Rolling window non-causal inverse control method for path tracking at the end of flexible arm

Abstract

The invention discloses a rolling window non-causal inverse control method for flexible arm tail end path tracking. The method mainly comprises the following steps: 1) a model of a flexible arm is established based on an assumed mode method, and the window width of the rolling window non-causal inverse control method is determined; 2) within a first window width, according to requirements of non-causal inverse technology aimed at a non-minimum phase system, the joint trajectory of the flexible arm is designed, the non-causal inverse method is adopted to obtain a corresponding control input and reference state at an initial moment of the system, and then the system is started; and 3) the window is rolled forwards with fixed step length, i.e., according to the task of path tracking, an expected trajectory obtained after planning is given in real time with the fixed step length, and subsequent control input is obtained through calculation and acts on the system till the operation of the system is finished. The rolling window non-causal inverse control method for flexible arm tail end path tracking loosens the requirement for trajectory tracking of the flexible arm tail end, and completes the task of online tracking of an expected path of the flexible arm tail end in the way of planning and controlling at the same time.

Description

technical field [0001] The invention relates to a control method in the field of flexible arm end tracking control, in particular to a non-causal inverse control method based on a rolling window. Background technique [0002] The flexible arm has the advantages of light weight, energy saving, quick action response, etc., and has a wide range of application prospects in practice. Its conventional application is to achieve end trajectory tracking, and its application in automatic welding, automatic drawing and handling situations where the trajectory is not required highlights the importance of the high-precision tracking of the end path of the flexible arm. However, due to the flexibility of the link of the flexible arm, the system from the joint moment to the end has a non-minimum phase characteristic, which leads to the poor effect of the conventional control method. [0003] When the commonly used causal inverse tracking algorithm is applied to the end path tracking of th...

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Problems solved by technology

However, these two methods have extremely high requirements on the accuracy of the model, and their robustness is poor, so they are difficult to apply in practice.

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