| Industrial robots are the representatives of advanced manufacturing.At present,the robot industry is developing rapidly,and China has become the largest industrial robot market.However,the core components are missing and rely heavily on imports.Studying the servo drive system composed of core components is of great significance to improve the key technologies of robots in China.At the same time,in the field of precision assembly,man-machine cooperation and other fields,higher requirements are placed on the dynamic precision of industrial robots.The servo drive system is the core of the motion system and determines the dynamic performance of the whole machine.Taking a domestic six-degree-of-freedom robot BRIR801-5 as an example,based on its kinematics and dynamics,the input curve of the servo drive system under actual working conditions is obtained,study the influence mechanism of electromechanical parameters on the dynamic characteristics of servo drive system.The specific research contents are as follows:(1)Based on the improved D-H method,the kinematics model is established,and a simple computational inverse method is derived.The kinematics simulation was carried out through the Matlab toolbox Robotic Toolbox,which verified the correctness of the modeling.An actual handling condition was planned,and the inverse dynamics simulation was carried out based on the Adams simulation software to solve the output torque of each joint motor during the handling process.(2)The mathematical model and vector control model of the robot servo motor are established,and the PID parameters of the servo motor are adjusted to save the parameter debugging time.A dynamic model of the servo drive system is established.The influence mechanism of the control parameters of the drive system and the mechanical parameters of the transmission part on the system performance is studied,and the simulation verification is carried out by simulink software.(3)Aiming at the problem that the servo drive system has poor dynamic tracking accuracy under the control of PID,the sliding mode algorithm is used to design the speed loop of the servo motor,and the full-dimensional and dimensionality-observation state observer of the load is designed.The sliding mode control algorithm,PID control algorithm and PID algorithm based on load observation are compared.It is verified that the sliding mode control algorithm has superior performance in anti-load disturbance.(4)In order to verify the influence mechanism of electromechanical parameters on the servo drive system,the AC servo drive system test bench was designed.The working principle and hardware composition were introduced.The electromechanical dynamics experiments of the servo drive system are carried out,verify the correctness of the servo system modeling and the influence mechanism of the electromechanical parameters on the performance,which lays a foundation for further research on the dynamic characteristics of the robot. |
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