• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (5): 104-112.doi: 10.3901/JME.2019.05.104

• 机械动力学 • 上一篇    下一篇

考虑阻尼衰减的点位操作时间最优运动规划

白有盾, 陈新, 杨志军   

  1. 广东工业大学广东省微纳加工技术与装备重点实验室 广州 510006
  • 收稿日期:2017-12-22 修回日期:2018-08-28 出版日期:2019-03-05 发布日期:2019-03-05
  • 通讯作者: 杨志军(通信作者),男,1977年出生,博士,教授。主要研究方向为机电系统性能定制设计(动态性能定制和运动精度定制)、智能部件设计理论与方法。E-mail:yangzj@gdut.edu.cn
  • 作者简介:白有盾,男,1986年出生,博士。主要研究方向为运动控制与宏微复合运动平台设计。E-mail:youdun.bai@foxmail.com
  • 基金资助:
    国家自然科学基金(91648108,U1601202,51675106)、广东省自然科学基金(2015A030312008,2015A030308004,2016A030308016)、广东科技计划(2015B010104006,2015B010104008,2015B010133005)、国家重点研发计划(2017YFF0105902)和广州科技规划(201510010281)资助项目。

Time-optimal Motion Profile Planning Considering Damping Attenuation for Point to Point Operation

BAI Youdun, CHEN Xin, YANG Zhijun   

  1. Guangdong Provincial Key Laboratory of Micro-Nano Manufacturing Technology and Equipment, Guangdong University of Technology, Guangzhou 510006
  • Received:2017-12-22 Revised:2018-08-28 Online:2019-03-05 Published:2019-03-05

摘要: 阻尼在机械系统中普遍存在,然而现有运动规划方法普遍不考虑阻尼衰减影响,不能体现运动过程的振动衰减效应。提出一种考虑阻尼衰减的时间最优运动规划模型。在优化模型中的定位误差约束条件基于采用Laplace方法获取的阻尼柔性运动系统的残余振动响应进行定义。同时,定义了一种包含7个独立设计变量的三阶非对称S曲线运动规划模型以便于在运动规划中充分考虑阻尼的影响。数值试验表明阻尼衰减效应对小阻尼运动系统的残余振动响应也有可能产生较大的影响。数值试验与实际运动平台测试结果均表明:优化后的运动规划中加速阶段的急动度要大于减速阶段,以便充分利用阻尼衰减效应来抑制残余振动,从而导致所得时间最优运动规划曲线为一种高加速低减速的非对称运动规划曲线。试验测试结果表明基于所述时间最优运动规划模型得到的最优运动规划较之传统的对称S曲线运动规划方法,可以显著地缩短满足定位精度要求所需的时间。

关键词: 残余振动, 非对称S曲线, 时间最优, 运动规划, 阻尼衰减

Abstract: The damping is existed in mechanical system, however, most of current motion planning approaches do not consider the damping attenuation effect, thus the real response of vibration during motion control can not be simulated. The time-optimal motion planning model considering damping is proposed. The related positioning error constraint of the presented optimization model is constructed based on the residual vibration response of damped flexible motion system obtained by using Laplace method. Also, a 3rd order asymmetric S-curve motion profile with 7 independent variables is proposed to consider the damping attenuation in motion profile design. Numerical simulation indicates that the damping may have the large influence on residual vibration response of lightly damped flexible motion system. Furthermore, both numerical simulation and experiment results reveal that the jerks' magnitude during acceleration section of the optimized motion profile are larger than those during deceleration section in order to make full use of damping attenuation to limit residual vibration, which results that the obtained time-optimal motion profile is the asymmetric profile with high acceleration and low deceleration. The experiment results indicate that the optimized motion profile obtained by the proposed time-optimal motion planning model can significantly reduce the required positioning time meeting the positioning accuracy demand.

Key words: asymmetric S-curve profile, damping attenuation, motion planning, residual vibration, time-optimal

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