基于复合材料结构的机器人电机驱动器设计

DESIGN OF MOTOR CONTROLLER FOR COMPOSITE LIGHTWEIGHT ROBOT

时菲菲

11930225

硕士

材料工程

周利民

2021-05-23

2021-06-15

南方科技大学

深圳

随着工业机器人行业的发展，实际生产对于机器人的工作效率和精度的要求越来越高，轻量化成为一个不可逆转的趋势。碳纤维复合材料具有高比模量、高比强度、耐腐蚀等优势，在制造轻量化机器人中有着广阔的前景。但由于碳纤维复合材料本身刚度比传统金属材料较差，使得工业机器人的末端更容易发生振动，这将对机器人的精度和速度都有不利影响。此外，由于电机内部结构和传感器误差等因素，容易造成电机输出转矩脉动，当电机驱动机械臂运转时，这种脉动将加剧机械臂末端的振动。针对以上问题，本文将电机的速度环控制器作为优化研究对象，设计针对柔性机械臂和减小转矩脉动的电机控制系统。本文在广泛阅读大量文献的基础上，充分借鉴了柔性杆建模、柔性系统振动主动控制、电机控制策略等方向的优秀成果，对复合材料机械臂系统进行振动抑制研究，开展了仿真和实验工作。对当前碳纤维复合材料在工业机器人行业的应用、电机控制算法和振动控制策略等相关问题做出综述，介绍了当今柔性机械臂抑振方向的研究现状，并对文献中提出的方法进行了对比分析；建立了永磁同步电机模型，对电机控制策略与脉宽调制方法进行了详细介绍，在仿真软件中对电机本体和控制系统进行建模，为后续控制器的优化方向提供了基础；介绍了针对永磁同步电机的传统双闭环PI 控制系统，并对其缺陷进行分析，将转速环控制器作为优化对象，引入了二自由度控制原理与内模控制原理，建立了基于内模控制的转速环控制器，并在仿真实验中对比分析了改进前后控制器的性能；将碳纤维复合材料机械臂作为柔性杆进行振动建模，将负载模型加入到控制系统中对电机控制器进行改进优化，利用极点配置法进行参数配置，并将柔性负载加入到电机控制系统模型中进行仿真实验，证明了优化后控制器驱动柔性负载的稳定性；搭建了电机对拖平台和碳纤维复合材料单自由度机械臂测试平台，分别进行优化前后电机控制算法性能对比和柔性臂振动测试实验，通过实验验证了控制策略的有效性。

With the development of the industrial robot industry, the requirements for the workingefficiency and accuracy of robots in actual production are higher and higher, andlightweight has become an irreversible trend. Carbon fiber composite has the advantagesof high specific modulus, high specific strength and corrosion resistance, which has abroad prospect in manufacturing lightweight robots. However, the stiffness of carbonfiber composite is worse than that of traditional metal materials, which makes the endof the industrial robot more prone to vibration, which will have adverse effects on theaccuracy and speed of the robot. In addition, due to the internal structure of the motorand the sensor error, it is easy to cause the motor output torque ripple. When the motordrives the manipulator, this kind of ripple will aggravate the vibration of the end of themanipulator. In view of the above problems, this paper takes the speed loop controllerof motor as the optimization research object, and designs the motor control system forflexible manipulator and reducing torque ripple.Based on extensive reading of a large number of literature, this paper fully draws onthe excellent achievements of flexible rod modeling, active vibration control of flexiblesystem, motor control strategy and other directions, carries out the vibration suppressionresearch of composite manipulator system, and carries out the simulation and experimentalwork. The application of carbon fiber composite in industrial robot industry, motorcontrol algorithm and vibration control strategy are summarized. The research status ofvibration suppression of flexible manipulator is introduced, and the methods proposedin the literature are compared and analyzed. The permanent magnet synchronous motormodel is established, and the motor control strategy and pulse width modulation methodare introduced in detail. The motor body and control system are modeled in the simulationsoftware, which provides the basis for the subsequent optimization direction of thecontroller; The traditional double closedloopPI control system for permanent magnetsynchronous motor is introduced, and its defects are analyzed. Taking the speed loop controlleras the optimization object, the two degree of freedom control principle and internalmodel control principle are introduced, and the speed loop controller based on internalmodel control is established. The performance of the improved controller is comparedand analyzed in the simulation experiment; The carbon fiber composite manipulator ismodeled as a flexible rod, and the load model is added to the control system to improveand optimize the motor controller. The pole assignment method is used to configure theparameters, and the flexible load is added to the motor control system model for simulationexperiment, which proves the stability of the controller driving the flexible load; Themotor tow platform and carbon fiber composite single degree of freedom manipulator testplatform are built. The performance comparison of motor control algorithm before andafter optimization and the vibration test of flexible arm are carried out respectively. Theeffectiveness of the control strategy is verified by experiments.

复合材料 柔性机械臂 振动抑制 电机控制

composite manipulator vibration suppression motor control

中文

独立培养

南方科技大学

时菲菲. 基于复合材料结构的机器人电机驱动器设计[D]. 深圳. 南方科技大学,2021.