CN106873383B - Online control method for reducing vibration of industrial robot - Google Patents
Online control method for reducing vibration of industrial robot Download PDFInfo
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Abstract
The invention provides an online control method for reducing vibration of an industrial robot, which comprises the following steps: establishing a flexible joint dynamic model of the industrial robot; according to the established flexible joint dynamic model, identifying each dynamic parameter initial value of the model by an off-line method; the method for identifying the dynamic parameters of the flexible joint on line by adopting a nonparametric frequency domain identification method comprises the following steps: according to the established flexible joint dynamic model, a transfer function of the linearized motor torque and the motor rotor angular acceleration can be obtained; the flexible joint control parameters are adjusted on line, and the method comprises the following steps: adjusting the trap frequency and bandwidth of the trap; the scaling factor of the servo drive position loop is adjusted. According to the method, the accurate values of all parameters of the flexible joint of the robot are obtained in a mode of identifying the initial value on line and identifying the current value on line, and the accuracy of the model is guaranteed.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an online control method for reducing vibration of an industrial robot.
Background
Industrial robots are gaining rapid popularity as the cost of manpower increases and the cost of industrial robots decreases. From the current development situation, the traditional industrial robot is continuously expanding towards two directions, one is a heavy-load large-size robot; the other is a small-load high-speed high-precision robot. Both these development directions face a problem: the robot vibrates. The inertia is increased due to a large load, the structural rigidity is reduced due to a large size, the flexibility of the robot is enhanced due to the two factors, and vibration is easy to generate; although the small-load robot is usually higher in structural rigidity, the small-load robot faces a harsher mechanical environment and is easy to excite vibration under the action of high acceleration and deceleration.
Similar to conventional industrial robots, new generation robots, represented by collaborative robots, also face vibration problems. Cooperative robots often employ modular structures, where several joints near the end tool can be considered as a concentrated mass, resulting in a large structural inertia; in addition, cooperative robots often place torque sensors or sea (serial elastic actuator) on joints, all of which result in increased flexibility of the robot and, in turn, vibration of the robot during movement.
The vibration of the industrial robot causes problems such as a decrease in the precision of the movement, a reduction in the life of parts, and the like. Therefore, the reduction of the vibration of the industrial robot has important economic benefits and practical values.
A great deal of research is being conducted at home and abroad on how to reduce the vibration of industrial robots. A flexible arm mathematical model is established in a patent of a vibration observer-based flexible mechanical arm vibration control method, a vibration observer and a state feedback integral controller are designed, and the effectiveness of control parameters is verified by adopting joint simulation. The patent 'a boundary control method for inhibiting vibration of a flexible mechanical arm' also establishes a mathematical model for the flexible mechanical arm, but the modeling method adopted by the patent can only model a simple beam unit and is not suitable for a complex multi-degree-of-freedom robot; the boundary control method adopted by the patent needs to output control force at the tail end of the flexible mechanical arm, and most industrial robots work in a position mode, so that the method is difficult to adopt.
Therefore, the existing vibration control method for the industrial robot has some defects, has certain limitations, and is difficult to be practically applied to the industrial robot.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
To this end, the object of the invention is to propose an on-line control method for reducing vibrations of an industrial robot.
In order to achieve the above object, an embodiment of the present invention provides an online control method for reducing vibration of an industrial robot, including the steps of:
step S1, establishing a flexible joint dynamic model of the industrial robot,
wherein, the torsional spring adopts nonlinear spring model, and frictional force adopts the classic model of "coulomb + viscous":
wherein tau is the motor torque,for angular displacement of the rotor of an electric machine, JmFor the inertia of the rotor of the machine, τfR is a reduction ratio, τ, for frictional forcesIs the elastic force of the torsion spring, d is the damping coefficient, JaIn order to be the load inertia,
angular displacement of the arm lever;
step S2, according to the established flexible joint dynamic model, each dynamic parameter initial value of the model is identified by an off-line method, wherein the identified dynamic parameters comprise: identifying the obtained parameters including d and k1、k3、FV、FC；
Step S3, adopting a nonparametric frequency domain identification method to carry out online identification on the dynamic parameters of the flexible joint, comprising the following steps: according to the flexible joint dynamic model established in step S1, the transfer function of the linearized motor torque and the motor rotor angular acceleration can be obtained as follows:
in the running process of the robot, the torque tau of the motor and the angular speed of the rotor of the motor
Can be directly obtained from a driver, the angular acceleration of the motor rotor can be obtained after the angular acceleration of the motor rotor is subjected to difference and filtering smoothing, the frequency response function Fr of the torque and the angular acceleration of the motor rotor can be obtained according to the collected data, the identification problem is changed into the problem that the frequency response function Fr meets the requirement of model initial parameters and is iteratively searched
Fe is a frequency response function of the dynamic model;
step S4, performing online adjustment of the flexible joint control parameters, including: adjusting the trap frequency and bandwidth of the trap; the scaling factor of the servo drive position loop is adjusted.
