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首页> 外文期刊>Applied Mathematical Modelling >Dynamic analysis and system identification of an LCD glass-handling robot driven by a PMSM
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Dynamic analysis and system identification of an LCD glass-handling robot driven by a PMSM

机译：PMSM驱动的LCD玻璃搬运机器人的动态分析和系统辨识

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摘要

In this paper, Hamilton's principle is employed to derive Lagrange's equations of an liquid crystal display (LCD) glass-handling robot driven by a permanent magnet synchronous motor (PMSM). The robot has three arms driven by two timing belts. The dynamic formulations can be expressed by one and four independent variables, which are named as the rigid and flexible models, respectively. In order to verify the dynamic formulation is correct, we reduce the flexible model to the rigid one under some assumptions. In this paper, we adopt the real-coded genetic algorithm (RGA) to identify all the parameters of the robot and PMSM simultaneously. It is found that the RGA can identify system parameters which are difficult to be measured in practical problems, for examples, the inductance, stator resistance, motor torque constant, damping coefficient of the motor and timing belts. In numerical simulations, vibrations due to flexibility of the timing belts are investigated for the angular displacements, speeds, accelerations of arms, and the horizontal and vertical displacements of the robot. The angular displacements of the robot arm and the trans-lational positions of the robot end are obtained in the numerical simulations and experimental results. From their comparisons, it is demonstrated that identification results of the dynamic model with four independent variables present the better matching with experimental results of the system.
机译：在本文中，汉密尔顿原理被用来推导由永磁同步电动机（PMSM）驱动的液晶显示（LCD）玻璃搬运机器人的拉格朗日方程。该机器人具有由两条同步带驱动的三个手臂。动态公式可以由一个和四个独立变量表示，分别称为刚性模型和柔性模型。为了验证动态公式的正确性，我们在某些假设下将弹性模型简化为刚性模型。在本文中，我们采用实编码遗传算法（RGA）来同时识别机器人和PMSM的所有参数。已经发现，RGA可以识别在实际问题中难以测量的系统参数，例如电感，定子电阻，电动机转矩常数，电动机和同步皮带的阻尼系数。在数值模拟中，研究了同步带由于挠性而产生的振动，角位移，速度，手臂加速度以及机器人的水平和垂直位移。通过数值模拟和实验结果获得了机械臂的角位移和机器人端的平移位置。从他们的比较中可以看出，具有四个独立变量的动态模型的识别结果与系统的实验结果具有更好的匹配性。

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