Boundary control method for anti-saturation of flexible Timoshenko beam manipulator

Abstract

The invention discloses a boundary control method for anti-saturation of a flexible Timoshenko beam manipulator. The method comprises the steps that the dynamic characteristics of the flexible Timoshenko beam manipulator system are acquired; a flexible Timoshenko beam manipulator system model is constructed according to the dynamic characteristics; a boundary controller is constructed according tothe flexible Timoshenko beam manipulator system model; the stability of the flexible Timoshenko beam manipulator system is verified under anti-saturation control; MATLAB simulation software is used to digitally simulate the flexible Timoshenko beam manipulator system to acquire a simulation result; according to the simulation result, whether the control effect of the flexible Timoshenko beam manipulator system to which a control action is applied meets a preset requirement is verified; and if the control effect does not meet the preset requirement, the gain parameter of the boundary controller is adjusted according to the simulation result, so that the boundary controller has better anti-saturation control and tracking performances. The boundary control method provided by the invention can realize stable and accurate tracking and control of the manipulator.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a boundary control method for anti-saturation of a flexible Timoshenko beam manipulator. Background technique [0002] As the application of robots has expanded from a single industrial field to marine, construction, aerospace and other fields, rigid robotic arms with bulky, low flexibility, and single functions no longer meet the working requirements of increasingly complex external environments. The flexible robotic arm has the advantages of light weight, high precision, low energy consumption, and fast speed, and can overcome many defects of the rigid robotic arm. However, due to its own material flexibility, it is easy to be affected by external interference. In the actual working process, it will produce severe vibration, which seriously affects the performance of the system. [0003] In the prior art, the boundary control method is adopted to solve the vibration ...

AI Technical Summary

Problems solved by technology

However, the boundary control methods in the prior art are generally aimed at flexible Euler beam manipulators, or for realizing accurate estimation of disturbances in the case of uncertain external disturbances, while for flexible Timoshenko beams with shear deformation Coupled with the non-smooth nonlinear characteristics such as saturation, recoil, hysteresis and dead zone, which are ubiquitous in industrial control devices, the simple boundary control method still has the defects of system performance degradation and even system instability.

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