摘要
为降低输电线巡检机器人的柔性关节输出速度的波动程度,采用极点配置方法设计柔性关节伺服驱动系统控制器参数.该参数的选择随机器人位姿变化而变化,从而使机器人柔性关节伺服驱动系统能够获得平稳的输出速度.首先建立了机器人柔性关节伺服驱动系统动力学方程,并求得电机转速到电机电磁转矩的传递函数;接下来将PI控制策略应用于柔性关节伺服控制,求得控制系统闭环传递函数;然后采用相同阻尼系数的极点配置策略设计控制器参数;最后开展了巡检机器人越障情况下变位姿工况的柔性关节控制实验,结果说明可通过适当选择极点配置参数使柔性关节获得良好的输出速度.
In order to reduce the fluctuation degree of output velocity of flexible joints of transmission line inspection robots,the controller parameter of the flexible joint servo drive system is designed by pole assignment.The choice of this parameter changes with the change of the robot posture so that the robot flexible joint servo drive system can obtain a stable output speed.Firstly,the dynamic equation of the robot flexible joint servo drive system is established and the transfer function of motor speed to electromagnetic torque is obtained.Then PI control strategy is applied to the flexible joint servo control to obtain the closed-loop transfer function of the control system.Then the pole assignment strategy with the same damping coefficient is used to design the controller parameter.Finally,the experiment of flexible joint control under the condition of the patrol robot surmounting obstacles is carried out,which shows that the flexible joint can obtain a good output speed by selecting pole assignment parameters properly.
作者
李小彭
尚东阳
李凡杰
闻邦椿
LI Xiao-peng;SHANG Dong-yang;LI Fan-jie;WEN Bang-chun(School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,China)
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2020年第11期1577-1583,共7页
Journal of Northeastern University(Natural Science)
基金
国家自然科学基金资助项目(51875092)
中央高校基本科研业务费专项资金资助项目(N170302001).
