| Multi-axis robots are in demand in a wide range of applications in industrial manufacturing,aerospace,medical treatment and many other fields.Each joint has its own rectifier and inverter module,in which each joint motor has a deceleration and acceleration process,and the feedback energy is often lost in the deceleration process by means of resistive energy consumption,which makes the system a waste of energy.In this paper,we analyse and study the energy optimisation control strategy of multi-axis robots based on the common DC bus technology and the multi-node trajectory planning interpolation method,with a six-axis robot as the application object and the reduction of multi-axis robot energy consumption as the research objective.Firstly,the latest research status and development trend of industrial robots,common DC bus technology and trajectory planning methods at home and abroad are analysed,and the significance and direction of the research is clarified.Secondly,the principles of permanent magnet AC position servo system design and robot kinematic analysis are briefly described,and the construction of robot linkage coordinate system,positive kinematic analysis and inverse kinematic analysis are deduced and studied.In order to solve the problem of energy waste caused by the traditional independent drive structure of multi-axis robots,a power electronics topology design method based on the common DC bus structure is proposed to replace the independent drive structure with the common DC bus structure,and a bus capacitance calculation method based on the common DC bus is proposed.In order to solve the problem of large bus voltage fluctuations affecting the positioning performance of the motor driven by the drive,an energy-saving optimised trajectory control strategy based on the multi-node trajectory planning interpolation method is proposed to achieve the objectives of stabilising the bus voltage and energy-saving optimisation.Then,in order to verify the correctness of the proposed method,a simulation model based on Matlab/Simulink is built and a comparative analysis of the simulation under various cases is carried out.The simulation results show that after the introduction of the common DC bus structure,the bus voltage satisfies the operating conditions within the protection threshold,and the simulation verifies the correctness of the proposed method for calculating bus capacitance based on the common DC bus.88.252 J to 76.340 J,saving 13.49% of energy,which can achieve the purpose of improving energy utilization,verifying the feasibility and effectiveness of the energy-saving optimized trajectory control strategy based on the multi-node trajectory planning interpolation method proposed in this paper.Finally,the software and hardware scheme is designed and the experimental platform is built for experimental comparison tests.Based on this platform,the correctness of the proposed bus capacitance calculation method,the traditional five times polynomial trajectory without the energy optimisation algorithm and the trajectory with the energy optimisation algorithm were tested respectively.From the experimental test results,it can be seen that after the introduction of the common DC bus structure,the bus voltage can meet the operating conditions within the protection threshold;after the introduction of the energy optimisation algorithm based on multi-node interpolation,the stability of the bus voltage can be improved,and the energy consumption value of the six-axis robotic arm in one motion cycle drops from84.642 J to 75.107 J,saving 11.26% of energy.The purpose of improving energy utilisation can be achieved.The feasibility and effectiveness of the proposed power electronic topology design of the six-axis servo drive system based on the common DC bus and its bus capacitance calculation method and the energy saving optimization control strategy based on the multi-node trajectory planning interpolation method are verified through the above experiments. |
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