本文選題：工業(yè)機(jī)器人 + 多軸同步控制　； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：近年來,對工業(yè)機(jī)器人在加工和制造中的運(yùn)動精度的要求越來越高,而機(jī)器人各關(guān)節(jié)運(yùn)動的同步性又是影響機(jī)器人末端運(yùn)動精度的一個重要因素。針對工業(yè)機(jī)器人系統(tǒng)非線性、強(qiáng)耦合等控制難點(diǎn),再考慮到通信網(wǎng)絡(luò)在控制系統(tǒng)中的廣泛應(yīng)用,本文研究網(wǎng)絡(luò)化工業(yè)機(jī)器人系統(tǒng)的同步控制問題,主要開展了以下幾個方面的研究工作:(1)利用第二類拉格朗日方程,建立了工業(yè)機(jī)器人系統(tǒng)的動力學(xué)模型,并分析了模型的結(jié)構(gòu)特性;考慮到網(wǎng)絡(luò)時延的存在,分析了網(wǎng)絡(luò)控制系統(tǒng)中信息的傳輸時序,建立了一般網(wǎng)絡(luò)控制系統(tǒng)的數(shù)學(xué)模型。(2)研究了無網(wǎng)絡(luò)時延條件下工業(yè)機(jī)器人系統(tǒng)的同步控制問題,設(shè)計了基于耦合誤差的控制系統(tǒng)架構(gòu);針對工業(yè)機(jī)器人系統(tǒng)同步位置控制問題,提出了基于PD+期望重力補(bǔ)償策略的同步控制算法,并從理論上分析閉環(huán)系統(tǒng)的穩(wěn)定性;針對軌跡跟蹤問題,提出了基于PD+前饋期望速度和加速度補(bǔ)償策略的同步控制算法,并從理論上分析閉環(huán)系統(tǒng)的穩(wěn)定性;通過數(shù)值仿真,驗證了同步控制算法的同步效果。(3)應(yīng)用變結(jié)構(gòu)控制算法,解決了時延對網(wǎng)絡(luò)化工業(yè)機(jī)器人系統(tǒng)的影響。針對工業(yè)機(jī)器人同步控制位置問題,引入變結(jié)構(gòu)控制環(huán)節(jié),提出了網(wǎng)絡(luò)化的同步位置控制算法,并從理論上分析了閉環(huán)系統(tǒng)的穩(wěn)定性;針對機(jī)器人同步軌跡跟蹤問題,提出了滑模同步軌跡跟蹤算法,并從理論上分析了閉環(huán)系統(tǒng)的穩(wěn)定性;通過數(shù)值仿真,分析了這兩種控制算法的時延補(bǔ)償效果以及算法的優(yōu)缺點(diǎn)。(4)深入分析了網(wǎng)絡(luò)時延對控制系統(tǒng)的影響機(jī)制和工業(yè)機(jī)器人動力學(xué)模型的特點(diǎn),提出了基于時滯系統(tǒng)理論和魯棒H_∞理論的控制算法。通過引入非線性補(bǔ)償環(huán)節(jié),實現(xiàn)了工業(yè)機(jī)器人系統(tǒng)的線性化,將補(bǔ)償誤差視為外界干擾,將網(wǎng)絡(luò)化工業(yè)機(jī)器人系統(tǒng)同步控制問題,轉(zhuǎn)化為存在外界干擾時定常線性系統(tǒng)的魯棒控制問題;為此,分別設(shè)計了魯棒H_∞狀態(tài)反饋和動態(tài)輸出反饋鎮(zhèn)定控制律,給出了兩種控制律的LMI求解方法;通過數(shù)值仿真,驗證了兩種控制律的時延補(bǔ)償效果和估計偏差抑制能力。
[Abstract]:In recent years, the requirement of the motion accuracy of the industrial robot in machining and manufacturing is more and more high, and the synchronism of the motion of the robot joints is an important factor that affects the kinematic accuracy of the robot end. Aiming at the control difficulties of industrial robot system such as nonlinear and strong coupling, considering the wide application of communication network in control system, this paper studies the synchronous control problem of networked industrial robot system. This paper mainly studies the following aspects: 1) by using the Lagrange equation of the second kind, the dynamic model of the industrial robot system is established, and the structural characteristics of the model are analyzed, considering the existence of the network delay, In this paper, the time sequence of information transmission in networked control system is analyzed, and the mathematical model of general networked control system is established. The synchronization control problem of industrial robot system without network delay is studied. The control system architecture based on coupling error is designed, and the synchronous control algorithm based on PD expected gravity compensation strategy is proposed for the synchronous position control of industrial robot system, and the stability of the closed-loop system is analyzed theoretically. Aiming at the trajectory tracking problem, a synchronization control algorithm based on PD feedforward expected velocity and acceleration compensation strategy is proposed, and the stability of the closed-loop system is analyzed theoretically. The synchronization effect of the synchronization control algorithm is verified. The variable structure control algorithm is applied to solve the influence of the delay on the networked industrial robot system. Aiming at the problem of synchronous position control of industrial robot, this paper introduces variable structure control link, proposes a networked synchronous position control algorithm, and theoretically analyzes the stability of closed loop system, aiming at the problem of robot synchronous trajectory tracking. A sliding mode synchronous trajectory tracking algorithm is proposed, and the stability of the closed-loop system is theoretically analyzed. The delay compensation effect of the two control algorithms and the advantages and disadvantages of the two control algorithms are analyzed. The influence mechanism of the network delay on the control system and the characteristics of the dynamic model of the industrial robot are analyzed. A control algorithm based on time-delay system theory and robust H _ 鈭，

本文編號：1908832