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Flexible operating arm elastic vibration suppression method based on frequency characteristic identification

A technology of elastic vibration and frequency characteristics, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of lack of self-adaptive ability and poor vibration suppression effect, so as to improve operation safety and save energy. Cost, effect of high adaptability

Active Publication Date: 2018-12-07
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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Problems solved by technology

However, this method does not take into account the influence of the end load mass, resulting in poor vibration suppression effect, and does not have the ability of self-adaptation

Method used

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  • Flexible operating arm elastic vibration suppression method based on frequency characteristic identification
  • Flexible operating arm elastic vibration suppression method based on frequency characteristic identification
  • Flexible operating arm elastic vibration suppression method based on frequency characteristic identification

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Embodiment Construction

[0032] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below.

[0033] In order to illustrate the present invention more clearly, as figure 2 As shown, a specific system using the method of the present invention is preferred, including a servo motor 1, a coupling 2, a slider 3, a bolt 4, a moving guide rail 5, an end load 6, a flexible operating arm 7, a ball screw pair 8, Frequency feature recognition module 9 , elastic vibration feedforward adaptive controller 11 , convolution module 12 , motion control card 14 , motor driver 15 .

[0034] Among them, the servo motor 1 is connected with the ball screw pair 8 through the coupling 2 and then drives the slider 3 to move on the moving guide rail 5. One end of the flexible operating arm 7 is rigidly connected with the slider 3 through the bolt 4, and the other end operates the end load 6. According ...

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Abstract

The invention relates to a flexible operating arm elastic vibration suppression method based on frequency characteristic identification. The method comprises the following steps of 1, determining a flexible operating arm boundary condition with an end load, and obtaining a frequency equation of the flexible operating arm; 2, establishing a mapping relation table between the mass of the end load and the modal frequency of the flexible operating arm; 3, designing an elastic vibration feedforward adaptive controller of the flexible operating arm; and 4, performing elastic vibration feedforward adaptive controller control parameter adjustment according to a simulation effect. The flexible operating arm elastic vibration suppression method effectively improves interference resistance of a routine input shaping method in a variable-load working condition and can realize effective controlling to elastic vibration of the flexible operating arm in different working conditions of the end load. The flexible operating arm elastic vibration suppression method improves operation safety of the flexible operating arm and has higher adaption capability.

Description

technical field [0001] The invention relates to the technical field of flexible manipulator control, in particular to a method for suppressing elastic vibration of a flexible manipulator based on frequency feature recognition. Background technique [0002] At present, on the surface assembly (SMT) and other industrial assembly lines, robotic devices that are mainly assembled with mechanical manipulator arms abound. These robotic devices are structurally in the form of a bottom positioning base and an end-executing manipulator arm. In order to meet the positioning accuracy of the end effector, traditional robotic devices mostly adopt rigid structures. Under the trend of industrial robot integration and rapid development, the rigid manipulator arm can no longer meet the above-mentioned development needs due to its large mass. [0003] Compared with rigid manipulators, flexible manipulators have the advantages of low energy consumption, high load-to-weight ratio, light weight ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 鞠锦勇张春蕊刘玉飞许德章苏学满
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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