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Mechanical resonance suppression of the high-speed parallel robot based on fractional order disturbance observer

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2024年第15期238卷 7733-7746页

作者： Ni, Jinlu Mei, Jiangping Tianjin Univ Key Lab Mech Theory & Equipment Design Minist Educ Yaguan Rd Tianjin 300072 Peoples R China

Considering the flexibility of the transmission shaft system, this paper presents an approach for mechanical resonance suppression of the high-speed parallel robot based on fractional order disturbance observer. First, in order to evaluate mechanical resonance, a decoupled mechatronic dynamics model is built. Based on the proposed decoupled dynamics model, the mechanical resonance under different influence factors is analyzed. Then, based on the three closed-loop control structure of servo system, a model-based parameter tuning method is adopted in the controller parameter tuning. Finally, inspired by the traditional disturbance observer, a fractional order disturbance observer is established by introducing a fractional order filter. Results show that due to the flexibility of the transmission shaft system, under the combined action of mechanical disturbance torque and electromagnetic driving torque, the joint transmission system will generate mechanical resonance phenomena. Therefore, this paper proposes a method for the mechanical resonance suppression of the high-speed parallel robot based on the fractional order disturbance observer. And the proposed method can be applied to other mechatronic device including flexible transmission shaft system.

关键词： mechatronic dynamics model parallel robot controller parameter tuning fractional order disturbance observer mechanical resonance suppression

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