摘要
针对工业机器人动态惯量变化大,容易发生超调的现象,为了提高交流伺服系统的控制精度与响应特性,这里采用了微分反馈控制与速度前馈控制相结合的控制方式,使伺服系统在保持高跟踪性能和高控制精度的情况下,又不会发生超调现象。该伺服控制方法在MATLAB/Simulink中进行了仿真分析并通过设计机器人的运行轨迹,对其主要性能参数进行实验分析,最终通过FARO标定仪进行实验验证。实验结果表明,采用微分控制和速度前馈控制结合的控制策略,可以使系统拥有更好的动态性能。
In order to improve the control accuracy and response characteristics of AC servo system,the combination of differential feedback control and speed feedforward control is adopted in order to improve the control accuracy and response characteristics of industrial robot.The servo system does not overshoot while maintaining high tracking performance and high control accuracy.The servo control method is simulated and analyzed in MATLAB/Simulink and the main performance parameters of the robot are analyzed by designing the trajectory of the robot.Finally,the experimental verification is carried out by FARO calibrator.The experimental results show that the differential control and The control strategy combined with speed feedforward control can make the system have better dynamic performance.
作者
崔国华
冀霖
张智涛
刘宏业
CUI Guo-hua;JI Lin;ZHANG Zhi-tao;LIU Hong-ye(School of Mechanical and Equipment Engineering and Hebei University of Engineering,Heibei Handan 056038,China;Tianjin Yangtian Technology Limited Company,Tianjin 300073,China)
出处
《机械设计与制造》
北大核心
2021年第10期246-249,254,共5页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51775165)
。
