Design method for boundary control law of Flexible mechanical arm-based partial differential equation model

A flexible robotic arm and boundary control technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as system instability

Active Publication Date: 2012-07-04
GUODIAN SCI & TECH RES INST
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Problems solved by technology

Therefore, the traditional boundary control law is difficult to make the system achieve satisfactory performance, and may even cause the system to be unstable.

Method used

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  • Design method for boundary control law of Flexible mechanical arm-based partial differential equation model
  • Design method for boundary control law of Flexible mechanical arm-based partial differential equation model
  • Design method for boundary control law of Flexible mechanical arm-based partial differential equation model

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Embodiment Construction

[0151] figure 1 is a schematic diagram of a double-link flexible manipulator; see figure 2 , the present invention is based on the design method of the boundary control law of the partial differential model of flexible manipulator, especially the design method of the adaptive boundary control law based on the partial differential model of double-link flexible manipulator, its specific steps are as follows:

[0152] Step 1: Dynamic modeling of the dual-link flexible manipulator

[0153] Firstly, the continuous partial differential model of the double-link flexible manipulator is obtained according to Hamilton's principle. The physical parameter values ​​of the double-link flexible manipulator are given in Table 1. Then the partial differential dynamics model is given as

[0154] A θ · · + B F 1 ( t ) ...

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Abstract

The invention discloses a design method for a boundary control law of a flexible mechanical arm-based partial differential equation model. The design method comprises five steps of: 1, establishing a double-link flexible mechanical arm dynamic model; 2, decomposing the double-link flexible mechanical arm dynamic model; 3, designing an adaptive boundary control law; 4, verifying the global stability of a closed-loop system; and 5, finishing the design. By the design method, a condition that the frequency of joint angle movement is different from that of elastic oscillation is considered first, and a partial differential dynamic model is decomposed into a fast subsystem and a slow subsystem by a singular perturbation method; a slow adaptive boundary control law is designed on the slow subsystem, so that a joint motor can move to an expected position; a fast adaptive boundary control law is designed on the fast subsystem to inhibit the elastic oscillation; and the fast and slow subsystems form a hybrid controller to control the joint angle and oscillation of a double-link flexible mechanical arm and ensure the global stability of the closed-loop system.

Description

(1) Technical field [0001] The invention provides a design method of a boundary control law based on a partial differential model of a flexible manipulator, in particular a design method of an adaptive boundary control law based on a partial differential model of a double-link flexible manipulator, which belongs to the manipulator control technology field. (2) Background technology [0002] Due to the advantages of light weight, high speed, and low energy consumption, flexible robotic arms are increasingly used in aerospace and industrial fields. However, unlike rigid manipulators, flexible manipulators will generate severe elastic oscillations during motion, which poses difficulties in the design of control laws. In the past, most of the researches on the control of flexible manipulators were based on the Ordinary Differential Equation (ODE) dynamics model. ODE model is simple in form and provides convenience for control law design. However, since the ODE model is obtain...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/00
Inventor 刘奕宁陈彦桥刘金琨
Owner GUODIAN SCI & TECH RES INST
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