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

A boundary control, flexible technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as system performance degradation and system instability, achieve precise tracking and control, good anti-saturation control and tracking performance Effect

Active Publication Date: 2018-06-19
GUANGZHOU UNIVERSITY
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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 Cou

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

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[0070] see figure 1 , figure 1 It is a flow diagram of the boundary control method for the anti-saturation of the flexible Timoshenko beam manipulator provided by the first embodiment of the present invention. The described boundary control method for the anti-saturation of the flexible Timoshenko beam manipulator comprises the following steps:

[0071] S101. Obtain dynamic characteristics of the flexible Timoshenko beam manipulator system, and construct a model of the flexible Timoshenko beam manipulator system according to the dynamic characteristics.

[0072] In this embodiment, the dynamic characteristics include the kinetic energy of the flexible Timoshenko beam manipulator system, the potential energy of the flexible Timoshenko beam manipulator system, and the virtual work done by non-conservative forces on the flexible Timoshenko beam manipulator system . in,

[0073] The kinetic energy is:

[0074]

[0075] Among them, x∈[0,L] is the position of the flexible Ti...

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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 ...

Claims

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Application Information

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IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 赵志甲马永浩肖颖石钧张佳宁
Owner GUANGZHOU UNIVERSITY
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