Robust Motion Control of Industrial Robot Considering Two-inertia System Based on CDM Method and Resonance Ratio Control

Transcription

1 Robust Motion Control of Industrial Robot Considering Twoinertia ystem Based on CM Method and Resonance Ratio Control Present by: Chowarit Mitsantisuk National Electronic and Computer Technology Center RE8 : Automation and Manufacturing AB

2 Background What s need for industrial robot manipulators Highaccuracy Highrepeatability Highprecision

3 Problem.Vibration uppression. Improve speed response. Reduce the state error of position control

4 Outline of conventional control method Twoinertia Model τ J ω REF P Position Control PP PI peed Control ω CM PI ICM T τ T τ M R gn J MO MO R gn ω M M

5 Outline of proposed control method Twoinertia Model τ = ( ) && h(, & ) C( ) F(, & ) ω REF REF P Position Control P cheme F P PP ω CM R PI with FF P PI&FF peed Control ω CM T τ Resonance Ratio Control I CM T τ T τ M T R R gn J J MO MO isturbance Observer ω R gn ω M M Reduce the state error of position control Improve speed response Vibration uppression & isturbance Rejection

6 Three egree of Freedom of Robot Manipulator Y y X Z ink z X,0 Y,0 Z,0 Y,0 Z,0 X,0 y X Z ink Y X,0 Z,0 Y,0 ink z z Figure :escription of the position and orientation of the endeffecter frame

7 TwoInertia Model Harmonic Gear J MO, MO J, oad Advantages Positioning accuracy and repeatability Not backdrivable ZeroBacklash High efficiency Motor Motor in Motion imulation

8 TwoInertia Model J, τ isturbance Torque oad ynamics J ω Harmonic Gear τ T Torsional Torque J MO, MO oad R gn R gn Motor I CM Twoinertia ystem T τ M J MO MO Motor ynamics ω M M

9 Resonance ratio control τ = ( ) && h(, & ) C( ) F(, & ) REONANCE RATIO CONTRO τ I CM Twoinertia ystem M ω M I * CM R T isturbance Observer T R

10 Resonance ratio control and PI peed Control The resonance frequency of the new system is changed to J = M J MO R ω Changed Resonance Frequency to r = s R J J MORgn J The resonance ratio can be controlled by R ω J R = ω J Rgn H r = a MO Optimal Resonance Ratio etermined by CM method

11 Resonance ratio control and PI peed Control ω CM P I τ I * CM Twoinertia ystem and Resonance Ratio Control M ω M

12 Resonance ratio control and PI peed Control Manabe s s Model Polynomial a P a a a τ = = = γ = =.5, γ = =, γ = = a β a a a a a a 0 I I, P and R etermined by CM method 4 5 H =,, Rgn Optimal Resonance Ratio ( 6 = I P = 4 T TRgn 40J ) 4 = R H R O

13 Feedforward Compensator ω CM F ( ( α )( β )( α ) α ) 5 τ ω CM Twoinertia ystem, Resonance Ratio Control and PI Control M ω M Feedforward Controller Eliminate effects of dominant poles α, α High peed Response

14 P Position Control ω REF REF F P PP τ ω CM Twoinertia ystem, Resonance Ratio Control, PI &FF peed Control M ω M P cheme P P Position Control

15 P Position Control Manabe s s Model Polynomial aa P τ = = = Equivalent time constant aa β γ P P = PP 0 aa aa aa = = add 0 add I add.5 tability index P and PP etermined by CM method F βγ add add β addjβγ P etermined by arbitrary zero z F P pd = z pp add α α 4J αα 4α 5J βγ α α J βγ α α J βγ α α α J 4 5

16 imulation Results Z w Error r= rr ref r R ref r R ref X w Z w Y w X w The threedimensional circle trajectory path which rotating angle from Xaxis 45 ๐ and from Zaxis 45 ๐

17 imulation Results.4 x Tracking path Reference path ] [m r ro E Z [m ] Time [s ] Controller Resonance Ratio Control, PI &FF peed Control and P Position Control PI peed Control and P Position Control Y[m] mm Maximum Error.0mm X[m] Area of Error ms 0.00 ms

18 Conclusion.Vibration uppression : Resonance Ratio Control and PI peed Controller. Improve speed response: Feedforward control. Reduce the state error of position control : P Position Controller 4. All of this controller designed by CM method, considering from stability index and rise time.

19 Thank you

20 Resonance ratio control τ = ( ) && h(, & ) C( ) F(, & ) REONANCE RATIO CONTRO τ I CM Twoinertia ystem M ω M I * CM R T J MO T τ τ q q MO T R

21 Accelerationrelate symmetric matrix term Nonlinear Coriolis and centrifugal force vector term Gravity loading force vector term Coulomb and viscous friction term ynamic of Robot Manipulator ynamic of Robot Manipulator = F F F C C C hc hc hc hc hc hc hc hc hc h h h h h h h h h τ τ τ ), F( ) C( ), h( ) ( = τ & & &&