# The Research of Control Model for Minimal Energy Consumption with Nonlinear Friction of Manipulato

Author YinZhenJuan
Tutor ZhuXueJun
School Ningxia University
Course Mechanical Manufacturing and Automation
Keywords Manipulator nonlinear friction Minimum energy consumption control model Softmeasurement
CLC TP273
Type Master's thesis
Year 2013
Downloads 15
Quotes 0
• Abstract
• Contents

With the development of modern industrial, industrial robots have become indispensable electromechanical integration equipment in modern industrial production, and it has been widely used in various fields. At the same time, energy consumption of industrial robots in the entire production chain is also showing a rising trend. Therefore, analysis of factors affecting energy consumption of industrial robots, research of control strategy of saving energy and reducing consumption, the establishment of the control model of minimum energy consumption, and realization of minimizing energy consumption, has important theoretical and practical significance.Servo driver system of manipulator joint is used to drive manipulator to complete motion control. It is also the main part of energy consumption. Therefore, it is very important to find factors affecting energy consumption of joint driver system. Based on preliminary studies, this paper mainly to analysis how the nonlinear friction and current thermal effects affect energy consumption of a joint drive system in the case of considering the load, establish dynamics model of joint drive system with nonlinear friction. Based on the optimal control theory and methods, solve optimal angular velocity and current function in the point-to-point motion control mode, determine impact of each variable for energy consumption of joint driver system using parameter simulation in Mathematica.On the basis of analyzing the principle of DC motor control, this paper established mathematical model of the DC joints servo system and researched the double-loop control strategy for DC motor. Based on the optimal function of angular velocity, this paper designed speed loop using single neuron adaptive PID control algorithm, design the current loop using engineering and build simulation models of DC servo double closed loop system in Matlab environment. This simulation model is compared with model of the control system with conventional PID.Meanwhile, based on the soft measurement theory, various aspects of soft measurement engineering is clear. The soft measurement method of energy consumption and process of joint drive system is analyzed based on improved BP Neural Network. Soft measurement model of joint minimum energy consumption is established by training and simulation using neural network toolbox function in Matlab and the data of energy consumption in both cases. The validity of the model is validated by the simulation of test data. The forecast of unknown load energy consumption and unknown displacement energy consumption are implemented.

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