Further, in the step S2, for k1、k3The method comprises the steps of obtaining deformation while applying external static load to a joint, fitting a force-deformation curve by using a least square method to obtain the deformation, and measuring an amplitude attenuation half period by applying pulse excitation to the joint. FV、FCThe torque-speed curve is obtained by the curve fitting of the output torque-speed of the motor.
Further, in the step S4, the adjusting the notch frequency and the bandwidth of the wave trap includes the following steps:
the trap is used to filter out the component that is easy to excite flexible vibration in the motion command, the trap frequency corresponds to the resonance frequency of the ringing function in step S3, and the trap bandwidth of the trap is set accordingly to avoid the flexible vibration excited by the motion.
Further, in the step S4, after the current parameters of the flexible joint are identified in the step S3, the pole zero of the flexible joint model is calculated, and the vibration of the joint is reduced while ensuring the tracking error of the motor by adjusting the coefficient of the position loop scale term on line.
According to the online control method for reducing the vibration of the industrial robot, the method has the following beneficial effects:
1. the flexible joint dynamics modeling has wide application range and is suitable for all joints of the robot;
2. the accurate values of all parameters of the flexible joint of the robot are obtained by adopting a mode of off-line identification initial value + on-line identification current value, so that the accuracy of the model is ensured;
3. and modifying the control parameters on line according to the flexible joint dynamic model after on-line identification, and ensuring that the control effect is always in an ideal state.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flow chart of an on-line control method for reducing vibrations of an industrial robot according to an embodiment of the invention;
fig. 2 is a flow chart of an on-line control method for reducing vibrations of an industrial robot according to another embodiment of the invention;
FIG. 3 is a schematic view of a flexible joint model according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a comparison of frequency response functions of an initial model and an online identification model according to an embodiment of the invention;
fig. 5 is a schematic diagram of online adjustment of control parameters according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1 and 2, an online control method for reducing vibration of an industrial robot according to an embodiment of the present invention includes the following steps:
and step S1, establishing a flexible joint dynamic model of the industrial robot.
The rigidity of an arm lever of an industrial robot is usually high, particularly for small-load and cooperative robots, the flexibility mainly comes from a speed reducer, a synchronous belt and a torque sensor and is reflected on the flexibility of a joint, and therefore the flexible joint model is a reasonable choice to be established by adopting the flexible joint model. The flexibility of the joint is equivalent with a torsion spring as shown in figure 3.
The following is an industrial robot flexible joint dynamics model:
wherein, the torsional spring adopts nonlinear spring model, and frictional force adopts the classic model of "coulomb + viscous":
wherein tau is the motor torque,for angular displacement of the rotor of an electric machine, JmFor the inertia of the rotor of the machine, τfR is a reduction ratio, τ, for frictional forcesIs the elastic force of the torsion spring, d is the damping coefficient, JaIn order to be the load inertia,is the angular displacement of the arm lever.
It should be noted that the flexible joint dynamic model created in this step is applicable to each joint of the industrial robot.
And step S2, acquiring various coefficients of the model according to the established flexible joint dynamic model. Inertia of motor rotor JmThe reduction ratio r is from the product manual of the motor and the reducer, the state variable motor torque tau and the motor rotor angular displacementThe method can be obtained from a motor driver, and each dynamic parameter initial value of the model is identified by adopting an off-line method, wherein the identified dynamic parameters comprise: identifying the obtained parameters including d and k1、k3、FV、FC。
In particular, for k1、k3The method comprises the steps of obtaining deformation while applying external static load to a joint, fitting a force-deformation curve by using a least square method to obtain the deformation, and measuring an amplitude attenuation half period by applying pulse excitation to the joint. FV、FCThe torque-speed curve is obtained by the curve fitting of the output torque-speed of the motor.
