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A Robust Attitude Control Method of Manipulator Based on Disturbance Estimator

A technology of disturbance estimation and robust control, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as shortened service life of structures, production safety accidents, and external disturbances

Active Publication Date: 2021-02-05
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • A Robust Attitude Control Method of Manipulator Based on Disturbance Estimator
  • A Robust Attitude Control Method of Manipulator Based on Disturbance Estimator
  • A Robust Attitude Control Method of Manipulator Based on Disturbance 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. Figure 6 , 7 and 8 represent the results of the three-degree-of-fre...

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 robust control method of a mechanical arm attitude based on an interference estimator. First, the dynamic model of the manipulator is established and feedback linearized to simplify it into a disturbed double-integral model. Secondly, a two-component attitude robust controller is set to realize the robust tracking control of the manipulator attitude. The controller consists of two parts: one is to set the input of the nominal system to ensure that the closed-loop system can track the reference signal; It is the setting of the disturbance estimator, which is used for real-time estimation of model uncertainty and external disturbance, and then compensates the control signal. The compensated control signal is converted into a voltage signal and input to the actuator, so as to complete the robust attitude control of the manipulator under disturbed conditions. The invention can effectively eliminate or suppress uncertainties and interference signals in the motion model to realize high-precision tracking of the expected reference signal of the attitude of the manipulator, and has strong anti-interference ability, clear control parameters, less calculation amount and practicality.

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 Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 彭琛王佳饶心远朱波林晨
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA