CN108818539A - A kind of flexible motion arm elastic vibration Active Disturbance Rejection Control device and method - Google Patents
A kind of flexible motion arm elastic vibration Active Disturbance Rejection Control device and method Download PDFInfo
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- CN108818539A CN108818539A CN201810867974.8A CN201810867974A CN108818539A CN 108818539 A CN108818539 A CN 108818539A CN 201810867974 A CN201810867974 A CN 201810867974A CN 108818539 A CN108818539 A CN 108818539A
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- motion arm
- flexible motion
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- disturbance rejection
- elastic vibration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
Abstract
The invention discloses a kind of flexible motion arm elastic vibration Active Disturbance Rejection Control device and methods, control device includes flexible motion arm, end load, image collecting device, positioning pedestal, transmission gear for electric motor, motor driver, bolted system, motion control card, elastic vibration automatic disturbance rejection controller, frequency calculation module, signal processing module I, signal processing module II, signal pickup assembly I, signal pickup assembly II, obtain the frequency signal of flexible motion arm in operation process in real time based on frequency calculation module, elastic vibration automatic disturbance rejection controller can change control signal driving positioning pedestal movement in real time, then it takes flexible motion arm to and moves to designated position；The invention also discloses a kind of flexible motion arm elastic vibration Auto-disturbance-rejection Controls；The present invention can fully consider the boundary effect of flexible motion arm in operation process, realize the Active Disturbance Rejection Control of flexible motion arm elastic vibration, have many advantages, such as that control structure is simple, robustness is high.
Description
Technical field
The present invention relates to robot flexibility manipulator control technical field, specifically a kind of flexible motion arm elastic vibrating
Dynamic Active Disturbance Rejection Control device and method.
Background technique
Currently, on electronic packaging industry assembly line, the robot for space equipment that is assembled based on mechanically actuated arm
It can be found everywhere, be all the form of bottom positioning pedestal cooperation end effector mechanism, such as chip mounter, tin cream on these apparatus structures
Printing machine, dispenser etc..With the high speed development of national economy, the integrated antenna package job requirements mechanical system of modernization
Response speed is getting faster, and integration degree is also higher and higher, and traditional rigidity motion arm has been difficult to adapt to wanting for this development
It asks.
In recent years, as the research of flexible multibody dynamics theory is goed deep into and engineering actual demand, flexible motion arm obtain
Obtained more and more concerns.Compared with rigidity motion arm, flexible motion arm has lightweight high speed, payload-weight ratio height, module
The advantages that change.But the high-speed motion of machine and lighting have also been proposed higher requirement, main problem to flexible motion arm
It is to cause flexible motion arm to be easy to produce elastic vibration during the motion due to the architectural characteristic of Low rigidity large deflection itself,
And since the modal frequency of flexible motion arm is low, last longer is seriously affected the operation effect of robot system by vibration
Rate.
Therefore, in order to realize effective use of the flexible motion arm in robot, it is necessary first to the bullet of flexible motion arm
Property vibration control effectively.Consider that the closed-loop feedback control system of flexible motion arm elastic vibration needs that a set of master is additionally arranged
Autocontrol system will lead to overall system structure complexity, increase complete machine cost, the feedforward control that many scholars vibrate mechanical elasticity
Method processed is studied.
As China Patent No. is inputted to disclose in the patent of invention of CN201510916217.1 based on positive and negative POSICAST
The crane of shaping method is anti-to shake control method, realizes the anti-of crane using input shaper method building feedforward controller and shakes control
System, the advantages of this method is the measurement sensor without the need for closed loop feedback, simplifies system structure, but this method is not examined
Consider influence of the load to crane system vibration parameters in operation process.
It is disclosed in the patent of invention that for another example China Patent No. is CN201710975489.8 a kind of based on input shaper
Joint of robot end residual oscillation suppressing method, realize joint of robot end residual oscillation using input shaper method
Inhibit, but this method is also without considering end load quality and boundary effect to joint of robot Faults by Vibrating
It influences.
