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Linear active disturbance rejection tracking control method for industrial manipulator with disturbance 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 problems such as system instability, control information can not be updated in time, data loss, etc., to eliminate Effects of System Disturbances

Active Publication Date: 2021-04-23
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

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  • Linear active disturbance rejection tracking control method for industrial manipulator with disturbance and time delay
  • Linear active disturbance rejection tracking control method for industrial manipulator with disturbance and time delay
  • Linear active disturbance rejection tracking control method for industrial manipulator with disturbance 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 manipulator linear active disturbance rejection tracking control method with disturbance and time delay. The specific steps are as follows: establishing a mathematical model of the industrial manipulator system including time delay and disturbance; designing the system linear active disturbance rejection controller design . The invention provides a controller design method for ensuring the stable tracking control of the industrial manipulator aiming at the tracking control problem of the industrial manipulator with disturbance and time delay. The linear active disturbance rejection control method of the present invention has good control performance, can effectively eliminate the adverse effects of disturbance and time delay on system control, and the tracking error can quickly converge to zero after a brief overshoot occurs.

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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Patent Type & Authority Patents(China)
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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