In step S3, the industrial robot is a complex time-varying system, the initial value obtained in step S2 changes with time, environment, and working conditions, and if the initial value obtained offline is always used as a model parameter, the accuracy of subsequent control parameters is affected. Therefore, it is necessary to perform online identification on the kinetic parameters, and the identification adopts a non-parametric frequency domain identification method.
The method for identifying the dynamic parameters of the flexible joint on line by adopting a nonparametric frequency domain identification method comprises the following steps: according to the flexible joint dynamic model established in step S1, the transfer function of the linearized motor torque and the motor rotor angular acceleration can be obtained as follows:
in the running process of the robot, the torque tau of the motor and the angular speed of the rotor of the motor
Can be directly obtained from a driver, the angular acceleration of the motor rotor can be obtained after the angular acceleration of the motor rotor is subjected to difference and filtering smoothing, the frequency response function Fr of the torque and the angular acceleration of the motor rotor can be obtained according to the collected data, the identification problem is changed into the problem that the frequency response function Fr meets the requirement of model initial parameters and is iteratively searched
Fe is the frequency response function of the dynamic model.
Fig. 4 is a comparison of the frequency response function of the dynamic model of the initial parameters (thick lines) and the parameters after online identification (thin lines), and it can be seen that the model parameters are changed.
Step S4, performing online adjustment of the flexible joint control parameters, including: adjusting the trap frequency and bandwidth of the trap; the scaling factor of the servo drive position loop is adjusted.
Each joint of the existing industrial robot is driven by a driver to complete closed-loop control by a servo motor, and the quality of control parameters of the existing industrial robot determines the performance of the robot to a great extent. The online adjustment of the flexible joint control parameters mainly embodies two aspects, and is shown with reference to fig. 5.
In one embodiment of the invention, adjusting the notch frequency and bandwidth of the trap comprises the following steps: the wave trap is used for filtering components which are easy to excite flexible vibration in the motion instruction, the trap frequency corresponds to the resonance frequency of the frequency response function in the step S3, and then a proper bandwidth is selected as the trap bandwidth of the wave trap, so that the flexible vibration excited by the motion can be effectively avoided.
After the current parameters of the flexible joint are identified in the step S3, the zero pole of the flexible joint model is calculated, and the vibration of the joint is reduced while the tracking error of the motor is ensured by adjusting the coefficient of the position loop proportion term on line.
Specifically, most of the existing servo drivers adopt a three-loop control mode of a current loop, a speed loop and a position loop, and the proportional term coefficient of the position loop determines the servo stiffness. The servo stiffness is high, the motor tracking error is small, but the flexible vibration of the joint is easily caused, and after the current accurate parameters of the flexible joint are identified in the step S3, the zero pole of the flexible joint model can be obtained according to the current accurate parameters. Through the coefficient of online adjustment position ring proportion term, reduce joint vibration when guaranteeing motor tracking error.
Through the steps of the invention, the online control method for reducing the vibration of the industrial robot is formed, and comprises the following steps: a flexible joint dynamics modeling method; combining the off-line identification initial value and the on-line nonparametric frequency domain identification to obtain accurate parameter values of the flexible joint dynamic model; parameters of the wave trap and the servo driver are corrected through a flexible joint dynamic model, and the values of all control parameters are reasonable and credible.
According to the online control method for reducing the vibration of the industrial robot, the method has the following beneficial effects:
1. the flexible joint dynamics modeling has wide application range and is suitable for all joints of the robot;
2. the accurate values of all parameters of the flexible joint of the robot are obtained by adopting a mode of off-line identification initial value + on-line identification current value, so that the accuracy of the model is ensured;
3. and modifying the control parameters on line according to the flexible joint dynamic model after on-line identification, and ensuring that the control effect is always in an ideal state.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and their full range of equivalents.
