Dead zone compensating control method for mechanical arm servo system with guaranteed transient performance

Abstract

A dead zone compensating control method for a mechanical arm servo system with guaranteed transient performance comprises following steps: a dynamic model of a mechanism arm servo system is established, and the system state, sampling time and control parameters are initialized; according to the differential mean value theorem, a non-linear input dead zone in the system is linearly approximated as a simple time-varying system, and a mechanism arm servo system model with unknown dead zones is deduced; a bounded function limiting the tracking error transient performance is introduced; a conversion error variable is defined by use of a error conversion method; a virtual control quantity of the system is designed by use of the Lyapunov method; an unknown virtue control quantity is estimated by use of a neural network; a first-stage wave filter is added to avoid problems such as inversion complexity blast. The invention provides a method for effectively compensating the influence of unknown dead zone input on the system and avoiding the problem of complexity blast brought by the inversion method, and for increasing the system transient tracking performance and guarantying stable tracking control of position signals.

Description

technical field [0001] The invention relates to a dead zone compensation control method for a mechanical arm servo system that ensures transient performance, in particular to an adaptive control method for a flexible mechanical arm servo system with a nonlinear input dead zone. 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. Among them, the flexible manipulator has received more and more attention due to its advantages of less material, light weight, and low energy consumption. However, the unknown dead zone nonlinear link widely exists in the servo system of the manipulator, which often leads to the reduction of the efficiency of the control system or even failure. Therefore, in order to improve the control performance, compensation and control methods for nonlinea...

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Problems solved by technology

[0004] In order to overcome the shortcomings of the existing manipulator servo system, such as dead zone nonlinearity, model parameter uncertainty, and complexity explosion caused by the inversion method, the present invention proposes a manipulator servo system that guarantees transient performance The dead zone compensation control method simplifies the design structure of the controller, realizes the position tracking control of the manipulator system with unknown dead zone input, and ensures the stable and fast transient tracking of the system

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