Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Auto-disturbance-rejection control method, device and system

A technology of active disturbance rejection control and active disturbance rejection controller, which is applied in general control systems, control/regulation systems, adaptive control, etc., can solve the problems that PID controllers cannot meet the multi-joint high-quality motion control of industrial robots, etc. To achieve the effect of improving real-time performance

Active Publication Date: 2019-04-26
杭州君辰机器人有限公司 +3
View PDF21 Cites 16 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The embodiment of the present application provides an active disturbance rejection control method, device and system to at least solve the technical problem that the PID controller in the prior art cannot satisfy the high-quality motion control of industrial robots with multiple joints

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Auto-disturbance-rejection control method, device and system
  • Auto-disturbance-rejection control method, device and system
  • Auto-disturbance-rejection control method, device and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0063] 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.

[0064] 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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an auto-disturbance-rejection control method, device and system. The method comprises the steps that multiple parallel auto-disturbance-rejection controllers are adopted to achieve decoupling control over a controlled object, and multiple control sub-systems are formed, wherein the controlled object is a multi-input multi-output system including multiple input variables andmultiple output variables, each control sub-system is a single-input single-output system including one input variable and one output variable; the determinacy disturbance of each control sub-systemis compensated for based on a dynamic feedforward module, and the nondeterminacy disturbance of each control sub-system is compensated for through an expansion observer; based on the input and outputrelation of the control sub-systems, the output quantity of each control sub-system is determined according to the compensated input quantity. According to the auto-disturbance-rejection control method, device and system, the advantages of instantaneity, robustness and precision of large-inertia robot motion control are achieved.

Description

technical field [0001] The present application relates to the field of industrial automation, in particular, to an active disturbance rejection control method, device and system. 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 ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 周柔刚涂骁周才健纪善昌
Owner 杭州君辰机器人有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com