• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (11): 141-150.doi: 10.3901/JME.2018.11.141

• 机构学及机器人 • 上一篇    下一篇

一种并联机器人机电耦合多能域系统动力学参数辨识、控制及试验

李永泉1,2, 王立捷1,2, 刘天旭2,3, 张阳1,2, 张立杰2,3   

  1. 1. 燕山大学河北省并联机器人与机电系统实验室 秦皇岛 066004;
    2. 燕山大学先进锻压成形技术与科学教育部重点实验室 秦皇岛 066004;
    3. 燕山大学河北省重型机械流体动力传输与控制实验室 秦皇岛 066004
  • 收稿日期:2017-10-16 修回日期:2018-04-02 出版日期:2018-06-05 发布日期:2018-06-05
  • 通讯作者: 张立杰(通信作者),男,1969年出生,教授,博士研究生导师。主要研究方向为并联机构及机器人技术、液压系统集成及控制技术。发表论文50余篇。E-mail:ljzhang@ysu.edu.cn
  • 作者简介:李永泉,男,1979年出生,副教授,硕士研究生导师。主要研究方向为并联机构及机器人技术。发表论文20余篇。E-mail:lijiang197879@sina.com;王立捷,男,1992年出生,硕士研究生。主要研究方向为并联机器人控制技术。E-mail:874719109@qq.com;刘天旭,男,1992年出生,硕士研究生。主要研究方向为并联机器人结构设计。E-mail:625428969@qq.com;张阳,男,1994年出生,硕士研究生。主要研究方向为并联机器人型综合。E-mail:1623641500@qq.com
  • 基金资助:
    国家自然科学基金(51405421)和河北省自然科学基金(E2015203101)资助项目。

Dynamic Parameter Identification, Control and Experiment of an Electromechanical Coupling Multi-energy Domain System For a Parallel Robot

LI Yongquan1,2, WANG Lijie1,2, LIU Tianxu2,3, ZHANG Yang1,2, ZHANG Lijie2,3   

  1. 1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
    2. Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University), Ministry of Education of China, Qinhuangdao 066004;
    3. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004
  • Received:2017-10-16 Revised:2018-04-02 Online:2018-06-05 Published:2018-06-05

摘要: 以平面2-DOF冗余驱动并联机器人为研究对象,结合拉格朗日方程和键合图两种方法,建立了该机器人机电耦合多能域系统动力学模型。针对该机构特点,提出了一种将动力学模型线性化的待定系数法,通过该方法,经过严密的数学推导,得到了机电耦合多能域系统动力学模型的线性化形式,避免了传统的简化方法得到动力学模型线性化形式带来的误差。以五次多项式改进的傅里叶级数优化并联机构末端激励轨迹。搭建了动力学参数辨识试验平台,以加权最小二乘法对其机电耦合多能域系统的动力学参数进行了基于试验的辨识研究。所提的辨识策略不仅可以辨识出机器人机构本体的惯性参数与关节摩擦参数而且还可以辨识出电动机和减速机的等效转动惯量以及等效阻尼系数。设计了基于计算力矩的力位混合控制策略,并将辨识出的动力学参数应用到控制策略中,通过试验验证了机电耦合多能域系统动力学参数辨识的实用性与基于计算力矩的力位混合控制策略的有效性。

关键词: 并联机构, 参数辨识, 动力学, 机电耦合系统, 力位混合控制

Abstract: The planar 2-DOF redundant actuation parallel robot is taken as the object of study. Combining with two methods of Lagrange equation and bond graph, the dynamics model of the electromechanical coupling multi-energy domain system of the robot is established. According to the characteristics of the robot, a method of undetermined coefficients for linearization of dynamic models is presented, and by means of this method, the linearized form of dynamic model of the electromechanical coupling multi-energy domain system is obtained, which can avoid the error caused by the linearized form of the dynamic model obtained by the traditional simplified method. The excitation trajectory of identification is constructed by Fourier series improved by quintic polynomial form. The experimental platform of dynamic parameter identification is built, the identification of the dynamic parameters of the electromechanical coupling system is studied by the weighted least square method base on the experiment. The proposed identification strategy can not only identify the inertial parameters and friction parameters of the mechanism, but also identify the equivalent moment of inertia and the equivalent friction coefficient of the motor and the reducer. The force/position hybrid control strategy base on the computed torque is designed, and the identified dynamic parameters are applied to the control strategy. The practicability of the identification of the dynamic parameters of the electromechanical coupling multi-energy domain system and the correctness of the force/position hybrid control strategy based on the computed torque are verified by experiments.

Key words: dynamics, electromechanical coupling system, force/position hybrid control, parallel robot, parameter identification

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