And there are varying load operating conditions during actual job for robot flexibility motion arm, it is furthermore flexible under long-play
Operation arm roots and the assembly active force of positioning pedestal may change, these can all change the perimeter strip of flexible motion arm
Part then changes the characteristic parameters such as itself modal frequency, leads to the feedforward vibration control for being in advance based on the design of input shaper method
The failure of device.
Therefore, during actual job, to fully consider that flexible motion arm boundary effect joins itself modal characteristics
Several influences, design controller realize the Active Disturbance Rejection Control of flexible motion arm elastic vibration.
Summary of the invention
In order to avoid with solve above-mentioned technical problem, the invention proposes a kind of flexible motion arm elastic vibration active disturbance rejection controls
Device and method processed.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of flexible motion arm elastic vibration Active Disturbance Rejection Control device, including：Flexible motion arm, on the flexible motion arm
It is connected with end load；Image collecting device, to obtain the shape of end load；Positioning pedestal connects in the positioning pedestal
There is transmission gear for electric motor；Bolted system, connects flexible motion arm and positioning pedestal and can induction pressure information；The motor
Transmission device is connected with motor driver, motion control card, elastic vibration automatic disturbance rejection controller and frequency calculation module in turn,
The frequency calculation module is connected with signal processing module I and signal processing module II.
It further include the signal pickup assembly for being connected and be transferred to pressure signal signal processing module I with bolted system
I, it is connected and transmits a signal to the signal pickup assembly II of signal processing module II with image collecting device.
Further, the transmission gear for electric motor includes servo motor, and the drive shaft of the servo motor is connected with ball
The junction of screw pair, the ball wire bar pair and servo motor is equipped with shaft coupling, the nut of the ball wire bar pair and positioning
Pedestal is connected, and the positioning pedestal is combined with moving guide rail.
Further, the bolted system includes：Across the bolt of positioning pedestal and flexible motion arm；With bolt
The nut of cooperation；Gasket II at bolt and positioning pedestal cooperation is set；Pressure between flexible motion arm and nut is set
Force snesor；Gasket I between pressure sensor and nut is set.
Further, four groups of bolts being symmetric are equipped at the root of the flexible motion arm and positioning pedestal cooperation
Connection system.
Further, the signal processing module II can utilize preset work according to the shape of end load
Library exports the quality of end load in real time.
A kind of control method of flexible motion arm elastic vibration active disturbance rejection, includes the following steps：
Step 1: establishing shape and the matched work library of sole mass of typical end load.
Step 2: acquiring the output signal of pressure sensor in real time using signal pickup assembly I and being transferred to signal processing
Module I, handled by signal processing module I obtain flexible operation arm roots and positioning pedestal with resultant pressure and be transferred to frequency fortune
Calculate module；The output signal of II real-time image acquisition acquisition device of synchronous signal acquisition device is simultaneously transferred to signal processing module
II, according to the work library established in step 1, the processing of signal processing module II obtains the quality of end load and is transferred to frequency
Computing module.
Step 3: matching resultant pressure and end according to the received flexible operation arm roots of frequency calculation module and positioning pedestal
The quality information for holding load, determines the real-time boundary condition of flexible motion arm, obtains the frequency equation of flexible motion arm, utilizes frequency
Rate computing module determines the modal frequency of flexible motion arm.
Step 4: design flexibility vibrates automatic disturbance rejection controller, the displacement control signal of positioning pedestal is determined.
Step 5: moving using motion control card and motor driver driving positioning pedestal, moving flexible motion arm
Inhibit natural resiliency vibration while to designated position.
Further, the step 4 includes：
A, it is based on input shaper method, constructs the modal vibration shaping controller of two rank mode before flexible motion arm, and determine
The relationship of modal vibration shaping controller and flexible motion arm modal frequency.
B, it is based on cascade method, integrates the modal vibration shaping controller composition flexible operation of two rank mode before flexible motion arm
The elastic vibration automatic disturbance rejection controller of arm.
