基于解耦的柔性關(guān)節(jié)機(jī)械臂振動(dòng)抑制方法研究

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1、基于解耦的柔性尖節(jié)機(jī)械臂振動(dòng)抑制方法研究*戎新萍，張得禮*，王小平(南京航空航天大學(xué)機(jī)電學(xué)院，江蘇南京210016)摘要：針對(duì)多自由度柔性尖節(jié)機(jī)器人手臂殘余振動(dòng)抑制問題，對(duì)雙桿機(jī)械臂尖節(jié)耦合及振動(dòng)抑制方法進(jìn)行了研究，提出了基于解耦的柔性尖節(jié)振動(dòng)抑制控制算法"首先，根據(jù)拉格朗日方法建立了系統(tǒng)的動(dòng)力學(xué)模型。然后，分析了尖節(jié)間存在的相互作用力及矢節(jié)間的相互耦合對(duì)機(jī)械劈振動(dòng)抑制的影響。利用模糊補(bǔ)償控制方法對(duì)二自由度柔性尖節(jié)機(jī)械鷺進(jìn)行了模糊解耦，并在解耦的基礎(chǔ)上引入零振蕩整形器(ZV整形器)對(duì)解耦后的各個(gè)單尖節(jié)進(jìn)行進(jìn)一步控制，以抑制各臂桿由于

2、尖節(jié)剛度不足導(dǎo)致的殘余振動(dòng)。最后，通過數(shù)值算例進(jìn)行了仿真?驗(yàn)證了該算法的有效性。研究結(jié)果表明?加入解耦環(huán)節(jié)之后?兩桿的相互干擾明顯減弱.耦合度明顯降低,使該非線性系統(tǒng)近似成為線性系統(tǒng)，再通過零振蕩整形器對(duì)各尖節(jié)運(yùn)動(dòng)加以優(yōu)化，使得機(jī)械臂的殘余振動(dòng)得到了有效的抑制。尖鍵詞：機(jī)械臂；解耦控制；模糊控制；振動(dòng)抑制；輸入整形中圖分類號(hào):TH1131;TP242文獻(xiàn)標(biāo)志碼：A文章編號(hào):1001-4551(2015)01-0014-07Vibrationsuppressioncontrolformanipulatorwithflexiblejoi

3、ntsbasedondecouplingRONGXin-ping,ZHANGDeTi,WANGXiao-ping(CollegeofMechanicalandElectricalEngineering,NanjingUniversityofAeronauticsandAstronautics,Nanjing210016,China)Abstract：Aimingattheproblemofresidualvibrationsuppressionofmulti-degreeoffreedomrobotarmwithflexiblejo

4、ints,thecouplingbetweenjointsandvibrationsuppressionoftwoTinkmechanicalarmwerestudiedThevibrationsuppressioncontrolalgorithmforflexiblejoint,basedondecouplingwasproposedFirstofall.thedynamicmodelofthewholesystemwasestablishedbytakingadvantageoftheLagrangemethodThen,th

5、einteractionbetweenjointsandthevibrationsuppressionofmechanicalarmaffectedbythemutualcouplingbetweenthejointswereanalyzedSecend,thecouplingbetweentheflexiblejointsofthemultipledegreesoffreedommanipulatorwaseliminatedbymakingtheuseoffuzzycontrolmethodTosuppresstheresid

6、ualvibrationofthearmduetothelackofrigidityofjoints,thezerovibrationshaper(ZVshaper)wasintroducedonthebasisofdecouplingtomakefurthercontrolofsinglejointafterdecouplingAtlast,theeffectivenessofthealgorithmwasverifiedthroughanumericalexampleTheresultsindicatethatafteraddi

7、ngthedecouplinglinks,mutualinterferencesofthetworodsaredecreasedobviouslyandthecouplingdegreeisreduced,whichmakeeachrodbecomeapproximatelinearsystem,andeachjointisoptimizedthroughthezerovibrationshapertomakethevibrationofmechanicalarmhavebeeneffectivelysuppressedKeywor

8、ds：robotarm;decouplingcontrol；fuzzycontrol；vibrationsuppression：inputshape收稿日期:2014-09-15基金項(xiàng)目：江蘇省產(chǎn)學(xué)研聯(lián)合創(chuàng)新資助項(xiàng)目(SBY20140