Residual vibration suppression of flexible-joint electro-mechanical systems

柔性关节机电系统的残余振动抑制

• 批准号: 448144-2013
• 负责人: Zhu, ZhengHong
• 金额: $ 1.82万
• 依托单位: York University
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2013
• 资助国家: 加拿大
• 起止时间: 2013-01-01 至 2014-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=537315
• 关键词: Residual; vibration; suppression; flexible; joint

Electro-mechanical automated systems are often coupled with joint flexibilities that will result in unwanted residual vibrations during a fast operation and must be controlled or suppressed. The problem is further complicated by the fact that the joint flexibility or system natural frequency varies in the operation in many applications. The objective of this project is to develop a new controller that is effective in performing precision position control with residual vibration suppression and adaptive to the variable system flexibility over a wide range. The proposed research will address the issues in two existing residual vibration control theories: the input-shaping and the impedance control, where the former is unable to completely supress the residual vibration for a system with variable flexibility and the latter may require excessive actuating efforts. The new controller will combine both control theories for flexible-joint system through a two-phase approach. The first part is an open-loop input shaper that is designed based on the range of system natural frequencies that are due to the variation of joint flexibilities. The second part is a closed-loop impedance controller that is designed based on the system dynamic model and pre-defined objective impedance function to supressed the remaining residual vibrations with much smaller actuating efforts. A functional prototype of flexible-joint electro-mechanical manipulator will be designed and fabricated to demonstrate the effectiveness of the new controller. The success of this project will provide a novel design of residual vibration controller for a class of Electro-mechanical system with variable joint flexibility. The outcome of this project will enhance the industrial partner's market competitiveness and train two highly qualified personnel in the related field.

电力机械自动化系统通常与关节挠性相结合，这些挠性会在快速操作过程中导致不必要的残留振动，并且必须受到控制或抑制。在许多应用中，关节灵活性或系统固有频率在操作中有所不同，因此问题更加复杂。该项目的目的是开发一个新的控制器，该控制器可有效地执行精确的位置控制，并具有残留的振动抑制，并适应宽范围内可变系统灵活性。拟议的研究将解决两个现有的残留振动控制理论中的问题：输入形状和阻抗控制，在该理论中，前者无法完全抛弃具有可变灵活性的系统的残留振动，而后者可能需要过多的执行努力。新的控制器将通过两阶段方法将两个控制理论结合在一起。第一部分是基于关节挠性变化的系统固有频率范围而设计的开环输入塑形器。第二部分是基于系统动态模型和预定义的客观阻抗函数设计的闭环阻抗控制器，以减少剩余的残留振动，并采用较小的执行努力。将设计和制造柔性电力机械操纵器的功能原型，以证明新控制器的有效性。该项目的成功将为一类具有可变关节灵活性的电力系统的残留振动控制器提供新颖的设计。该项目的结果将增强工业合作伙伴的市场竞争力，并在相关领域培训两个高素质的人员。