C, positioning pedestal is subjected to process of convolution with reference to displacement signal and elastic vibration automatic disturbance rejection controller, obtains positioning base
The displacement control signal of seat.
The beneficial effects of the invention are as follows：
1, the simple advantage of feedforward controller structure has been taken into account, it is not necessary that a set of elastic vibration active control dress is additionally arranged
It sets, reduces complete machine cost.
2, the influence in view of end load quality and boundary effect to joint of robot Faults by Vibrating, effectively mentions
High anti-interference of the conventional feed forward controller in flexible motion arm operation process, improves its applicability.
3, the present invention has many advantages, such as that control structure is simple, robustness is high.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is principle schematic diagram of the present invention；
Fig. 2 is schematic diagram of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of bolted system in the present invention；
Fig. 4 is end load quality when being 0.1kg, the displacement curve figure of positioning pedestal in the present invention；
Fig. 5 is end load quality when being 0.1kg, elastic vibration control effect figure in flexible motion arm end in the present invention.
Description of symbols：1-bolted system, 2-positioning pedestals, 3-flexible motion arms, 4-end loads,
5-signal pickup assemblies I, 6-image collecting devices, 7-signal pickup assemblies II, 8-signal processing modules II, 9-signals
Processing module I, 10-frequency calculation modules, 11-elastic vibration automatic disturbance rejection controllers, 12-motion control cards, 13-motors drive
Dynamic device, 14-servo motors, 15-shaft couplings, 16-moving guide rails, 17-ball wire bar pairs；1-1-nut, 1-2-gasket
I, 1-3-pressure sensor, 1-4-gasket II, 1-5-bolt.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
As shown in Figures 1 to 5, a kind of flexible motion arm elastic vibration Active Disturbance Rejection Control device, including：Flexible motion arm 3,
End load 4 is connected on the flexible motion arm 3；Image collecting device 6, to obtain the shape of end load 4；Positioning pedestal
2, transmission gear for electric motor is connected in the positioning pedestal 2；Bolted system 1 connects flexible motion arm 3 and positioning pedestal 2
And it can induction pressure information；The transmission gear for electric motor is connected with motor driver 13, motion control card 12, elastic vibration in turn
Automatic disturbance rejection controller 11 and frequency calculation module 10, the frequency calculation module 10 are connected with signal processing module I 9 and signal
Processing module II 8.
It further include being connected with bolted system 1 and filling the signal acquisition that pressure signal is transferred to signal processing module I 9
The signal pickup assembly II 7 for setting I 5, being connected with image collecting device 6 and transmitting a signal to signal processing module II 8.
In the preferred embodiment of the invention, to realize that motor driver 13 drives positioning pedestal 2, the motor drive dress
It sets including servo motor 14, the drive shaft of the servo motor 14 is connected with ball wire bar pair 17,17 He of ball wire bar pair
The junction of servo motor 14 is equipped with shaft coupling 15, and the nut of the ball wire bar pair 17 is connected with positioning pedestal 2, the positioning
Pedestal 2 is combined with moving guide rail 16.
The bolted system 1 includes：Across the bolt 1-5 of positioning pedestal 2 and flexible motion arm 3；With bolt 1-5
The nut 1-1 of cooperation；II 1-4 of gasket at bolt 1-5 and 2 cooperation of positioning pedestal is set；It is arranged in flexible motion arm 3 and spiral shell
Pressure sensor 1-3 between female 1-1；I 1-2 of gasket between pressure sensor 1-3 and nut 1-1, the pressure are set
Sensor 1-3 is connected by conducting wire with signal pickup assembly I 5.
The root of the flexible motion arm 7 is connect at 2 cooperation of positioning pedestal equipped with four groups of bolts being symmetric
System 1.The rigid connection that system 1 realizes flexible motion arm 7 and positioning pedestal 2 is bolted.
