一种基于内模控制的工业机器人关节伺服系统振动抑制算法

doi:10.19595/j.cnki.1000-6753.tces.L80699

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摘要由于减速器的柔性导致工业机器人关节伺服控制系统存在谐振点,传统PI控制在极端位置指令下会出现振动。该文根据工业机器人单关节的弹性传动模型,基于内模控制原理提出一种工业机器人关节伺服系统振动抑制算法,通过在传统伺服控制器位置环与速度环之间添加抑振滤波器实现振动抑制,无需额外的传感器与复杂的控制算法。仿真与实验证明了该方法简单可行,能有效抑制机械振动,且具有较强的参数鲁棒性。

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	黄宣睿
	宋宇洋
	李秋生
	肖曦

Abstract：There exists resonance point in industrial robot joint servo system due to the flexibility of the gear reducer, which may lead to mechanical vibration under extreme position reference using conventional PI controller. In this paper, a vibration suppression algorithm for industrial robot joint servo system is proposed based on the kinematics model and internal model control, the vibration can be suppressed by adding an anti-vibration filter between the position loop and the velocity loop without additional sensors and complicated control algorithm. The simulation and experiment show that the method has obvious vibration suppression effect and parameter robustness.

Key words： Industrial robot robot joint servo system vibration suppression internal model control

收稿日期: 2018-07-10 出版日期: 2019-01-31

PACS:

TM820.3

基金资助:国家自然科学基金项目（51577095）和清华大学自主科研计划项目资助

通讯作者: 肖曦,男，1973年生，教授，博士生导师，研究方向为高性能永磁同步电机控制、储能技术及其应用、海浪发电。E-mail：xiao_xi@mail.tsinghua.edu.cn

作者简介: 黄宣睿男,1991年生,博士研究生,研究方向为永磁同步电机伺服控制、海浪发电。E-mail：hxr503@gmail.com

引用本文:

黄宣睿, 宋宇洋, 李秋生, 肖曦. 一种基于内模控制的工业机器人关节伺服系统振动抑制算法[J]. 电工技术学报, 2019, 34(3): 497-505. Huang Xuanrui, Song Yuyang, Li Qiusheng, Xiao Xi. A Vibration Suppression Algorithm for Industrial Robot Joint Servo System Based on Internal Model Control. Transactions of China Electrotechnical Society, 2019, 34(3): 497-505.

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https://dgjsxb.ces-transaction.com/CN/10.19595/j.cnki.1000-6753.tces.L80699 https://dgjsxb.ces-transaction.com/CN/Y2019/V34/I3/497

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