Control Method for Flexible Joints in Manipulator Based on BP Neural Network Tuning PI Controller

Hexu Yang, Xiaopeng Li, Jinchi Xu, Dongyang Shang and Xingchao Qu
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Hexu Yang: School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
Xiaopeng Li: School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
Jinchi Xu: School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
Dongyang Shang: School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
Xingchao Qu: School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China

Mathematics, 2021, vol. 9, issue 23, 1-18

Abstract: With the development of robot technology, integrated joints with small volume and convenient installation have been widely used. Based on the double inertia system, an integrated joint motor servo system model considering gear angle error and friction interference is established, and a joint control strategy based on BP neural network and pole assignment method is designed to suppress the vibration of the system. Firstly, the dynamic equation of a planetary gear system is derived based on the Lagrange method, and the gear vibration of angular displacement is calculated. Secondly, the vibration displacement of the sun gear is introduced into the motor servo system in the form of the gear angle error, and the double inertia system model including angle error and friction torque is established. Then, the PI controller parameters are determined by pole assignment method, and the PI parameters are adjusted in real time based on the BP neural network, which effectively suppresses the vibration of the system. Finally, the effects of friction torque, pole damping coefficient and control strategy on the system response and the effectiveness of vibration suppression are analyzed.

Keywords: double inertia system; gear; friction; BP neural network; pole assignment (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
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