Formalized verification method for stability of robot fractional order PID controller

A fractional order and robot technology, applied in the fields of information security and mathematics, can solve problems such as imprecise application, failure to guarantee 100% accurate analysis of the system, and life-threatening problems

Active Publication Date: 2016-11-16
YUNNAN UNIV
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Problems solved by technology

Traditional simulation verification methods cannot guarantee 100% accurate analysis of the system
For some safety performance requirements are particularly high, especially human-computer interaction robots, imprecise application will cause a great threat, even endanger life

Method used

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  • Formalized verification method for stability of robot fractional order PID controller
  • Formalized verification method for stability of robot fractional order PID controller
  • Formalized verification method for stability of robot fractional order PID controller

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Embodiment Construction

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] For an underlying system of a five-DOF robot, the transfer function is:

[0040]

[0041] The applicant also proposes a fractional-order PID controller designed:

[0042]

[0043] The stability of the robot under the control of fractional order PID controller has been verified by simulation method. Here, the theorem proposed by the present invention is adopted to prove logically the stability of the system under the control of the fractional-order PID controller. The time-domain model and the frequency-domain model of the fractional order system are equivalent and can be transformed into each other by Laplace transform. For this closed-loop control system, whether it can achieve steady-state output is the most basic requirement. If the system cannot reach steady-state and the robot cannot be controlled reasonably, it will cause the robot ...

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Abstract

The invention provides a method for verifying the stability of a robot fractional order PID control system by means of high-order logical theorem proving formalization method. For a robot fractional order PID controller, the method comprises the steps that a high-order logical formalized model of fractional order Laplace transformation and a high-order logical formalized model of the fractional order PID controller are established, a high-order logical formalized model of a fractional order closed-loop control system is established on this basis, and the stability of the robot fractional order PID control system is verified by means of the formalized model and theorems. According to the method, a guarantee is provided for the high reliability of the robot fractional order PID control system through formalized verification of a high-order logical theorem prover, and a firm foundation is provided for the safety of a man-machine interaction robot.

Description

technical field [0001] The invention proposes a formal verification of high-order logic aiming at the stability of a fractional-order PID control system of a robot, and belongs to the fields of information security and mathematics. Background technique [0002] With the continuous development of robots from low-level to high-level, robots have penetrated into various fields of human life. People put forward higher requirements for the intelligence level and reliability of robots. The inventor also proposes a robot controlled by a fractional-order PID controller, so that the robot can complete various actions more accurately. In addition to precise control, rigorous verification in the process of designing robots is also an important direction for research on robot reliability. Traditional simulation verification methods cannot guarantee 100% accurate analysis of the system. For some safety performance requirements are particularly high, especially human-computer interacti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F19/00
CPCG16Z99/00
Inventor 赵春娜
Owner YUNNAN UNIV
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