Dynamic servo control method of under drive mechanical device ACROBOT

A mechanical device and servo control technology, applied in the direction of electric controllers, etc., can solve the problem that the underactuated system cannot realize large-scale motion control, etc.

Inactive Publication Date: 2009-04-22
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the problem that the existing underactuated system cannot realize large-scale motion control, the present invention provides a dynamic servo control method of the underactuated mechanical device ACROBOT

Method used

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  • Dynamic servo control method of under drive mechanical device ACROBOT
  • Dynamic servo control method of under drive mechanical device ACROBOT
  • Dynamic servo control method of under drive mechanical device ACROBOT

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specific Embodiment approach 1

[0026] Specific implementation mode one: this implementation mode consists of the following steps:

[0027] Step 1. Obtain the swing angle of the connecting rod from the underactuated mechanical system and swing angle The instant state quantity, calculate the swing angle error e q 2 = q 2 k - q 2 d ;

[0028] Step 2, through the formula:

[0029] q · 1 ≈ Δq 1 Δt = q 1 k - q 1 k - 1 ...

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Abstract

A dynamic servo control method of an under-actuated mechanical device ACROBOT relates to a dynamic servo control method of an under-actuated mechanical system, and aims at solving the problems of single application field and narrow research field of the existing under-actuated systems. The method comprises the following steps: obtaining instantaneous state quantities of pivot angles of a connecting rod and a pendulum rod from the under-actuated mechanical system to compute a pivot angle error; obtaining a state variable of the current pivot angle of the pendulum rod; obtaining a model time-variant parameter in a feedback control law; obtaining mechanical energy of the under-actuated mechanical system and comparing the mechanical energy with a given value to obtain a target error; and substituting the data into a feedback control law formula to obtain a control torque which is required now, and outputting the control torque to the mechanical system by a motor. In the method, the dynamic servo control is achieved by constructing a Lyapunov function, and a large-scale motion control of the under-actuated system is achieved by constructing a periodic orbit similar to a motion track of a single pendulum which takes the peak of the orbit as the target point, and by stabilization control of a balance point and follow-up control of a special track.

Description

technical field [0001] The invention relates to a dynamic servo control method of an underactuated mechanical system, belonging to the technical field of motion control of an underactuated mechanical system. Background technique [0002] Underactuated system is a special kind of nonlinear system. The control of underactuated system is one of the research hotspots of nonlinear control. Its definition is that the number of control inputs is less than the number of system structure state variables. For mechanical systems , which is equivalent to the number of drives being less than the number of degrees of freedom of the system. In addition to its nonlinear characteristics, it also has some new characteristics, such as the inability to achieve accurate linearization, etc. These characteristics make its control more complicated. There are many reasons for the underactuation of the system, which can be roughly divided into four categories: the system itself is underactuated, suc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/32
Inventor 张晓华程红太赵旖旎陈宏钧
Owner HARBIN INST OF TECH
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