基于双定子力矩电机驱动的模块化轻型机械臂关节振动抑制方法研究

Light-weight manipulator is one of the main research directions on next-generation collaborative robots. Design and control of its joint is the basic premise to guarantee the performance of the manipulator. However, due to the light-weight and modular design of the joint, the mechanical stiffness of the joint is reduced, which leads to mechanical vibration at low frequencies and makes vibration modes be excited easily. This further intensifies of the vibration at the end of the manipulator and degrades the positioning accuracy, stability and efficiency of the manipulator severely. In order to improve the control performance of the joint, the idea of joint driving with a dual-stator motor is proposed and research is then performed on the vibration suppression for the light-weight joint. The structure of the dual-stator motor is designed sophisticatedly for the actuation of the light-weight joint. The dynamic response and the vibration characteristics of the joint are analyzed thoroughly, thus revealing the mechanism behind joint vibration. Solution for joint vibration suppression is then investigated and proposed, based on the open-loop input shaping method together with the closed-loop coordinated and separated frequency control of both stators. By carrying out this project, theoretical support will be provided for the design and vibration suppression of flexible joints in light-weight manipulators, opening up a new approach in the research on next-generation collaborative robots.

轻型机械臂是下一代协作机器人的主要发展方向，其驱动关节的设计和控制是保证轻型机械臂系统性能的前提和关键。然而，驱动关节的轻量化和模块化集成设计导致其结构刚度变小，极易产生严重的低频振动，进而造成机械臂末端振动加剧，大幅度降低机械臂的定位精度、运动稳定性和工作效率。为了提高关节的驱动控制性能，本项目提出采用双定子力矩电机的新型关节驱动方案，深入开展新型关节的振动抑制方法研究。研究适合于轻型机械臂模块化关节的双定子力矩电机结构；深入分析关节的动力学响应和振动特性，揭示关节的振动机理；研究基于开环自适应输入整形结合双定子电机分频协调闭环控制的关节振动抑制方法。本项目的实施将为轻型机械臂模块化关节的设计和振动抑制提供理论支撑，为下一代协作机器人研究开辟一条崭新的路径。

本项目研究了基于双定子电机的协作机器人驱动关节模块的动力学和振动分析等基础理论与方法，突破了双定子永磁力矩电机的设计、关节模块动力学建模和振动分析、关节振动估测和振动抑制等关键技术。项目提出了协作机器人关节用双定子永磁力矩电机的设计方法，通过采用同心式串联磁路结构，并对双定子电机内、外磁钢相对位置和形状的优化，提高了转矩密度，减小了电机转矩波动；项目研制了双定子永磁力矩电机样机，转矩密度相较于单定子结构提高11%，齿槽转矩波动减小26%；提出了驱动关节模块动力学建模和振动分析方法，揭示了关节振动机理；提出了基于双编码器信息和观测器的关节振动估测方法，突破了基于刚体速度的关节谐振抑制和基于自适应前馈补偿的关节速度稳态波动补偿等关键技术，项目研制了驱动关节样机，速度控制精度达到了±0.01rad/s。项目已发表学术文章8篇，其中SCI收录2篇，申请专利4项，已获授权专利2项，培养博士生和硕士研究生各1名。