The signal processing module II 8 can be defeated in real time using preset work library according to the shape of end load 4
The quality of end load 4 out.
In use, signal pickup assembly I 5 acquires the output signal of pressure sensor 1-3 and is transferred to signal processing module I
9, signal pickup assembly II 7 acquires the output signal of image collecting device 6 and is transferred to signal processing module II 8, signal processing
Processing result is transferred to frequency calculation module 10, elastic vibration automatic disturbance rejection controller 11 with signal processing module II 8 by module I 9
Result is exported according to frequency calculation module 10 and determines speed control signal, is driven using motion control card 12 and motor driver 13
Servo motor 14 moves.Servo motor 14 is connect by shaft coupling 15 with ball wire bar pair 16, then positioning pedestal 2 is driven to move
It is moved on dynamic guide rail 16, so that driving moves to designated position with the rigidly connected flexible motion arm 7 of positioning pedestal 2.
A kind of control method of flexible motion arm elastic vibration active disturbance rejection, includes the following steps：
Step 1: establishing shape and the matched work library of sole mass of typical end load 4.
In the component that electronic packaging industry assembly line, flexible motion arm 7 are carried, i.e. the shape of end load 4 is generally each
It is different, therefore the work library of 4 shape of end load Yu its own quality matches can be preset, facilitate the later period by image collector
6 shapes for obtaining end load 4 with signal pickup assembly II 7 are set, then end load 4 is exported by signal processing module II 8 in real time
Quality.
Step 2: acquiring the output signal of pressure sensor 1-3 in real time using signal pickup assembly I 5 and being transferred to signal
Processing module I 9 with resultant pressure and is transmitted by the processing of signal processing module I 9 acquisition 7 root of flexible motion arm and positioning pedestal 2
To frequency calculation module 10；The output signal of II 7 real-time image acquisition acquisition device 6 of synchronous signal acquisition device is simultaneously transferred to letter
Number processing module II 8, according to the work library established in step 1, the processing of signal processing module II 8 obtains the quality of end load 4
And it is transferred to frequency calculation module 10.
Step 3: according to received 7 root of flexible motion arm of frequency calculation module 10 and positioning pedestal 2 with resultant pressure with
And the quality information of end load 4, it determines the real-time boundary condition of flexible motion arm 7, obtains the frequency side of flexible motion arm 7
Journey determines the modal frequency of flexible motion arm 7 using frequency calculation module 10.
In the present embodiment, the concrete operation process of frequency calculation module 10 is：Consider 7 root of flexible motion arm and positioning
The quality with resultant pressure and end load 4 of pedestal 2, it is known that the boundary condition of flexible motion arm 7 is：Fixed end shear is equal to
It is equal to 0 with resultant pressure, moment of flexure；Free end moment of flexure is equal to 0, shearing and is equal to the inertia force of end load quality 6.
The model function of vibration expression formula of flexible motion arm 7 is：
φn(x)=α1sinβx+α2cosβx+α3sinhβx+α4coshβx (1)
Wherein：φn(x) the n-th order Mode Shape function of the transverse elasticity vibration of flexible motion arm 7 is indicated；α1, α2, α3With
α4Boundary condition for the coefficient of model function of vibration, depending on flexible motion arm 7；β is that constant is similarly dependent on flexible motion arm 7
Boundary condition.
Then, the boundary condition of flexible motion arm 7 is substituted into formula (1), and according to the presence of 7 model function of vibration of flexible motion arm
Property condition, the frequency equation and modal function that can obtain flexible motion arm 7 are：
Wherein：A, ρ respectively indicates the cross-sectional area and density of flexible motion arm 7, and E, I, L respectively indicate flexible motion arm 7
Elasticity modulus, moment of inertia of cross-section and length；X representation space scale；mtIndicate the quality of end load 4；P indicates flexible
Match resultant pressure with positioning pedestal 2 in 7 root of motion arm.
The modal frequency calculation formula of flexible motion arm 7 is：
To sum up, the modal frequency for considering the flexible motion arm 7 of boundary effect can be obtained according to formula (2) and formula (4).
