Sliding form control method of flexible joint mechanical arm based on disturbance observer

A technology of interference observer and flexible joint, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as increasing the gain of sliding mode controller

Inactive Publication Date: 2013-08-21
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In sliding mode control, when there is a control disturbance, it is necessary to increase the gain of the sliding mode controller, which inevitably produces chattering

Method used

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  • Sliding form control method of flexible joint mechanical arm based on disturbance observer
  • Sliding form control method of flexible joint mechanical arm based on disturbance observer
  • Sliding form control method of flexible joint mechanical arm based on disturbance observer

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Embodiment Construction

[0105] The present invention will be further described in detail below in conjunction with the accompanying drawings and technical solutions.

[0106] See figure 1 , the present invention is based on the sliding mode control method of the flexible joint manipulator of the disturbance observer, and the specific steps of the method are as follows:

[0107] Step 1: Analysis and construction of the underactuated flexible joint manipulator system model

[0108] The system targeted by the present invention is an underactuated flexible articulated manipulator system. According to the dynamic equation, the underactuated flexible joint manipulator system is analyzed, and its mathematical model can be obtained as follows:

[0109] I q · · + K ( q - q m ) + Mgl ...

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Abstract

The invention relates to a sliding form control method of a flexible joint mechanical arm based on a disturbance observer, which comprises seven steps: step 1, analyzing and modeling the flexible joint mechanical arm under drive; step 2, designing and analyzing the stability of the disturbance observer step 3, designing the control law of the sliding form; step 4, analyzing the control law stability of the sliding form; step 5, designing and adjusting parameter ci; step 6, judging whether the parameter is needed to be adjusted or not according to the simulative effect; and step 7, finishing design. The control method combines sliding form control with the disturbance observer, can realize high precision control of tracking and meets the design requirements of speediness and stability. By adding the disturbance compensation in the sliding form controller, buffeting can be removed effectively, and robust control of the under-drive system can be realized at the same time.

Description

(1) Technical field [0001] The invention relates to a sliding mode control method of an underactuated flexible joint manipulator, in particular to a sliding mode control method of a flexible joint manipulator based on an interference observer, which is used to control the connecting rod angle of the flexible joint manipulator, and belongs to the automatic field of control technology. (2) Background technology [0002] Flexible joint manipulator is a structural form of special manipulator, which is a typical underactuated system. Underactuated systems refer to a class of nonlinear systems in which the number of independent control variables of the system is less than the number of system degrees of freedom, and are superior to fully actuated systems in terms of energy saving, cost reduction, weight reduction, and enhanced system flexibility. Simply put, it is a system with more inputs than the amount to be controlled. The structure of the underactuated system is simple, whi...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 刘金琨杨闳峻
Owner BEIHANG UNIV
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