CN-116872208-B - Robot vibration suppression method, device, equipment and medium

CN116872208BCN 116872208 BCN116872208 BCN 116872208BCN-116872208-B

Abstract

The invention discloses a robot vibration suppression method, a device, equipment and a medium, wherein the method comprises the steps of constructing a servo control system of a robot, wherein the servo control system comprises a position loop regulator, a speed loop regulator, an improved wave trap and a current loop regulator which are sequentially connected, and control parameters of the improved wave trap comprise a trap center frequency, a trap depth coefficient, a trap width coefficient and a phase improvement coefficient; the method comprises the steps of controlling a servo motor arranged in a robot to rotate, controlling a connecting rod side load by the servo motor through a harmonic reducer, generating an excitation signal caused by manufacturing and assembling errors of the harmonic reducer in a servo control system, determining a theoretical frequency of the excitation signal and setting the theoretical frequency as a notch center frequency, and controlling an improved wave trap to filter out components containing the theoretical frequency in an input signal of the improved wave trap so as to inhibit vibration of the robot. The improved wave trap provided by the invention can more quickly and effectively inhibit the robot from generating resonance, and simultaneously ensure that a servo control system of the robot has high stability.

Inventors

WANG KEJIAN
HUANG SHIFENG
ZHU ZHIHONG
GAO MENG
ZHOU XING
ZHANG LIQUN
SUN QIAN
JU RAN

Assignees

佛山智能装备技术研究院

Dates

Publication Date: 20260512
Application Date: 20230727

Claims (9)

1. A method of vibration suppression for a robot, the method comprising: Constructing a servo control system of the robot, wherein the servo control system comprises a position loop regulator, a speed loop regulator, an improved wave trap and a current loop regulator which are sequentially connected, and control parameters of the improved wave trap comprise a notch center frequency, a notch depth coefficient, a notch width coefficient and a phase improvement coefficient; The method comprises the steps of controlling a servo motor arranged in the robot to rotate, controlling a connecting rod side load by the servo motor through a harmonic reducer, and generating an excitation signal caused by manufacturing and assembling errors of the harmonic reducer in the servo control system; Determining a theoretical frequency of the excitation signal, and setting the theoretical frequency as the notch center frequency; controlling the improved wave trap to filter out components containing the theoretical frequency in an input signal of the improved wave trap so as to inhibit the vibration of the robot; wherein the transfer function of the improved trap is: In the formula, For said improving the transfer function of the trap, Refers to the number of variables that are to be referred to, For the notch width coefficient in question, For the notch depth coefficient in question, For the notch center frequency to be the notch center frequency, And improving the coefficient for the phase.
2. The method according to claim 1, wherein the harmonic reducer is equivalent to a torsion spring, and the mathematical model of the servo control system is determined based on the link side as follows: Wherein, the In the event of an electromagnetic torque, For a given motor position, As a function of the actual motor position, For the transfer function of the position loop adjuster, For the actual motor speed, For the transfer function of the speed loop regulator, As a transfer function of the current loop regulator, For the torque of the torsion spring, For the stiffness of the torsion spring, Is the damping coefficient of the torsion spring, In order for the excitation signal to be present, Is the position of the connecting rod, For the inertia of the motor, For the actual acceleration of the motor, Is the moment on the side of the connecting rod, Is the side inertia of the connecting rod, Is the link acceleration.
3. The method of claim 2, wherein the excitation signal is: Wherein, the In order to be amplitude-value, In order to be a phase of the light, To get the actual motor speed Represented by the link side equivalent to the motor side, Is a harmonic reduction ratio of the power of the motor, Is time.
4. A method of vibration suppression for a robot according to claim 3, characterized in that the theoretical frequency of the excitation signal is: Wherein, the For the theoretical frequency of the excitation signal, To give the motor speed Represented by the link side equivalent to the motor side.
5. The method of claim 1, wherein the notch width factor is determined by: when the improved wave trap is not put into use, the servo motor is controlled to rotate according to different given motor speeds, and different excitation signals caused by manufacturing and assembling errors of the harmonic speed reducer are correspondingly generated in the servo control system so as to acquire a plurality of motor speed curves corresponding to feedback of the excitation signals; determining a plurality of theoretical frequencies corresponding to the excitation signals according to the given motor speeds; Determining a plurality of actual frequencies corresponding to the excitation signals according to the motor speed curves; Determining a plurality of frequency deviations from the plurality of theoretical frequencies and the plurality of actual frequencies; The notch width coefficient is determined based on the plurality of frequency deviations, the notch center frequency, and the phase improvement coefficient.
6. The method of claim 5, wherein the notch width factor is: Wherein, the Is the maximum of the plurality of frequency deviations.
7. A robot vibration suppression device, the device comprising: the construction module is used for constructing a servo control system of the robot and comprises a position loop regulator, a speed loop regulator, an improved wave trap and a current loop regulator which are sequentially connected, wherein control parameters of the improved wave trap comprise a notch center frequency, a notch depth coefficient, a notch width coefficient and a phase improvement coefficient; The control module is used for controlling a servo motor arranged in the robot to rotate, the servo motor controls a connecting rod side load through a harmonic reducer, and excitation signals caused by manufacturing and assembling errors of the harmonic reducer are generated in the servo control system; The setting module is used for determining the theoretical frequency of the excitation signal and setting the theoretical frequency as the notch center frequency; the suppression module is used for controlling the improved wave trap to filter out components containing the theoretical frequency in an input signal of the improved wave trap so as to suppress the vibration of the robot; wherein the transfer function of the improved trap is: In the formula, For said improving the transfer function of the trap, Refers to the number of variables that are to be referred to, For the notch width coefficient in question, For the notch depth coefficient in question, For the notch center frequency to be the notch center frequency, And improving the coefficient for the phase.
8. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor executes the computer program to implement the robot vibration suppression method of any one of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the robot vibration suppression method according to any one of claims 1 to 6.

