摘要
【目的】柔性机械臂因低刚度特性易诱发残余振动,导致末端定位精度劣化;同时,负载扰动引发的动态波动与柔性轴形变产生的负载侧位置滞后,进一步制约高精度控制。传统输入整形技术虽可抑制振动,但其开环特性无法同步解决上述多源扰动问题。针对上述难题,本文提出一种零振动微分动态转矩反馈补偿负载位置滞后补偿(ZVD-DTFC-LPFC)复合控制策略。【方法】基于双惯量系统模型构建开-闭环协同架构,开环侧采用零振动微分(ZVD)输入整形抑制残余振动;闭环侧设计动态转矩反馈补偿(DTFC),通过降维状态观测器实时估计轴转矩,形成位置-转速-转矩-电流四环串级控制抵抗负载扰动;进一步设计负载位置滞后补偿(LPFC)算法,动态计算负载位置偏差叠加至电机编码器信号,消除稳态滞后。【结果】仿真结果表明,ZVD-DTFC-LPFC的空载残余振动抑制率达98%;25%、50%、100%负载突变下的动态响应时间平均为0.11 s,较ZVD缩短了54%;带载稳态位置滞后角<0.005 rad,较未补偿前减少了97%。【结论】ZVD-DTFC-LPFC策略将开环抑振与闭环抗扰方法协同,实现振动-扰动-滞后多目标优化,为精密柔性机械臂提供了高鲁棒解决方案。
[Objective]Flexible manipulators are prone to residual vibrations due to their low-stiffness characteristics,resulting in degraded end-effector positioning accuracy.Additionally,dynamic fluctuations caused by load disturbances and load-side positional hysteresis induced by flexible shaft deformation further constrain high-precision control.Although conventional input shaping techniques can suppress vibrations,their open-loop nature fails to simultaneously address these multi-source disturbances.To address these challenges,this paper proposes a zero vibration and derivative-dynamic torque feedback compensation-load position feedback compensation(ZVD-DTFC-LPFC)composite control strategy.[Methods]Based on a dual-inertia system model,an open-loop and closed-loop collaborative architecture was constructed.The open-loop side employs zero vibration and derivative(ZVD)input shaping to suppress residual vibration.The closed-loop side designed dynamic torque feedback compensation(DTFC),which used a reduced-order state observer to estimate the shaft torque in real time,forming a four-loop cascade control of position-speed-torque-current to resist load disturbances.Additionally,a load position feedback compensation(LPFC)algorithm was designed to dynamically calculate the load position deviation and superimpose it onto the motor encoder signal to eliminate steady-state lag.[Results]Simulation results showed that the residual vibration suppression rate of ZVD-DTFC-LPFC under no-load conditions was 98%;the average dynamic response time under 25%,50%,and 100%load changes was 0.11 s,which was 54%shorter than that of ZVD;the steady-state position lag angle under load was less than 0.005 rad,which was reduced by 97%compared to before compensation.[Conclusion]The ZVD-DTFC-LPFC strategy synergizes open-loop vibration suppression with closed-loop disturbance rejection,achieving multi-objective optimization of vibration,disturbance,and hysteresis.This framework provides a robust paradigm for precision control of flexible manipulators.
作者
田硕
夏加宽
TIAN Shuo;XIA Jiakuan(School of Electrical Engineering,Shenyang University of Technology,Shenyang 110870,China)
出处
《电机与控制应用》
2025年第8期906-916,共11页
Electric machines & control application
基金
国家自然科学基金(51977055)
安徽省重大科技专项项目(201903a05020042)。
关键词
残余振动
输入整形
动态转矩反馈
位置补偿
动态抗扰
residual vibration
input shaping
dynamic torque feedback
position compensation
dynamic disturbance rejection
作者简介
田硕(2000-),女,硕士研究生,研究方向为永磁同步电机控制,ts13333309024@163.com;通信作者:夏加宽(1962-),男,博士,教授,研究方向为永磁电机设计及其控制,sygdxjk@163.com。
