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Method for designing flexible mechanical arm disturbance observer based on partial differential equation

A technology of flexible manipulators and disturbance observers, which is applied in the direction of instruments, adaptive control, control/regulation systems, etc., and can solve the problems of flexible manipulator drive motor interference and system performance degradation

Active Publication Date: 2014-09-03
GUODIAN SCI & TECH RES INST
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Problems solved by technology

[0003] Traditional research based on the PDE model often ignores the influence of external disturbances. However, in the actual working environment, the system is generally affected by external disturbances during operation, such as the disturbance of the drive motor of the flexible manipulator, etc.
Therefore, the traditional research method will reduce the performance of the system

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  • Method for designing flexible mechanical arm disturbance observer based on partial differential equation
  • Method for designing flexible mechanical arm disturbance observer based on partial differential equation
  • Method for designing flexible mechanical arm disturbance observer based on partial differential equation

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Embodiment Construction

[0083] The present invention will be further described in detail below in conjunction with the accompanying drawings and technical solutions.

[0084] See figure 1 , a method for designing a disturbance observer for a flexible manipulator based on partial differential equations of the present invention, the specific steps of the method are as follows:

[0085] Step 1: Dynamic modeling of the flexible manipulator

[0086] A model of a flexible manipulator such as figure 2 As shown, its kinetic modeling adopts the method of Hamilton's principle. It should be explained in advance that the state variables θ(t) and y(x,t) used in modeling represent the joint angle of the manipulator at time t and the elastic deformation at point x, respectively. For convenience, θ(t) and y(x,t) are abbreviated as θ and y(x) respectively in the following analysis.

[0087] The natural boundary conditions of the flexible manipulator are

[0088] y(0)=y x (0) = 0 (1)

[0089] Among them, y x ...

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Abstract

The invention provides a method for designing a flexible mechanical arm disturbance observer based on a partial differential equation. The method includes the four steps that firstly, dynamic modeling of a flexible mechanical arm is conducted; secondly, the disturbance observer is designed; thirdly, stability of the disturbance observer is verified; fourthly, design is finished. According to the method, firstly the Hamilton principle is used, so that a PDE model of a whole system is obtained; then, based on the model, the reasonable disturbance observer is designed so that external unknown disturbance can be estimated; finally, a proper Lyapunov function is designed, so that the designed observer is analyzed and the stability of the observer is verified.

Description

technical field [0001] The present invention relates to a design method of a disturbance observer for a flexible manipulator based on a partial differential equation, which is aimed at a partial differential equation (Partial Differential Equation, PDE) dynamic model (hereinafter referred to as the PDE model) of a flexible manipulator, and provides a The invention discloses a design method of a disturbance observer, which belongs to the technical field of mechanical arm control. Background technique [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. In the past, most of the research on the observer of the flexible manipulator was based on the ordinary differential equation (Ordinary Differential Equation, ODE) dynamic model (hereinafter referred to as the ODE model). ODE model is simple in form and provides convenience for control law design. However, since ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/00
Inventor 陈彦桥姜婷婷刘金琨
Owner GUODIAN SCI & TECH RES INST
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