| Industrial robots are widely used in processes such as machining,part assembly,welding,etc.The non-smooth characteristics of frequent start and stop caused by highspeed motion transitions in robot operations inevitably lead to electromechanical coupling vibration with digital servo control system,it is coupled with joint torsional vibration caused by flexibility as well,which will generate complex end vibration,that has an impact on the dynamic accuracy of the end-effector.The research on electromechanical coupling mechanism of industrial robot vibration is both the basis for coupled vibration control and the key to high-precision operations and wider applications.This dissertation aims to improve the dynamic accuracy of the robot endeffector by studying the electromechanical coupling mechanism and control method of industrial robot vibration,which includes:Firstly,the mathematical model of vector control of a PMSM is analyzed,and the PID parameters of the servo speed control system are rectified by the engineering design method.This is followed by simplifying the permanent magnet AC servo drive system into a three-mass & two-axis electromechanical coupling system,the mathematical model of the three-mass & two-axis system and the electromechanical coupling simulation model is established.The simulation results verify the correctness of the model,which can meet the control performance requirements of the servo system.Secondly,robot electromechanical coupling dynamics is analyzed and the virtual simulation experiments are carried out.A 6-DOF industrial robot of ABB-IRB2600 is taken as the research object,and the global electromechanical coupling dynamics model of the industrial robot is established based on Lagrange-Maxwell theory,followed by joint virtual simulation experiments.Then,the robot joint servo system is divided into electromechanical coupling subsystems,and the main coupling forms and coupling relationships within the system are clarified.By establishing a simplified model of the joint servo system and deriving its transfer function,the torsional vibration mechanism is analyzed at the electromechanical coupling level.Based on the simulation model of electromechanical coupling in a servo drive system,the influence of electrical control parameters,mechanical parameters,load disturbances,and other factors on the vibration characteristics of electromechanical coupling is analyzed.Finally,based on the comprehensive analysis of the mechanism and characteristics of the electromechanical coupling vibration of the servo system,the electromechanical coupling vibration control method based on the Fuzzy-ADRC composite control and the current compensation torsional vibration suppression method based on the ADRC are proposed,respectively.The simulation results under the impact load show that the proposed vibration control strategy can effectively suppress the electromechanical coupling vibration of the industrial robot.The research brings forward exploring solutions to the vibration control of the industrial robot. |
