Singular-perturbation-based flexible mechanical arm time scale separation robust control method

Abstract

The invention discloses a singular-perturbation-based flexible mechanical arm time scale separation robust control method. The method comprises the steps that a flexible mechanical arm kinetic model is built; the flexible mechanical arm kinetic model is subjected to rigid-flexible modality separation processing; a robust control method is designed for a slow subsystem embodying the rigid modalityof the system; a state feedback control method is designed for a rapid subsystem embodying the elastic modality of the system; first control input is obtained; second control input is obtained; the first control input is combined with the second control input to obtain combination data; the combination data is put into the flexible mechanical arm kinetic model to obtain output data; the output data is separately compared with the expected data of a joint angle of the flexible mechanical arm and elastic vibration data to obtain comparison difference; and when the comparison difference is in a comparison threshold range, a signal indicating effective control is output. By adopting the singular-perturbation-based flexible mechanical arm time scale separation robust control method, tracking ofthe mechanical arm joint angle to an expectation command and elastic modality inhibition can be realized; and vibration is reduced.

Description

technical field [0001] The invention relates to the technical field of aerial robot control, in particular to a time-scale separation robust control method for flexible manipulators based on singular perturbations. Background technique [0002] The dynamic model of the flexible manipulator represents the characteristics of rigid-flexible mode coupling, and the model parameters have strong uncertainties, which is not conducive to the design of control algorithms. For the elastic part of the model, scholars have combined it with model parameter uncertain items, and realized compensation control by means of interference observation. However, this processing method lacks in-depth analysis of the elastic part; for parameter uncertainty, adaptive The estimation algorithm can achieve approximation estimation through online learning, but better approximation effect requires more online update parameters, which makes the algorithm calculation speed slower. The traditional proportiona...

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Problems solved by technology

[0002] The dynamic model of the flexible manipulator characterizes the characteristics of rigid-flexible mode coupling, and the model parameters have strong uncertainties, which is not conducive to the design of control algorithms

For the elastic part of the model, scholars have combined it with model parameter uncertain items, and realized compensation control by means of interference observation. However, this processing method lacks in-depth analysis of the elastic part; for parameter uncertainty, adaptive The estimation algorithm can achieve approximation estimation through online learning, but a better approximation effect requires more online update parameters, which makes the algorithm calculation speed slower. The traditional proportional-derivative control algorithm is simple, but its resistance to external interference is poor

[0003] "Composite Learning Control of Flexible-Link Manipulator Using NN andDOB" (BIN XU, "IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2017, DOI: 10.1109 / TSMC.2017.2700433") uses singular perturbation theory for flexible machinery The arm dynamics model is processed by time scale separation, so that the model dynamics is divided into rigid part and elastic part. For the rigid part, the method of combining neural network and disturbance observation is used to deal with the uncertain items, and the control effect of learning information improvement is relatively good. Good, but due to the complexity of the algorithm, the online learning parameters of the neural network lead to a slow calculation speed, which is not conducive to engineering applications

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