Combination automatic control method with single-joint manipulator under mixed suspension microgravity environments
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A technology of autonomous control and combination, applied in adaptive control, manipulator, general control system, etc., can solve the problems of ignoring the approximation error of neural network and not considering the influence, etc.
Inactive Publication Date: 2015-05-06
NORTHWESTERN POLYTECHNICAL UNIV
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However, this method does not consider the influence of propeller thrust saturation on th
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example 1
[0123] In the following examples, the control effects obtained by using the control method described in the present invention are as follows. In Example 1, the position and posture of the subject remains unchanged, and the joints are controlled to rotate.
[0124] n 0 = η d =[0 0 0 0 0 0] T m, rad
[0125] q 0 = 0 rad q d = π 2 rad
[0126] The propeller thrust saturation value is set to 30N, and the joint torque saturation value is set to 30Nm.
[0127] Among them, η 0 and η d are the initial position and posture and the desired position and posture of the subject, respectively. q 0 and q d are the initial and expected values of joint rotation angles of the assembly, respectively.
[0128] The control law parameters are set as follows:
[0129] Λ=0.5diag{0.5 0.5 0.5 0.5 0.5 0.5 0.5}
[0130] K D =50diag{1 1 1 1 1 1 0.5}
[0131] K S =50diag{1 1 1 1 1 1 0.5} ...
example 2
[0138] Example 2: Keep the joint position unchanged and control the body movement.
[0139] n 0 =[0 0 0 0 0 0] T m, rad
[0140] n d =[1 1 1 0 0 0] T m, rad
[0141] q 0 =q d = 0 rad
[0142] The propeller thrust saturation value is set to 30N, and the joint torque saturation value is set to 30Nm.
[0143] Among them, η 0 and η d are the initial position and posture and the desired position and posture of the subject, respectively. q 0 and q d are the initial and expected values of joint rotation angles of the assembly, respectively.
[0144] The control law parameters are set as follows:
[0145] Λ=0.5diag{0.5 0.5 0.5 0.5 0.5 0.5 0.3}
[0146] K D =50diag{1 1 1 1 1 1 0.3}
[0147] K S =50diag{1 1 1 1 1 1 0.3}
[0148] K P =50diag{1 1 1 1 1 1 0.3}
[0149] Γ ω =0.1Iσ w =30c w ∈[-4 4]Number of network nodes=401
[0150] Γ u =0.1Iσ u =1000c u ∈[-400 400]Number of network nodes=201
[0151] The position of the joints of the assembly remains unchan...
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Abstract
The invention provides a combination automatic control method with a single-joint manipulator under mixed suspension microgravity environments. The combination automatic control method comprises the following steps of 1, enabling a combination to be equivalent to an underwater robot, and establishing a kinematics equation and a dynamics equation; 2, approximating the dynamics equation of the combination by a radial basis function neural network, so as to obtain control force and control torque corresponding to the radial basis function neural network; 3, using a sliding mode control method, so as to obtain control force and control torque corresponding to sliding model control; 4, synthesizing the control force and control torque corresponding to the neural network and the control force and control torque obtained by the sliding model control method, and distributing thrust, so as to obtain a general vector which consists of thrust and joint torque of each propeller; approximating the thrust deviation of the corresponding thruster through the radial basis function neural network, so as to obtain the estimation value of the thrust deviation; 5, combining the results obtained in step 2, step 3 and step 4, obtaining the general vector consisting of the thrust and the joint torque of the corresponding propeller, and further obtaining the thrust and the joint torque of the corresponding propeller, so as to realize the automatic control.
Description
technical field [0001] The invention relates to the motion control technology of an underwater robot, in particular to an autonomous control method for an assembly with a single-joint mechanical arm in a mixed suspension microgravity environment. Background technique [0002] The assembly is formed by docking the experimental body and the floating target, and contains a joint that can be controlled to rotate. Since the working environment of the assembly is in water, it can be regarded as an underwater robot system with a single-joint manipulator. The underwater robot system has the characteristics of nonlinearity, time-varying, strong coupling, etc., which poses a great challenge to the design of its controller. [0003] At present, a lot of research has been carried out on the control technology of underwater vehicles. Various control methods including linear control, robust control, fuzzy control, adaptive control, etc. have been used for motion control of underwater veh...
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