Description

Robot vibration suppression method, device, equipment and medium Technical Field The invention relates to the technical field of robots, in particular to a method, a device, equipment and a medium for suppressing vibration of a robot. Background With the rise of industrial automation degree, more and more robots are widely used in industrial production and manufacturing, such as welding, spraying, assembling, carrying and the like, so as to form a flexible production line in cooperation with other equipment. The robot is usually equipped with the harmonic reducer and regulates and control when moving, but simultaneously the harmonic reducer also can increase joint flexibility for the robot, when there is the excitation source and its frequency reaches the resonant frequency of robot, leads to the robot to produce destructive vibration action easily, seriously influences the terminal track precision of robot. In the prior art, a double-T-shaped trap is usually added into a servo control system of a robot to restrain vibration of the robot, control parameters inside the double-T-shaped trap only comprise a trap center frequency, a trap depth coefficient and a trap width coefficient, setting the trap center frequency is difficult, a setting method proposed by a current learner still has certain defects, the first method is to calculate the natural frequency of the robot by carrying out parameter identification on the robot, then the natural frequency is used as the resonance frequency of the robot and is set as the trap center frequency, but because the robot is a system with time-varying inertia and nonlinear rigidity, the natural frequency is time-consuming to identify through a dividing region and the calculation difficulty is large, the second method is to determine the resonance frequency of the robot through an online FFT (Fast Fourier Transform ) analysis mode, and then the resonance frequency is set as the trap center frequency, but due to the fact that the running time of the robot is short, the resolution of an online FFT result is low, and the obtained resonance frequency is not accurate enough. In addition, adding the dual T-shaped trap may also cause phase lag problems to the servo control system, making the servo control system unstable. Disclosure of Invention The invention provides a method, a device, equipment and a medium for suppressing vibration of a robot, which are used for solving one or more technical problems in the prior art and at least providing a beneficial selection or creation condition. In a first aspect, there is provided a robot vibration suppression method, the method comprising: Constructing a servo control system of the robot, wherein the servo control system comprises a position loop regulator, a speed loop regulator, an improved wave trap and a current loop regulator which are sequentially connected, and control parameters of the improved wave trap comprise a notch center frequency, a notch depth coefficient, a notch width coefficient and a phase improvement coefficient; The method comprises the steps of controlling a servo motor arranged in the robot to rotate, controlling a connecting rod side load by the servo motor through a harmonic reducer, and generating an excitation signal caused by manufacturing and assembling errors of the harmonic reducer in the servo control system; Determining a theoretical frequency of the excitation signal, and setting the theoretical frequency as the notch center frequency; and controlling the improved wave trap to filter out components containing the theoretical frequency in the input signal so as to inhibit the vibration of the robot. Further, the harmonic reducer is equivalent to a torsion spring, and the mathematical model of the servo control system is determined by taking the connecting rod side as a reference, wherein the mathematical model is as follows: Ts＝(K+Css)×(qm+qsync-ql); Where T m is the electromagnetic torque, q ref is the given motor position, q m is the actual motor position, G P(s) is the transfer function of the position loop regulator, For the actual motor speed, G V(s) is the transfer function of the speed loop regulator, G INF(s) is the transfer function of the improved trap, G C(s) is the transfer function of the current loop regulator, s refers to complex variables, T s is torsion spring torque, K is torsion spring stiffness, C s is torsion spring damping coefficient, q sync is the excitation signal, q l is connecting rod position, J m is motor inertia,For actual motor acceleration, T l is the link side moment, J l is the link side moment of inertia,Is the link acceleration. Further, the transfer function of the improved trap is: Where k is the notch width coefficient, p is the notch depth coefficient, ω n is the notch center frequency, ω d is the phase improvement coefficient. Further, the excitation signal is: Wherein A is the amplitude value, In order to be a phase of the light,To get the actual motor speedTh