Step 4: design flexibility vibrates automatic disturbance rejection controller 11, the displacement control signal of positioning pedestal 2 is determined.Specific step
It is rapid as follows：
A, it is based on input shaper method, constructs the modal vibration shaping controller of two rank mode before flexible motion arm 7, and determine
The relationship of modal vibration shaping controller and 7 modal frequency of flexible motion arm；
According to existing correlative study it is found that playing a leading role to 7 elastic vibration of flexible motion arm is preceding two ranks low-order mode
State, therefore in the design process for carrying out elastic vibration automatic disturbance rejection controller 11, two rank mode can before considering flexible motion arm 7
Meet control to require.
Firstly, the modal vibration shaping controller of design 7 first step mode of flexible motion arm, in order to guarantee flexible motion arm
The response of 7 first step modes is equal to 0, based on known to input shaper method：
Wherein：I indicates the pulse number of the modal vibration shaping controller of 7 first step mode of flexible motion arm, in this reality
It applies and takes 2 pulses in example；Respectively indicate the amplitude and time lag of i-th of pulse；w1、ξ1Table respectively
Show the intrinsic frequency and damping ratio of 7 first-order modal of flexible motion arm.
Then, quadratic model object function is designed according to flexible motion arm end position error, can be obtained based on optimal theoretical soft
The amplitude and time lag of two pulses of modal vibration shaping controller of property 7 first step mode of motion arm be respectively：
Wherein, t indicates time scale.
Similarly, can obtain two pulses of modal vibration shaping controller of 7 second-order mode of flexible motion arm amplitude and when
It is stagnant to be respectively：
Wherein, w2、ξ2Respectively indicate the intrinsic frequency and damping ratio of 7 second-order modal of flexible motion arm.
B, it is based on cascade method, integrates the flexible behaviour of modal vibration shaping controller composition of two rank mode before flexible motion arm 7
Make the elastic vibration automatic disturbance rejection controller 11 of arm 7；
It, can be by the modal vibration shaping controller of 7 first step mode of flexible motion arm and second-order mode according to cascade method
Modal vibration shaping controller, the calculating for carrying out the elastic vibration automatic disturbance rejection controller 11 that cascade constitutes flexible motion arm 7 is public
Formula, the calculation formula are：
C, positioning pedestal 2 is subjected to process of convolution with reference to displacement signal and elastic vibration automatic disturbance rejection controller 11, is determined
The displacement control signal of position pedestal 2.
Step 5: driving positioning pedestal 2 to move using motion control card 12 and motor driver 13, make flexible motion arm 7
Inhibit natural resiliency vibration while moving to designated position.
7 elastic vibration Active Disturbance Rejection Control of flexible motion arm is used when as shown in figure 4, being equal to 0.1kg for 4 mass of end load
The displacement curve figure of 11 front and back positioning pedestal 2 of device.Wherein, dotted line is the displacement curve for controlling prelocalization pedestal 2, and solid line is to use
The displacement curve of positioning pedestal 2 after elastic vibration automatic disturbance rejection controller 11.It can be seen that using elastic vibration automatic disturbance rejection controller
11 front and back, the moving displacement of positioning pedestal 2 be it is equal, illustrate the correctness of elastic vibration automatic disturbance rejection controller 11.
