Hydraulic hard and soft mechanical arm control method based on two-parameter singular perturbation

A technology of singular perturbation and control method, applied in manipulators, manufacturing tools, etc., can solve the problems of inability to effectively suppress vibration phenomenon, difficult to implement, and complex controller design.

Inactive Publication Date: 2013-11-20
CHANGCHUN UNIV OF TECH
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Problems solved by technology

[0007] In order to solve the technical problems that the controller design is complicated and difficult to implement due to the complex model of the hydraulic rigid-flexible manipulator system, and the existing control method has low control precision and cannot effectively suppress the vibration phenomenon caused by the flexibility of the manipulator. The present invention provides a The hydraulic rigid-flexible manipulator control method ba

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  • Hydraulic hard and soft mechanical arm control method based on two-parameter singular perturbation
  • Hydraulic hard and soft mechanical arm control method based on two-parameter singular perturbation
  • Hydraulic hard and soft mechanical arm control method based on two-parameter singular perturbation

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Embodiment Construction

[0049] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0050] Such as figure 1 As shown, the control object of the present invention is a hydraulic rigid-flexible manipulator system, which is composed of three connecting rods, a revolving base and two rotating joints, wherein connecting rod 1 and connecting rod 2 are rigid arms, and connecting rod 3 is a flexible arm , The rotary joint is in the shape of a circular platform, driven by a hydraulic motor, and the rotary joint is driven by a valve-controlled single-rod asymmetric hydraulic cylinder. The lengths of the three connecting rods are L 1 , L 2 , L 3 , the installation positions of the hydraulic cylinders are respectively L 21 , L 22 , L 31 . θ=[θ 1 θ 2 θ 3 ] T is the joint rotation angle of the connecting rod. XOY is the inertial coordinate, X i OY i (i=1,2,3) are the moving coordinates fixed on the mechanical arm. There is a...

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Abstract

The invention provides a hydraulic hard and soft mechanical arm control method based on two-parameter singular perturbation, and relates to the technical field of intelligent machine and robot control. Through the principle of the two-parameter singular perturbation of the method, a reduced order is carried out on a hydraulic hard and soft mechanical arm system to enable the hydraulic hard and soft mechanical arm system to become a fast subsystem driven by representation hydraulic servo, a secondary fast subsystem driven by representation elastic vibration, and a slow subsystem driven by representation wide-range rigid movement, wherein a self-adaptive sliding mode controller is adopted in a fast subsystem control module, an optimal controller is adopted in a secondary fast subsystem control module to restrain the elastic vibration, and a second-order sliding mode controller is adopted in a slow subsystem control module to achieve joint trajectory tracking control. According to the control method based on the two-parameter singular perturbation, the reduced order is carried out on the complex hydraulic hard and soft mechanical arm system, multiple time-scale subsystem controllers are designed, and thus the control method is greatly simplified and is more practical.

Description

technical field [0001] The invention relates to the technical field of intelligent machinery and robot control, in particular to a method for controlling a hydraulic rigid-flexible manipulator based on a singular perturbation of two parameters. Background technique [0002] The hydraulic rigid-flexible manipulator is a manipulator driven by hydraulic pressure, which has the characteristics of high durability, large driving torque, high power / weight ratio, high load / self-weight ratio, etc., so it is often used in large-scale heavy-duty machinery, and It has been widely used in construction, mining, transportation, machining and other fields. The hydraulic rigid-flexible manipulator inevitably produces elastic vibration when operating a large load, which brings difficulties to the precise and rapid transfer of the load. At present, the nonlinear feedback control system is generally used for control, but the controller is generally complex in design, large in calculation, and ...

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Application Information

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IPC IPC(8): B25J13/00
Inventor 李元春赵博唐志国王蒙
Owner CHANGCHUN UNIV OF TECH
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