is reduced from 0.792r/min to 0.332r/min, the speed rise time is shortened from 0.182ms to 174ms, and the rotational speed fluctuation is reduced while the system response speed is improved. Meanwhile, the vibration signal spectrum comparison chart shows that the vibration signals are obviously attenuated at the suppressed frequencies of 2.4Hz, 7.5Hz and 50Hz, and the speed vibration is obviously suppressed.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (2)
1. The multi-mode active vibration suppression method based on the mechanical arm joint servo system is characterized by comprising the following steps of:
1) The method comprises the steps of executing speed loop PI control, maximum torque current ratio control and current loop PI control on a joint servo motor in a mechanical arm joint servo system, so that the joint servo motor stably and normally operates;
2) Under the control frequency of a preset speed loop, an initial torque command is obtained according to the speed loop PI controller, and then the rotating speed error of the mechanical arm joint servo system in an ideal vibration-free state and an actual state is obtained according to the initial torque command;
3) Under the control frequency of a preset speed ring, a vibration curve model of the mechanical arm joint servo system under different modes is established, the preset multi-mode frequency to be compensated and the motor angular speed parameters are input into the vibration curve model, and the vibration curve model outputs the vibration curve of the mechanical arm joint servo system under different modes;
4) Under the control frequency of a preset speed ring, an adaptive vibration compensation model of the mechanical arm joint servo system under different modes is established, the rotating speed error in the step 2) and the vibration curve in the step 3) are input into the adaptive vibration compensation model, the adaptive vibration compensation model outputs vibration compensation amounts of the mechanical arm joint servo system under different modes, the vibration compensation amounts and an initial torque instruction are overlapped to obtain a new torque instruction, and finally multi-mode vibration suppression of the mechanical arm joint servo system is realized;
in the step 2), the rotation speed error of the mechanical arm joint servo system in the ideal vibration-free state and the actual state is specifically as follows:
e is the rotating speed error of the mechanical arm joint servo system in an ideal vibration-free state and an actual state; τ ref is a torque command output by a joint servo motor rotating speed ring; g ideal is the rotating speed response of the mechanical arm joint servo system in the s domain under the ideal vibration-free state, namely the mechanical angular acceleration of the joint servo motor And the ratio between the electromagnetic torque τ; The mechanical angular velocity of the joint servo motor; i T is the total inertia of the mechanical arm joint servo system relative to the rotating shaft of the joint servo motor;
In the step 3), the vibration curve model of the mechanical arm joint servo system under different modes is specifically as follows:
Wherein F i is a vibration curve of the mechanical arm joint servo system in the ith mode; omega i is the vibration frequency of the preset ith mode to be compensated; t is time; The mechanical angular velocity of the joint servo motor;
In the step 4), the adaptive vibration compensation model of the mechanical arm joint servo system under different modes is specifically as follows:
Cisq＝Cisq0+kie·Fi,ki＞0,i＝1,2,3...
Wherein τ comp is the total system vibration compensation amount of the mechanical arm joint servo system; c isq is an amplitude parameter of vibration compensation quantity of the mechanical arm joint servo system in the ith mode; omega i is the vibration frequency of the preset ith mode to be compensated; f i is a vibration curve of the mechanical arm joint servo system in the ith mode; c isq0 is the value of the amplitude parameter C isq of the vibration compensation quantity of the mechanical arm joint servo system in the ith mode in the last control period; k i is the adaptive coefficient in the ith mode; and e is the rotating speed error of the mechanical arm joint servo system in an ideal vibration-free state and an actual state.
2. The multi-modal active vibration suppression method based on the mechanical arm joint servo system according to claim 1, wherein the method comprises the following steps: in the step 4), the multi-mode vibration of the mechanical arm joint servo system is generated due to the elastic connecting element and the flexible connecting rod.
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| CN114770496B (en) * | 2022-03-14 | 2024-02-27 | 上海飒智智能科技有限公司 | Joint servo driving controller for inhibiting mechanical vibration of robot joint by digital twin technology |
| CN116372926A (en) * | 2023-04-10 | 2023-07-04 | 上海微创医疗机器人（集团）股份有限公司 | Robot joint motion compensation method, system and storage medium |
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| CN110071676A (en) * | 2019-06-04 | 2019-07-30 | 清华大学 | A kind of vibration suppressing method and device of flexible robot's joint servo system |
| CN111673734A (en) * | 2020-04-27 | 2020-09-18 | 驰驱电气(嘉兴)有限公司 | Vibration suppression control method for robot joint servo system |
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