Active disturbance rejection controller and industrial robot

An active disturbance rejection controller and industrial robot technology, applied in the direction of manufacturing tools, manipulators, etc., can solve the problem that the PID controller cannot meet the high-quality motion control of industrial robots with multiple joints, so as to improve the robustness and response speed, reduce the The effect of power consumption

Active Publication Date: 2019-04-26
杭州君辰机器人有限公司 +1
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Problems solved by technology

[0008] The embodiment of the present application provides an active disturbance rejection controller and an industrial robot to at least so...

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  • Active disturbance rejection controller and industrial robot
  • Active disturbance rejection controller and industrial robot
  • Active disturbance rejection controller and industrial robot

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Embodiment Construction

[0056] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0057] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such...

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Abstract

The invention discloses an active disturbance rejection controller, and an industrial robot. The active disturbance rejection controller comprises a differential tracker, a position loop and a speed loop; the input end of the differential tracker is connected with the output end of a controlled object, and is used for estimating the position and the speed of the controlled object; the position loop is composed of a first controller and a first extended observer, the first controller is based on the position error feedback control rule to generate speed control amount, the speed observation value output by the second output end of the first extended observer is used for compensating the speed control amount, the speed loop is composed of a second controller and a second extended observer, the second controller is based on the speed error feedback control rule to generate the acceleration control amount, and the acceleration disturbance observed value output by the second end of the second extended observer is used for compensating the acceleration control amount. The error control power consumption can be effectively reduced, and the system robustness and the response speed are improved.

Description

technical field [0001] The present application relates to the field of industrial automation, in particular, to an ADRC controller and an industrial robot. Background technique [0002] Conventional industrial robots use PID (proportional-integral-derivative) control technology, which is based on errors to generate control strategies to eliminate errors, that is, to achieve control by weighting the past, present, and changing trends of errors. A PID controller uses three parameters as part of its tuning algorithm, these three parameters are proportional (P) value, integral (I) value and derivative (D) value. Among them, the P value is related to the current error of the system; the I value (as the integral or accumulation of the past error) is related to the past error; the D value (as the reciprocal of the rate of change of the error) is related to the future error. [0003] figure 1 It is a schematic diagram of a PID control structure according to the prior art, and the ...

Claims

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Application Information

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IPC IPC(8): B25J13/08
CPCB25J13/08
Inventor 周柔刚涂骁周才健纪善昌
Owner 杭州君辰机器人有限公司
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