【摘要】 以伺服电动机和减速机为主体的机器人单关节伺服系统为研究对象,在实验和仿真的基础上,对该关节系统的摩擦模型、动力学模型以及能耗模型的建模方法以及模型的特性进行了研究。首先,将该单关节系统分解成由高速轴和低速轴构成的抽象模型,基于Lu Gre摩擦模型和lagrange方程法分别建立高速轴和低速轴的动力学模型。在实验的基础上,利用最小二乘法和频响法对Lu Gre摩擦模型的静态参数和动态参数进行辨识。为了降低参数辨识的难度,根据高速轴和低速轴摩擦环境的近似性,建立了单关节系统简化摩擦模型。通过仿真和实验的对比分析,结果表明:建立的摩擦模型能够很好地反映该系统的摩擦行为。建立了考虑摩擦和电动机热损耗因素的能耗模型。通过实验和仿真分析,该动力学模型和能耗模型能够准确地反映关节伺服系统的力矩行为和能耗行为,从而为后续建立机器人多关节伺服系统的能耗模型和能耗优化控制提供理论基础。更多还原

【Abstract】 By taking a single joint servo system which consists mainly of servo motor and reducer as the research object,the models establishment method and the models features of friction models,dynamic models and energy consumption model of the single joint servo system are researched based on the experiment and simulation. Firstly,the dynamic models of the high speed axis and the low speed axis in the single joint servo system are established based on the LuGre models and lagrange equation. And then,on the basis of the experiment,the least squares method and frequency response method are used for static and dynamic parameters identification of the LuGre models. On the purpose of reducing the difficulties of parameters identification,after reducing the numbers of parameters which utilized the similarity between the high speed axis and the low speed axis of the reducer,a simplified friction model of the single joint servo system is established. The comparison between the results of the simulation and experiment proves that the simplified friction model could represent the friction behaviors of the joint system. Finally,considering friction and servo motor heat consumption,an energy consumption model is established. The results of the simulation and experiment prove that above the dynamic models and energy consumption model could represent the torque behavior and energy behavior of the single joint servo system,which provide a base for the following-up research on the energy consumption model and control method for energy optimization of multi-joints servo systems of robot.更多还原