Mechanical arm posture robustness control method based on interference estimator

A technology of disturbance estimation and robust control, applied in the direction of adaptive control, general control system, control/regulation system, etc., which can solve problems such as production safety accidents, control system difficulties, and external interference

Active Publication Date: 2017-12-22
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
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Problems solved by technology

However, the mechanical arm will be affected by load changes, system aging, actuator failure, etc. during the working process. These effects will lead to problems such as external interference and model uncertainty, which will lead to shortened service life of the structure. In severe cases, production safety will occur. accidents, so the anti-interference performance of the manipulator itself is very important
In addition, the manipulator has some multivariable, strong coupling, and nonlinear characteristics. These characteristics, coupled with the influence of external disturbances and model uncertainties, make it difficult to set up a control system with good performance.

Method used

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  • Mechanical arm posture robustness control method based on interference estimator
  • Mechanical arm posture robustness control method based on interference estimator
  • Mechanical arm posture robustness control method based on interference estimator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0139] Under the action of the interference estimator under the action of three different forms of interference, the function test of the elevation angle ε tracking the sinusoidal signal.

[0140] In the implementation of the experiment, the attitude angle tracking experiment of the manipulator under three different interference forms was done, and the model test result diagram was given, and the control parameters Differential estimator experimental parameter α=50, interference estimator time constant T=1, tracking signal ε d =5sin(0.3πt)+13(deg). image 3 , 4 and 5 represent the results of the three-degree-of-freedom manipulator without UDE, respectively, when there is no artificial disturbance, artificial suspension of heavy objects, and artificial wind disturbance. The experiment proves that the helicopter cannot effectively track the sinusoidal signal without the action of UDE. , the error is large. Image 6 , 7 and 8 represent the results of the three-degree-of-free...

Embodiment 2

[0142] The interference estimator under the action of three different forms of interference, the effect test of pitch angle θ tracking sinusoidal signal.

[0143] The three disturbance forms in the experiment implementation are the same as those in Example 1, and the control parameters Differential estimator experimental parameter α=50, tracking signal θ d =5sin0.05πt(deg), the interference estimator time constant T=1. Figure 9 , 10 11 and 11 represent the results of the three-degree-of-freedom manipulator without UDE, respectively, when there is no artificial disturbance, artificial hanging heavy object disturbance, and artificial wind disturbance. Figure 12 , 13 and 14 respectively represent the three-degree-of-freedom helicopter tracking attitude angle results when the system has UDE effect when there is no artificial disturbance, artificial suspension heavy object disturbance, and artificial wind disturbance.

[0144] Figure 14 When man-made external wind interfer...

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Abstract

The invention discloses a mechanical arm posture robustness control method based on an interference estimator. The mechanical arm robustness control method comprises steps of establishing a mechanical arm dynamic model and performing feedback linearity on the mechanic arm dynamic model to simplify the dynamic model into a disturbed double integration model, setting a double-component posture robustness controller in order to realize mechanical arm posture robustness tracking control, and converting a compensated control signal to a voltage signal to input into an actuator so as to complete posture robustness control of the mechanical arm under a disturbed condition. The double-component posture controller comprises two parts. One part is used for configuring an input of a nominal system in order to guarantee that a closed loop system can track reference signals and the other part is used for configuring an interference estimator for performing real-time estimation on model uncertainty and external disturbance and then performing compensation on a control signal. The mechanical arm robustness control method based on the interference estimator can effectively remove or inhibit uncertainty or an interference signal in a kinematic model in order to realize high accuracy tracking on a mechanical arm posture expectation reference signal, and is strong in interference resistance, clear in controlling parameters, less in calculation and strong in implementation.

Description

technical field [0001] The invention relates to a method for robust attitude control of a mechanical arm when model uncertainty and interference exist, and belongs to the technical field of attitude control of the mechanical arm. Background technique [0002] A robotic arm is an automatic device that can imitate certain movement functions of the human hand and arm to grasp, carry objects or operate tools. It can replace people's heavy labor to realize the mechanization and automation of production, and can replace people to operate in harmful environments to ensure personal safety. However, the mechanical arm will be affected by load changes, system aging, actuator failure, etc. during the working process. These effects will lead to problems such as external interference and model uncertainty, which will lead to shortened service life of the structure. In severe cases, production safety will occur. Accidents, so the anti-interference performance of the manipulator itself is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 朱波王佳饶心远彭琛林晨
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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