Iterative Feedforward Control for Bearing-Free Multibody Systems
Iterative Feedforward Control for Bearing-Free Multibody Systems
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DOI：
10.3844/jmrsp.2021.33.46
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发表时间：
2021-01
期刊：
影响因子：
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通讯作者：
N. Bailey;C. Lusty;P. Keogh
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文献类型：
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作者：
N. Bailey;C. Lusty;P. Keogh
通讯作者：Nicola Yvonne Bailey英国巴斯大学机械工程系电子邮件：n.y. bath.ac.uk摘要：自动化机械和机器人通常是包含轴承部件的常规多体系统，其表现出不确定的、不连续的和复杂的摩擦学特性。这些产生磨损，并从根本上限制了小尺度运动的精度，由于摩擦学效应难以补偿使用基于模型的主动控制。然而，它们可以通过用挠性联轴器代替传统的轴承接头来消除，这提供了性能包络的潜在增加。最初，一个普通的柔性联轴器能够大变形的研究，与一个代表性的数学模型推导出的基础上大变形欧拉-伯努利理论，使用定制的实验设备进行验证，概念证明的经验控制器的设计，利用实验数据。各种设计的新颖的复合挠曲联轴器的设想，包括多个部分的弹簧钢。提出的复合柔性联轴器，然后其特征在于实验。重点研究了两个复合柔性耦合刚体系统，并证明了从识别模型生成开环前馈控制器的可行性，在精确的大位移控制。包括路径校正在所提出的控制方法减少了至少62%和71%的跟踪误差（x，y）方向，分别为所考虑的情况下。
Corresponding Author: Nicola Yvonne Bailey Department of Mechanical Engineering, University of Bath, United Kingdom E-mail: n.y.bailey@bath.ac.uk Abstract: Automated machinery and robotics are commonly conventional multibody systems containing bearing components, which exhibit uncertain, discontinuous and complex tribological characteristics. These generate wear and fundamentally limit the precision of small scale motion due to the tribological effects being difficult to compensate for using model-based active control. However, they can be eliminated through the replacement of traditional bearing joints with flexure couplings, which offers a potential increase in the performance envelope. Initially a plain flexure coupling capable of large deformation is investigated, with a representative mathematical model derived based on large deformation Euler-Bernoulli theory which is validated using a bespoke experimental facility; proof of concept for the design of empirical controllers utilising experimental data is presented. Various designs of novel compound flexure couplings are conceived, comprising of multiple sections of spring steel. The presented compound flexure couplings are then characterised experimentally. A focused study of a two-compound flexure coupling-rigid body system is presented and the feasibility of generating open-loop feedfoward controllers from identified models is demonstrated in terms of accurate large displacement control. Including path correction in the presented control methodology reduces tracking errors by at least 62% and 71% in (x, y) directions, respectively, for the cases considered.