Claims (4)
1. An on-line control method for reducing vibration of an industrial robot is characterized by comprising the following steps:
step S1, establishing a flexible joint dynamic model of the industrial robot,
wherein, the torsional spring adopts nonlinear spring model, and frictional force adopts the classic model of "coulomb + viscous":
wherein tau is the motor torque,
for angular displacement of the rotor of an electric machine, JmFor the inertia of the rotor of the machine, τfR is a reduction ratio, τ, for frictional forcesIs the elastic force of the torsion spring, d is the damping coefficient, JaIn order to be the load inertia,
angular displacement of the arm lever;
step S2, according to the established flexible joint dynamic model, each dynamic of the model is identified by an off-line methodInitial values of parameters, wherein the identified kinetic parameters include: identifying the obtained parameters including d and k1、k3、FV、FC；
Step S3, adopting a nonparametric frequency domain identification method to carry out online identification on the dynamic parameters of the flexible joint, comprising the following steps: according to the flexible joint dynamic model established in step S1, the transfer function of the linearized motor torque and the motor rotor angular acceleration can be obtained as follows:
in the running process of the robot, the torque tau of the motor and the angular speed of the rotor of the motor
Can be directly obtained from a driver, the angular acceleration of the motor rotor can be obtained after the angular acceleration of the motor rotor is subjected to difference and filtering smoothing, the frequency response function Fr of the torque and the angular acceleration of the motor rotor can be obtained according to the collected data, the identification problem is changed into the problem that the frequency response function Fr meets the requirement of model initial parameters and is iteratively searchedFe is a frequency response function of the dynamic model;
step S4, performing online adjustment of the flexible joint control parameters, including: adjusting the trap frequency and bandwidth of the trap; the scaling factor of the servo drive position loop is adjusted.
2. An on-line control method for reducing vibration of an industrial robot according to claim 1, characterized in that in said step S2, for k1、k3Obtaining deformation while applying external static load to the joint, fitting a force-deformation curve by a least square method, obtaining d by applying pulse excitation to the joint and measuring an amplitude attenuation half period, FV、FCObtained by the curve fitting of 'output torque-speed' of the motor。
3. The on-line control method for reducing vibration of an industrial robot according to claim 1, wherein in the step S4, the adjusting the notch frequency and the bandwidth of the wave trap comprises the steps of:
the trap is used to filter out the component that is easy to excite flexible vibration in the motion command, the trap frequency corresponds to the resonance frequency of the ringing function in step S3, and the trap bandwidth of the trap is set accordingly to avoid the flexible vibration excited by the motion.
4. The on-line control method for reducing vibration of an industrial robot according to claim 1, wherein in the step S4, after the current parameters of the flexible joint are identified in the step S3, the zero pole of the flexible joint model is calculated, and the vibration of the joint is reduced while the motor tracking error is ensured by adjusting the coefficient of the position loop scale term on line.
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| CN107901037B (en) * | 2017-10-30 | 2020-09-15 | 北京精密机电控制设备研究所 | Robot joint dynamic model correction method |
| CN108638056A (en) * | 2018-04-13 | 2018-10-12 | 华南理工大学 | Joint of robot vibration analysis based on kinetics of deformable bodies model and suppressing method |
| CN109241553B (en) * | 2018-07-18 | 2019-08-13 | 北京空间飞行器总体设计部 | A kind of joint of mechanical arm Real-time dynamics modeling method |
| CN109623819B (en) * | 2018-12-25 | 2020-08-21 | 哈工大机器人集团股份有限公司 | Method and device for acquiring actual torque value of harmonic drive joint of robot |
| CN110053049B (en) * | 2019-04-22 | 2021-06-29 | 珠海格力智能装备有限公司 | Robot track precision determination method and device and industrial robot |
| CN112462606B (en) * | 2020-11-10 | 2022-06-03 | 哈尔滨工业大学 | Flexible joint dynamic parameter identification method based on self-adaptive control |
| CN112698567B (en) * | 2020-12-29 | 2024-05-31 | 上海电气集团股份有限公司 | Rehabilitation equipment control method, device, equipment and medium |
| CN113059567A (en) * | 2021-04-02 | 2021-07-02 | 珞石（山东）智能科技有限公司 | Scara robot joint disturbance compensation method |
| CN116141337B (en) * | 2023-04-14 | 2023-07-25 | 苏州艾利特机器人有限公司 | Method for designing rigidity of elastic body of flexible joint mechanical arm |
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