伺服关节驱动的柔性臂系统耦合动力学模型辨识与实验

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摘要针对整个伺服关节驱动的柔性机械臂系统，在考虑其机电、刚柔耦合特性的基础上，理论上进行了动力学建模。分析了包含直流伺服电机、谐波减速器以及伺服驱动器的伺服关节的驱动及摩擦特性，对实验中测到的电机匀速正反转数据进行线性拟合，得到了关节驱动模型中的库伦摩擦力常数和粘滞摩擦力系数。分别建立了从伺服电机驱动电压到光电编码器检测的电机转角、从伺服驱动电压到代表柔性臂振动的应变桥路输出之间的理论传递函数，以伪随机二进制序列为激励信号，通过实验辨识得到了此对应伺服关节柔性臂转动与振动耦合以及机电耦合的两个传递函数，在伪随机和正弦信号激励下，辨识得到的传递函数模型与实际结构的转动位移和振动响应具有较高的一致性。从而得到了伺服关节驱动的柔性臂系统刚柔耦合、机电耦合的动力学模型。

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	周优鹏1
	陈特欢1
	娄军强1
	马剑强1
	魏燕定2

关键词 ：柔性机械臂, 伺服关节, 耦合动力学, 实验辨识, 摩擦特性

Abstract：For the system of a flexible manipulator driven by servo joint, considering its electromechanical, rigid and flexible coupling characteristics，The dynamic model is carried out theoretically. The driving and friction characteristics of the servo joint，which consists of a DC servo motor, a harmonic gear reducer and a servo controller is proposed. By linear fitting the experimental data of the forward and reverse rotation of the motor, the coulomb friction constant and viscosity friction coefficient are obtained. Then, two transform function model, are proposed. The input and output variables for one model are the control voltage of the servo controller and the motor potion measured by the encoder. And for the other model, are the control voltage of the servo controller and the strain output measured by the strain gauges. Using the Pseudo-random binary sequence(PRBS) as the input signal, the two transform function models of the system are identified by experimental identification. Experimental results show the two identified models are in good agreement with the dynamic response of the experimental setup, both for the PRBS and sinusoidal excitation signals. Accordingly, the coupling dynamic models of the proposed system are obtained.

Key words： Flexible Manipulator Servo Joint Coupling Dynamics Experimental Identification Friction Characteristics

收稿日期: 2017-12-11 出版日期: 2019-04-28

引用本文:

周优鹏1, 陈特欢1, 娄军强1, 马剑强1, 魏燕定2. 伺服关节驱动的柔性臂系统耦合动力学模型辨识与实验[J]. 振动与冲击, 2019, 38(9): 277-284.
ZHOU Youpeng1, LOU Junqiang1, CHEN Tehuan1, MA Jianqiang1, WEI Yanding2. Coupling dynamic modeling of a flexible manipulator driven by servo joint and test recognition. JOURNAL OF VIBRATION AND SHOCK, 2019, 38(9): 277-284.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2019/V38/I9/277

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