Electromechanical coupling vibration characteristics of an AC servomotor-driven translational flexible manipulator

Abstract

The nonstationary transition status of the motor start-up phase creates great threat against the stable operation of the flexible manipulator system. This article investigates the electromechanical coupling dynamics and vibration response characteristics for a flexible manipulator of an alternating current servomotor-driven linear positioning platform with considering the start-up dynamic characteristics of the motor. Based on the constructed global electromechanical coupling effect and the Lagrange-Maxwell equations, the dynamic model of the whole system is established. The electromechanical coupling vibration mechanism of the flexible manipulator is obtained by analyzing the multiphysical process and multiparameter coupling phenomenon of the whole system. The result demonstrates that the nonstationary transition status of the motor initialization phase is mainly manifested during the disturbance of the three-phase stator current. As the speed of the linear positioning platform increases, the current disturbance, arousing the change of the servo driving force of the linear positioning platform, has dominant frequency shift and frequency amplitude decrease. Then, the vibration response of the flexible manipulator is markedly affected and the variation of the high-order modes vibration response is more obvious. The analysis result is significant for improving the dynamic performance of the motor-driven flexible robot manipulator system.

Stability Analysis of Electromechanical Coupling Torsional Vibration for Wheel-Side Direct-Driven Transmission System under Transmission Clearance and Motor Excitation

“…Moreover, it is obvious that there is a typical non-stationary transition process before the PMSM speed reaches the steady-state value. And the existence of this non-stationary transition process has already been discussed in our previous work [29]. Taking the three-phase stator voltage frequency of the PMSM as 20 Hz, the three-phase stator current curves of the PMSM and the quadrature-axis current curve of the PMSM after coordinate transformation are drawn in Figure 4.…”

“…where p and λ are the amplitude and the phase of A k , respectively. By substituting Equation (29) into Equation ( 28) and separating the real part and imaginary part of the result, the system average equation in polar coordinate form can be obtained as:…”

Coupling dynamic modelling and parameter identification of a flexible manipulator system with harmonic drive

“…The rigid model, flexible model, rigid-flexible model and electromechanically coupled dynamic model of parallel manipulator are all formulated and figured out by Liang and Sun. Ju et al 23 formulated an electromechanical coupling dynamic model for servomotor-driven flexible manipulator with a simulation verification. However, these works considered the harmonic component little.…”