【摘要】 为解决工业机器人关节伺服系统控制器参数整定中的系统稳定性和整定耗时问题，提出一种基于伺服系统模型辨识的最大相位裕度参数整定方法。建立工业机器人关节伺服控制器速度环的理论模型；利用谱分析法对伺服系统速度环模型进行辨识，建立精确的数学模型；最后基于给定的相位裕度系数对关节伺服控制参数进行整定。通过搭建工业机器人实验平台，将基于伺服系统模型辨识的频域整定方法与基于理论模型的频域整定方法进行比较，实验结果显示：机器人末端在X方向的位置均方根误差降低了11.8%,在Y方向降低了26.2%,在Z方向降低了23.4%。结果验证了该方法在提高工业机器人末端执行器定位精度方面的可行性和有效性。更多还原

【Abstract】 To solve the problems of system stability and time-consuming tuning in parameter tuning of industrial robot joint servo system controller, a maximum phase margin parameter tuning method based on servo system model identification was proposed.A theoretical model of the speed loop of the industrial robot joint servo controller was established; the spectral analysis method was used to identify the servo system speed loop model and establish an accurate mathematical model; the joint servo control parameters were adjusted based on the given phase margin coefficient.By building an industrial robot experimental platform, the frequency domain tuning method based on servo system model identification was compared with the frequency domain tuning method based on the theoretical model.Experimental results show that the position root mean square error of the robot end in the X direction is reduced by 11.8%,in the Y direction by 26.2%,and in the Z direction by 23.4%.The results verify the feasibility and effectiveness of this method in improving the positioning accuracy of the end effector of industrial robots.更多还原