Finite time stability control system with speed observer based on PC+FPGA

Abstract

The invention discloses a finite time stability control system with a speed observer based on PC+FPGA. The finite time stability control system comprises an IPC (1), an FPGA motion controller (2), a servo driver (3), an industrial robot (4) and an Ethernet communication module (5). The FPGA motion controller (2) comprises an interpolation module (21), a real-time control module (22), an encoder module (23) and a D / A output module (24). The inertia parameters and control parameters of the industrial robot are given on the IPC, the FPGA motion controller carries out the real-time calculation of the finite time stability control algorithm to work out the control torque, the control torque is converted into a voltage signal, at last, an analog voltage signal is output to the servo driver through the D / A output module, and the industrial robot is driven in a torque mode to finish the motion control. Three to six servo motors can be controlled at the same time, the shortest sampling time is 0.01 ms, the transient response time is 0.5 s, the requirement for the high-performance motion control of the industrial robot can be met, and the finite time stability control system can be used for tracking and controlling the trace of the high-precision robot.

Description

technical field [0001] The invention belongs to the technical field of motion control systems of industrial robots, and relates to a PC+FPGA-based finite-time stability control system with a speed observer. Background technique [0002] Usually, the motion control system of an industrial robot consists of two functional modules: trajectory interpolation and trajectory tracking, and the trajectory tracking module often adopts the PID control principle of independent servo. In the case of high-speed motion of industrial robots, the nonlinear characteristics of robots become more and more obvious, which makes the traditional independent servo PID control method have the following problems: the higher the speed, the lower the tracking accuracy; the slow transient response; the poor robustness of anti-interference, and finally Affect the work efficiency and work quality of the robot. [0003] In order to obtain satisfactory tracking performance requirements at high speed, it is ...

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Problems solved by technology

[0007] The purpose of the present invention is to avoid the deficiencies in the prior art and provide a kind of finite time stability control system based on PC+FPGA band velocity observer, it solves existing In technology, the performance of independent servo PID control is not high, and at the same time improve the real-time performance of the control system, and give full play to the ability of FPGA real-time data processing

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