基于可置换柔性连接的双驱龙门平台动力学建模和高速高精运动控制方法研究

To introduce the link bar with flexure joints in dual-drive gantry stage, we can reduce the coupling force of the joints, thus improving the reliability of the mechanism during high-speed motion. However, such revision will introduce additional flexible modes, challenging the precision control of the stage. In this project, we will first study the model of the coupling force due to deformation of flexure, and build up the dynamical model of the stage by Newton-Euler method, thus reducing the computational intensity. Second, we will develop the method to identify the dynamical model parameters of the stage by dual-channel relay-feedback safely, by exciting controllable oscillations of the moving carriage, thus reducing the coupling forces on the joint throughout the identification process. Third, we will develop the method to simultaneously optimize the flexure stiffness, servo stiffness of the jerk-decoupling cartridge and the controller parameters, achieving better precision through replacement of flexures and appropriate setting of controller parameters. Finally, we will study the method of online profile alteration in dynamical sense and the associated data-based parameter tuning method for this stage, optimize the motion precision on different motion profiles. It is believed that the above techniques on flexure-linked dual-drive gantry will be widely applied in flexible manufacturing. It is also expected that the research results from this project will advance the design technology of the automation machines in China.

通过在双驱龙门运动平台横梁两端采用柔性连接的设计，能够降低两平行轴在高速同步运动中机构关节受到的耦合力；但也引入了振动模态，对平台的精密运动控制提出了新的挑战。本项目研究通过建立柔性连接形变产生的耦合力模型，应用牛顿-欧拉法分模块建构平台动力学模型的方法，减少建模的计算量；研究通过双通道开关控制安全辨识动力学模型参数的方法，引导平台产生受控的往复运动，降低参数辨识过程中柔性连接受到的应力；研究同步优化平台中柔性连接刚度、缓冲电机伺服刚度与运动控制参数的方法，实现通过同步置换柔性连接与设定控制参数，提高运动精度和振动抑制能力；研究动力学意义上的参考轨迹修正与数据驱动下的控制参数调试方法，提高平台在不同轨迹下的运动精度。可以预见，本项目研究基于可置换柔性连接双驱龙门平台的建模和控制方法在柔性化生产中有着广泛的应用前景；期望相关成果能为提高我国自动化设备的研发水平做出贡献。

双驱龙门平台在自动化装备中得到了广泛应用。通过其在横梁两端与电机动子连接处添加柔性设计，可避免两平行轴同步运动控制中对连接关节的应力集中，但同时也引入了振动模态，对平台的精密运动控制提出了新的挑战。本项目重点研究了双驱龙门平台的建模、优化设计和运动控制方法。通过建立柔性连接形变产生的耦合力模型，应用牛顿-欧拉法完成了平台的动力学建模；通过建立双通道继电反馈方法，安全辨识了双驱龙门平台动力学模型参数；基于约束最优控制理论提出了平台的柔性连接刚度和PID运动控制参数的同步优化方法,实现了无需有限元分析的高效优化，提高了平台的运动精度和振动抑制能力；提出了适用于分散式控制架构的轨迹修正+数据驱动调试的方法,在平台上实现了与耦合控制方法相当的同步控制精度，发表SCI论文11篇，授权发明专利2项，相关成果被中科院官网及美、加、澳科技媒体报道，为推动双驱龙门平台在柔性生产线上的应用提供了理论和技术支撑。