Control method for hysteresis nonlinear robot system

A technology of robot system and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of increasing research difficulty, hysteresis nonlinear complexity, and only considering the steady-state performance of the system, etc.

Active Publication Date: 2019-05-31
YANSHAN UNIV
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Problems solved by technology

However, the above work considers the hysteresis nonlinearity similar to the gap nonlinearity, and only considers the steady-state performance of the system, ignoring the transient performance of the system
In practice, hysteresis nonlinearity is more complex, which increases the difficulty of research on the above problems.

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  • Control method for hysteresis nonlinear robot system
  • Control method for hysteresis nonlinear robot system
  • Control method for hysteresis nonlinear robot system

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Embodiment Construction

[0053] The present invention will be further described below in conjunction with accompanying drawing:

[0054] Such as Figure 1-2 Shown, the step of the inventive method is as follows:

[0055] Step 1. Select the robot system with P-I hysteresis nonlinearity as the control object, measure the system parameters of the robot, and measure the joint position information and joint velocity information of the robot system in real time, and obtain the dynamic model of the robot system with hysteresis nonlinearity information;

[0056] The system parameters of the robot include: the length information and quality information of the robot joints, and the inertia matrix, Coriolis force, centrifugal force matrix and gravity items of the robot are calculated according to the length information and quality information of the robot; according to the system parameters and the joint position of the robot , speed information, the dynamic model of the robot can be obtained as:

[0057] ...

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Abstract

The invention discloses a control method for a hysteresis nonlinear robot system, and belongs to the field of robot system control. A hysteresis nonlinear robot with P-I (Prandtl-Ishlinskii) is selected as a research object to measure system parameters of the robot and joint position information and joint velocity information of the robot, a performance function is introduced to convert a constraint tracking control problem of an original robot to an unconstrained stabilization problem, and unknown parameters in the hysteresis nonlinearity are regulated by employing adaptive control to designan adaptive predetermined performance backstepping control strategy. The control method for the hysteresis nonlinear robot system optimizes the transient performance of the system, improves the convergence rate, ensures the steady state performance of the system, and improves the control precision; and moreover, the adaptive parameter regulation law is employed to estimate the unknown parameters in the hysteresis nonlinearity so as to effectively solve the problems of the system oscillating and system instability caused by hysteresis nonlinearity and improve the working performances of the system.

Description

technical field [0001] The invention relates to the field of robot system control, in particular to a hysteresis nonlinear robot system control method based on the idea of ​​self-adaptive predetermined performance backstepping control. Background technique [0002] With the continuous development of sensor, automatic control, computer and other technologies, robots are widely used in the fields of industry, national defense, disaster rescue, ocean development and space exploration, and are a hot research field at home and abroad. The robot is mainly composed of three parts: the actuator, the drive mechanism and the control mechanism. The actuator is responsible for completing various operational tasks, the drive mechanism provides the power source for the robot system, and the control mechanism adjusts the parameters to meet the control requirements by collecting data. In recent years, with the improvement of the variety and complexity of tasks performed by robots, practical...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 杨亚娜王新磊李军朋华长春
Owner YANSHAN UNIV
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