As shown in figure 5, soft using 11 front and back of elastic vibration automatic disturbance rejection controller when being equal to 0.1kg for 4 mass of end load
Property 7 tip vibration control effect figure of motion arm.Wherein, chain-dotted line is that the displacement of 7 tip vibration of flexible motion arm, solid line are before controlling
It is displaced using 7 tip vibration of flexible motion arm after elastic vibration automatic disturbance rejection controller 11.As can be seen that using this patent design
Elastic vibration automatic disturbance rejection controller 11 can effectively inhibit the elastic vibration of flexible motion arm 7.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (5)
1. a kind of flexible motion arm elastic vibration Active Disturbance Rejection Control device, it is characterised in that：Including：
Flexible motion arm (3) is connected with end load (4) on the flexible motion arm (3)；
Image collecting device (6), to obtain the shape of end load (4)；
Positioning pedestal (2), the positioning pedestal (2) are connected with transmission gear for electric motor；
Bolted system (1), connects flexible motion arm (3) and positioning pedestal (2) and can induction pressure information；
The transmission gear for electric motor is connected with motor driver (13), motion control card (12), elastic vibration active disturbance rejection control in turn
Device (11) processed and frequency calculation module (10), the frequency calculation module (10) are connected with signal processing module I (9) and signal
Processing module II (8)；
It further include being connected with bolted system (1) and filling the signal acquisition that pressure signal is transferred to signal processing module I (9)
The signal pickup assembly II for setting I (5), being connected with image collecting device (6) and transmitting a signal to signal processing module II (8)
(7)。
2. a kind of flexible motion arm elastic vibration Active Disturbance Rejection Control device according to claim 1, it is characterised in that：It is described
Bolted system (1) include：
Across the bolt (1-5) of positioning pedestal (2) and flexible motion arm (3)；
With the nut (1-1) of bolt (1-5) cooperation；
Gasket II (1-4) at bolt (1-5) and positioning pedestal (2) cooperation is set；
The pressure sensor (1-3) being arranged between flexible motion arm (3) and nut (1-1)；
The gasket I (1-2) being arranged between pressure sensor (1-3) and nut (1-1).
3. a kind of flexible motion arm elastic vibration Active Disturbance Rejection Control device according to claim 1, it is characterised in that：It is described
Signal processing module II (8) it is negative can to export in real time end using preset work library according to the shape of end load (4)
Carry the quality of (4).
4. a kind of control method of flexible motion arm elastic vibration active disturbance rejection, it is characterised in that：Include the following steps：
Step 1: establishing shape and the matched work library of sole mass of typical end load (4)；
Step 2: acquiring the output signal of pressure sensor (1-3) in real time using signal pickup assembly I (5) and being transferred to signal
Processing module I (9) is handled by signal processing module I (9) and obtains flexible motion arm (7) root with positioning pedestal (2) with combined pressure
Power is simultaneously transferred to frequency calculation module (10)；The output of synchronous signal acquisition device II (7) real-time image acquisition acquisition device (6)
Signal is simultaneously transferred to signal processing module II (8), according to the work library established in step 1, signal processing module II (8) processing
It obtains the quality of end load (4) and is transferred to frequency calculation module (10)；
Step 3: according to frequency calculation module (10) received flexible motion arm (7) root with positioning pedestal (2) with resultant pressure
And the quality information of end load (4), it determines the real-time boundary condition of flexible motion arm (7), obtains flexible motion arm (7)
Frequency equation determines the modal frequency of flexible motion arm (7) using frequency calculation module (10)；
Step 4: design flexibility vibration automatic disturbance rejection controller (11), determines the displacement control signal of positioning pedestal (2)；
Step 5: moving using motion control card (12) and motor driver (13) driving positioning pedestal (2), make flexible motion arm
(7) inhibit natural resiliency vibration while moving to designated position.
5. a kind of control method of flexible motion arm elastic vibration active disturbance rejection according to claim 4, it is characterised in that：Institute
Stating step 4 includes：
A, it is based on input shaper method, the modal vibration shaping controller of two rank mode before building flexible motion arm (7), and determine mould
The relationship of state vibration shaping controller and flexible motion arm (7) modal frequency；
B, it is based on cascade method, integrates the modal vibration shaping controller composition flexible operation of two rank mode before flexible motion arm (7)
The elastic vibration automatic disturbance rejection controller (11) of arm (7)；
C, positioning pedestal (2) are subjected to process of convolution with reference to displacement signal and elastic vibration automatic disturbance rejection controller (11), are determined
The displacement control signal of position pedestal (2).
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