Vibration suppression of ball-screw drive system based on flexible dynamics model

Li, Lin; Zhang, Qiangwei; Zou, Yanbiao

doi:10.1016/j.engappai.2022.105506

Cited by 5 publications

(1 citation statement)

References 39 publications

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“…The PSO method is applicable not only in identifying robot dynamics parameters but also in other research areas. Li et al (2023) developed a simplified flexible dynamic model for a ball screw drive system, incorporating RLS estimation of parameter search space and PSO was used to identify the parameters. The accuracy is higher than WLS, PSO, GA and the convergence speed is also faster than PSO and GA. Abedinifar et al (2023) used PSO to identify critical parameters of nonlinear models, showing a higher accuracy compared with nonlinear least squares errors methods.…”

Section: Introductionmentioning

confidence: 99%

Dynamic parameter identification based on improved particle swarm optimization and comprehensive excitation trajectory for 6R robotic arm

Zhong,

Liu,

et al. 2023

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Purpose Robotic arms’ interactions with the external environment are growing more intricate, demanding higher control precision. This study aims to enhance control precision by establishing a dynamic model through the identification of the dynamic parameters of a self-designed robotic arm. Design/methodology/approach This study proposes an improved particle swarm optimization (IPSO) method for parameter identification, which comprehensively improves particle initialization diversity, dynamic adjustment of inertia weight, dynamic adjustment of local and global learning factors and global search capabilities. To reduce the number of particles and improve identification accuracy, a step-by-step dynamic parameter identification method was also proposed. Simultaneously, to fully unleash the dynamic characteristics of a robotic arm, and satisfy boundary conditions, a combination of high-order differentiable natural exponential functions and traditional Fourier series is used to develop an excitation trajectory. Finally, an arbitrary verification trajectory was planned using the IPSO to verify the accuracy of the dynamical parameter identification. Findings Experiments conducted on a self-designed robotic arm validate the proposed parameter identification method. By comparing it with IPSO1, IPSO2, IPSOd and least-square algorithms using the criteria of torque error and root mean square for each joint, the superiority of the IPSO algorithm in parameter identification becomes evident. In this case, the dynamic parameter results of each link are significantly improved. Originality/value A new parameter identification model was proposed and validated. Based on the experimental results, the stability of the identification results was improved, providing more accurate parameter identification for further applications.

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Section: Introductionmentioning

confidence: 99%

Dynamic parameter identification based on improved particle swarm optimization and comprehensive excitation trajectory for 6R robotic arm

Zhong,

Liu,

et al. 2023

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Temperature field modeling and vibratory-thermal coupling analysis of ball screw feed system

Gong,

Li,

et al. 2023

Thermal Science and Engineering Progress

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Speed harmonic suppression of PMSM and its application in ball screw vibration suppression

Wu,

Guo,

Liu

et al. 2024

Meas. Sci. Technol.

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The speed ripple of surface-mounted permanent magnet synchronous motor (SPMSM) causes vibration of the ball screw, which degrades the accuracy and stability of the ball screw system. The harmonic injection method can suppress the speed ripple by decreasing the speed harmonic of SPMSM. When the speed ripple is suppressed, the vibration of the ball screw is also reduced. However, large amount of calculation, complex parameter adjustment, and long suppression time limit its performance in suppressing vibration of ball screw. Therefore, in this paper, we propose a speed harmonic suppression method based on the online measurement of the transfer function from inject voltage harmonic to speed harmonic. In the proposed method, the transfer function is measured after the motor reaches a stable operating condition. And then, the designed speed harmonic controller parameters are set according to the measurement results. Compared with the existing method, the method based on online measurement has less calculation, simple parameter adjustment, fast suppression speed, and good performance in suppressing the vibration of ball screw. Experimental verifications are carried out in the forward and backward condition of the ball screw.

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Vibration suppression of ball-screw drive system based on flexible dynamics model

Cited by 5 publications

References 39 publications

Dynamic parameter identification based on improved particle swarm optimization and comprehensive excitation trajectory for 6R robotic arm

Dynamic parameter identification based on improved particle swarm optimization and comprehensive excitation trajectory for 6R robotic arm

Temperature field modeling and vibratory-thermal coupling analysis of ball screw feed system

Speed harmonic suppression of PMSM and its application in ball screw vibration suppression

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