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A Designated Performance Inversion Control Method for Manipulator Servo System

A servo system, inversion control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2017-06-30
ZHEJIANG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to overcome the deficiencies of the existing mechanical arm servo system, such as the unavoidable dead zone compensation, the chattering problem of sliding mode control, and the inability to avoid the influence of the dead zone input on the system, the present invention provides a specified performance inversion of the mechanical arm servo system The control method realizes the specified performance tracking control based on output limitation, inversion sliding mode and neural network, and ensures that the system converges in a limited time

Method used

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  • A Designated Performance Inversion Control Method for Manipulator Servo System
  • A Designated Performance Inversion Control Method for Manipulator Servo System
  • A Designated Performance Inversion Control Method for Manipulator Servo System

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Embodiment Construction

[0097] The present invention will be further described below in conjunction with the accompanying drawings.

[0098] refer to Figure 1-Figure 5 , a specified performance inversion control method for a manipulator servo system, comprising the following steps:

[0099] Step 1, establish the dynamic model of the servo system of the manipulator, initialize the system state, sampling time and control parameters;

[0100] 1.1 The expression form of the dynamic model of the manipulator servo system is

[0101]

[0102] Among them, q and θ are the angles of the manipulator connecting rod and the motor respectively; I is the inertia of the connecting rod; J is the inertia of the motor; K is the spring stiffness coefficient; M and L are the mass and length of the connecting rod respectively; signal; v is the dead zone, expressed as:

[0103]

[0104] Among them, g l (u), g r (u) is an unknown nonlinear function; b l and b r is the unknown width parameter of the dead zone, ...

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Abstract

The invention provides a specified performance back-stepping control method of a mechanical arm servo system. The method comprises the steps of constructing a dynamic model of the mechanical arm servo system; initializing the system state, sampling time and control parameters; linearly approximating a nonlinear input dead area of the system as a simple time varying system according to the differential mean value theorem; deviating a mechanical arm servo system model with the unknown dead area; calculating the tracking error of the control system, FC (funnel control) error variation and differential. With the adoption of the method, the problem of control buffeting of a sliding die can be reduced, the system of the dead area input on the system can be effectively avoided, and the specified performance control of the mechanical arm control system can be achieved.

Description

technical field [0001] The invention relates to a specified performance inversion control method of a mechanical arm servo system, in particular to a specified performance control method of a mechanical arm servo system with input constraints. Background technique [0002] The servo system of the manipulator has been widely used in high-performance systems such as robots and aviation vehicles. How to realize the fast and precise control of the servo system of the manipulator has become a hot issue. However, the dead-zone nonlinear link widely exists in the servo system of the manipulator, which often leads to a decrease in the efficiency of the control system or even failure. For the control problem of the servo system of the manipulator, there are many control methods, such as PID control, adaptive control, sliding mode control and so on. [0003] Sliding mode control is considered to be an effective robust control method in solving system uncertainties and external distur...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 陈强汤筱晴
Owner ZHEJIANG UNIV OF TECH
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