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.

机电自动化系统通常与关节灵活性相结合，在快速操作过程中会导致不必要的残余振动，必须加以控制或抑制。由于在许多应用中，接头灵活性或系统固有频率在操作中会发生变化，因此问题变得更加复杂。该项目的目标是开发一种新型控制器，能够有效地执行精确位置控制，抑制残余振动，并适应大范围内的可变系统灵活性。所提出的研究将解决现有的两种残余振动控制理论中的问题：输入整形和阻抗控制，其中前者无法完全抑制具有可变灵活性的系统的残余振动，而后者可能需要过多的驱动力。新控制器将通过两阶段方法将柔性关节系统的两种控制理论结合起来。第一部分是开环输入整形器，它是根据由于关节灵活性的变化而引起的系统固有频率范围而设计的。第二部分是基于系统动态模型和预定义的目标阻抗函数设计的闭环阻抗控制器，以更小的驱动力抑制剩余的残余振动。将设计和制造柔性关节机电机械手的功能原型，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机电系统提供一种新颖的残余振动控制器设计。该项目的成果将增强产业合作伙伴的市场竞争力，并培养两名相关领域的高素质人才。