Cascade control system and method of flexible robot based on time-varying interference compensation

Abstract

The invention discloses a cascade control system and method of a flexible robot based on time-varying interference compensation. The cascade control system includes a direct current motor side position controller, an extended state observer based on a direct current motor model, a mechanical arm side position controller, an extended state observer based on a mechanical arm model, a direct currentmotor side position sensor, a mechanical arm side position sensor, a direct current motor, flexible joints and a mechanical arm. The mechanical arm side position controller comprises feedforward compensation control based on interference estimation and feedback control based on state estimation; the direct current motor side position controller includes feedforward compensation control based on interference estimation and feedback control based on state estimation. Compared with a traditional cascade proportional-differential control method, the cascade control system and a method of a flexible robot based on time-varying interference compensation are simple in design and implementation, strong in anti-interference ability, and the application requirements of a position tracking system ofa single-joint flexible mechanical arm can be meet.

Description

technical field [0001] The invention relates to the technical field of a control method based on a single-joint flexible robot arm, in particular to a cascade control system and method for a flexible robot based on time-varying disturbance compensation. Background technique [0002] In recent years, the trajectory tracking problem of flexible manipulators has attracted great attention, mainly because of the complexity of this problem. To slow down flexible arms, many robots incorporate harmonic drives, but such drives introduce elastic torques in the joints. Industrial robots usually add elastic elements to the transmission system. When the robot needs to respond quickly, the phenomenon of torsional vibration will occur. For many robotic arms, joint elasticity comes from many sources, such as the elasticity of gears, belts, tendons, bearings, hydraulic lines, etc. However, most existing method designs assume perfect stiffness at the joints, which may limit the dynamic accu...

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Problems solved by technology

[0004] However, most control schemes or industrial implementations are difficult, and there are the following defects: for example, the control method is too complicated, which is not conducive to engineering implementation, the number of sensors required is too large, the cost is high, and other problems, or it is impossible to effectively observe various time-varying systems. disturbances and immediately suppress these system disturbances, including system unmodeled dynamics, parameter uncertainties, external disturbances, etc.

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