摘要
振动频率检测过程易受噪声信号和冗余计数信息干扰,整体检测时间与检测效果较差,为此,该文提出自组网通信下的机械臂关节振动频率自动检测方法。构建自组网通信模型,在数据中心设备模块中,采集机械臂关节的振动信号,通过混合检错校验模式剔除噪声;在主控制器模块中,采用原子分解算法提取振动频率计数特征,输入到振动频率测量仪中,拟合振动时间与振动次数,分析窗口函数与目标信号之间的最大内积,匹配机械臂关节振动属性,实现机械臂关节振动频率的自动检测。实验结果表明,机械臂关节振动信号的采集效果好、振动频率自动检测时间短、自动化检测效果好,便于机械臂各关节避开共振频率范围,为保证空间机械臂安全平稳运行提供新思路。
The vibration frequency detection process is easy to be interfered by noise signals and redundant counting information,and the overall detection time and detection effect are poor.Therefore,an automatic detection method for the vibration frequency of robot arm joints under ad hoc network communication is proposed.Build an ad hoc network communication model.In the data center equipment module,collect the vibration signal of the mechanical arm joint,and eliminate the noise through the mixed error detection and verification mode;In the main controller module,the atomic decomposition algorithm is used to extract the vibration frequency counting characteristics,input them into the vibration frequency measuring instrument,fit the vibration time and vibration times,analyze the maximum inner product between the window function and the target signal,match the vibration attribute of the manipulator joint,and realize the automatic detection of the vibration frequency of the manipulator joint.The experimental results show that the acquisition effect of the joint vibration signal of the manipulator is good,the automatic detection time of the vibration frequency is short,and the automatic detection effect is good,which is convenient for the joints of the manipulator to avoid the resonance frequency range,and provides a new idea to ensure the safe and stable operation of the space manipulator.
作者
滕爱国
赵新建
李长柏
林正权
TENG Aiguo;ZHAO Xinjian;LI Changbai;LIN Zhengquan(Information Communication Branch,State Grid Jiangsu Electric Power Co.,Ltd.,Nanjing 210024,China;Beijing Smart Chip Microelectronics Technology Co.,Ltd.,Beijing 102200,China)
出处
《自动化与仪表》
2023年第7期82-86,共5页
Automation & Instrumentation
关键词
通信控制单元
原子分解法
振动频率测量仪
机械臂关节振动信号
编程门列阵
communication control unit
atomic decomposition
vibration frequency measuring instrument
mechanical arm joint vibration signal
programming gate array
