基于边界元法的高精度交流机械臂伺服动力特性分析

Analysis of Servo Dynamic Characteristics of High Precision AC Manipulator Based on Boundary Element Method

机械臂因其智能化与高精度广泛应用于各行各业中。针对机械臂因机电耦合极易造成控制精度低的问题,本文基于边界元法的高精度交流机械臂伺服动力特性分析,将转子磁链定向矢量控制子系统应用于机械臂伺服传动系统中,转子磁链定向矢量控制子系统选取齿轮传动控制机械臂传动,转子磁链定向矢量控制子系统选取RV减速机与谐波减速机控制机械臂关节运动,利用机械臂伺服传动系统中的三环控制子系统控制机械臂的稳定运行。将机械臂伺服传动系统应用于6自由度柔性机械臂中,选取边界元法分析该机械臂动力特性,通过机械臂中梁元件弯曲震动动态基本解获取梁单元于纵向和扭转方向边界控制方程,将不同方向的边界控制方程依据梁元件各方向的震动特点组合,获取机械臂动力学方程,依据动力学方程分析高精度交流机械臂伺服动力特性。通过以上方法获取机械臂动力学方程,通过动力学速度跟踪以及位置跟踪结果验证伺服传动系统的伺服特性,采用该伺服传动系统的机械臂关节结束运动时位置波动极小,波动范围与稳态误差小于18"以及1.5′;该方法分析高精度交流机械臂伺服动力特性结果相对误差均在0.05%以内,验证基于伺服传动系统的高精度交流机械臂伺服特性,以及该方法分析高精度交流机械臂伺服动力特性的准确性。

Because of its intelligence and high precision, the mechanical arm is widely used in various industries. Aiming at the problem of low control accuracy of manipulator due to electromechanical coupling, the servo dynamic characteristics analysis of the high precision A manipulator based on the boundary element method is studied. The rotor flux linkage vector control subsystem is applied to the mechanical arm servo transmission system. The rotor flux linkage vector control subsystem selects the gear transmission control robot arm transmission, and the rotor flux linkage vector control subsystem selects the RV reducer and harmonic deceleration. The machine controls the joint motion of the mechanical arm, and controls the stable operation of the mechanical arm by using the three-loop control subsystem in the servo-arm servo system. The manipulator servo drive system is applied to the six-degree-of-freedom flexible manipulator. The boundary element method is used to analyLe the dynamic characteristics of the manipulator. The bending dynamics of the beam element in the manipulator is used to obtain the boundary e Tuations of the beam element in the longitudinal and torsional directions. The boundary control e Tuations in different directions are combined according to the vibration characteristics of the beam elements in all directions to obtain the dynamic e Tuation of the manipulator. The servo dynamic characteristics of the high-precision A manipulator are analyLed according to the dynamic e Tuation. Through the above method, the dynamic e Tuation of the manipulator is obtained, and the servo characteristics of the servo drive system are verified by the speed tracking and position tracking results in the dynamics. The positional fluctuation of the mechanical arm joint end motion is very small, the fluctuation range and steady state are adopted. The error is less than 18" and 1.5;this method analyLes the servo motor dynamic characteristics of the high-precision A mechanical arm and the relative error is within 0.05%. t verifies the servo characteristics of the high-precision A arm based on the servo drive system, and analyLes the high-precision A machine. The accuracy of the arm servo dynamics.