Control Strategy of Flexible Load Servo Drive System Based on Manipulator Position and Position Transformation

The parameters such as the moment of inertia of the flexible load end of the servo drive system change with the position of the flexible manipulator, which affects the speed of the motor output of the servo drive system. In order to reduce the speed fluctuation of the motor output, the parameters of the servo drive system speed loop PI controller are designed by the pole configuration method. The selection of this parameter changes with the position of the flexible robot arm, so that the servo drive system can be obtained in different poses. Good dynamic response characteristics to avoid mechanical resonance. The dynamic model of the flexible load servo drive system is established based on the continuum vibration theory and the Lagrangian principle. The transfer function of the motor speed to the flexible load drive torque is obtained by the state equation. The variable parameter PI control strategy is applied to the servo drive system speed loop control. The influence of the flexible load on the control characteristics of the speed loop is analyzed. The pole parameters are used to design the controller parameters. Next, the controller parameters are designed by using the same amplitude, the same damping coefficient, and the same three real pole configuration strategies. The effects of different parameters of these three pole placement strategies on the system resonance peak, resonant frequency and bandwidth are discussed. Finally, the numerical simulation analysis shows that the equivalent flexible load parameters of the servo drive system are related to the pose of the mechanical arm; when the flexible load radius of gyration and the moment of inertia are large, it is not suitable to use the pole configuration method of the same real part, but the other two The method can reduce the fluctuation of the motor output speed by appropriately selecting parameters.