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Industrial mechanical arm linear self-interference-resistant tracking control method having interference and time delay

A linear active disturbance rejection, industrial machinery technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of data loss, data collision, data retransmission, etc.

Active Publication Date: 2018-11-13
HUANGSHAN UNIV
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Problems solved by technology

However, with the continuous expansion of industrial production scale and the gradual complexity of the application environment of industrial manipulators, the traditional point-to-point control method can no longer meet the application needs, and the networked control of industrial manipulators has become a development trend
[0003] Due to the constraints of network resources and the influence of transmission distance, problems such as data collision, data loss, and data retransmission will occur when the nodes in the industrial manipulator control system exchange information.
The existence of these problems leads to the inevitable generation of induced time delay in the control system of industrial manipulators, which causes the control information in the system to not be updated in time, resulting in a decline in system control performance, and in severe cases, even makes the system unstable.
In addition, in addition to the influence of time delay in the network control system of industrial manipulators, factors such as parameter perturbation and external disturbances of the industrial manipulator control system will also adversely affect the tracking control performance of the system

Method used

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  • Industrial mechanical arm linear self-interference-resistant tracking control method having interference and time delay
  • Industrial mechanical arm linear self-interference-resistant tracking control method having interference and time delay
  • Industrial mechanical arm linear self-interference-resistant tracking control method having interference and time delay

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Embodiment Construction

[0056] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0057] Such as figure 1 , figure 2 As shown, the linear active disturbance rejection tracking control method for industrial manipulators with disturbance and time delay includes the following steps:

[0058] (1) Establish a mathematical model of the industrial manipulator control system including time delay and interference:

[0059] (1.1) For the n-joint industrial manipulator system, considering the unmodeled dynamics of the system, the influence of external bounded disturbance and friction force, its dynamic model can be described as the following equation:

[0060]

[0061] In the formula, θ, Represent the position vector, velocity vector and acceleration vector of each joint angle of the manipulator, R represents the real number field; M(θ)∈R n×n is the positive definite symmetric inertia matrix of the system; is the centrifugal force an...

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Abstract

The invention discloses an industrial mechanical arm linear self-interference-resistant tracking control method having interference and time delay. The method specifically includes following steps: building an industrial mechanical arm system mathematic model containing time delay and interference; designing a system linear self-interference-resistant controller. Aiming at the control problem of an industrial mechanical arm with disturbance and time delay, a controller design method capable of ensuring stable tracking control of the industrial mechanical arm is provided. The linear self-interference-resistant control method has good control performance, adverse impact of disturbance and time delay on system control can be eliminated effectively, and tracking errors can be quickly convergedto zero after temporary overshoot.

Description

technical field [0001] The invention relates to the field of manipulator control methods, in particular to a linear active disturbance rejection tracking control method for industrial manipulators with interference and time delay. Background technique [0002] In recent years, due to the increase of labor costs, industrial mechanical arms have been widely used in industrial production and are playing an increasingly important role. However, with the continuous expansion of industrial production scale and the gradual complexity of the application environment of industrial manipulators, the traditional point-to-point control method can no longer meet the application needs, and the networked control of industrial manipulators has become a development trend. [0003] Due to the constraints of network resources and the influence of transmission distance, problems such as data collision, data loss, and data retransmission will occur when the nodes in the industrial manipulator con...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/045
Inventor 郭一军孙剑赵年顺胡明亮
Owner HUANGSHAN UNIV
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