双弯曲机械臂系统辨识与PID实现

Suhas P. Deshmukh, Hrishikesh B. Zambare, Kavidas K. Mate, Mahesh S. Shewale, Zeba Khan
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引用次数: 10

摘要

传统的机构(即刚性连杆机构)由于摩擦、反弹,精度和可重复性有限。机构通过关节提供刚性连杆之间的相对运动。通常这些接头是销、滑动、滚动、液膜等。这些关节具有固有的非线性摩擦特性,给精密机构的微纳定位控制带来了困难。为了实现高分辨率和高精度的摩擦问题,需要消除机构中的间隙。这些关节被柔性元件取代,如弯曲铰链,弯曲链接,提供无摩擦和平滑运动的优势。弯曲机构是利用铰链和平面型等基本构件开发的。弯曲的建筑模块应该是这样的,它在期望的方向上提供较小/零阻力,在正交方向上提供最大/无限阻力。在正交方向上产生的运动称为寄生运动。双弯曲机械臂(DFM)是一种理论上具有零寄生误差且运动平台旋转量可忽略的平面型构件。本文介绍了DFM的设计、开发、系统集成、系统辨识和PID控制的实现。开发的弯曲台通过dSPACE微控制器与台式PC机集成。进行了系统的静态和动态辨识,并对DFM的刚度、固有频率、阻尼特性和频率特性等性能参数进行了估计,并通过相应的实验进行了验证。进一步利用DFM估计的传递函数进行控制系统的开发,并对PID控制参数进行整定。实时PID实现在2.5 mm/s的高扫描速度下提供几微米的位置精度。
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System identification and PID implementation on Double Flexural Manipulator
Conventional mechanism (i.e. rigid link mechanisms) has limited accuracy and repeatability because of friction, backlash. Mechanism offers a relative motion between rigid links via joints. Conventionally these joints are pin, sliding, rolling, liquid film etc. These joints have inherent nonlinear frictional characteristics which are creating difficulty in control micro-nano positioning in precision mechanisms. To achieve high resolution and precision problems of friction, backlash in mechanism needs to be removed. These joints are replaced by flexible elements such as flexural hinge, flexural links which offers advantage of frictionless and smooth motion. Flexural mechanisms are developed using basic building blocks such as hinges and planar type. Flexural building blocks should be such that it offers lesser / zero resistance to motion in desired direction and maximum / infinite resistance in orthogonal direction. Motion generated in orthogonal direction is called parasitic motion. Double Flexural Manipulator (DFM) is a planar type building block which offers theoretically zero parasitic error motion with negligible amount of rotation of motion stage. This article presents design, development, system integration, system identification and PID control implementation on DFM. Developed flexural stage is integrated with desktop PC via dSPACE micro-controller. System identification (Static and Dynamic) is carried out and performance parameters such as stiffness, natural frequency, damping characteristics and frequency characterization of DFM are estimated and validated via due experimentations. Estimated transfer function of DFM is further used for development of control system, and PID control parameters are tuned. Real time PID implementation gives a position accuracy of few microns at high scanning speed of 2.5 mm/s.
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