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Lightweight flexible system distributed control method, system and device based on ipmc drive

A flexible system and distributed control technology, applied in the field of control systems, can solve problems such as low control precision, controller overflow, and slow response

Active Publication Date: 2021-03-23
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0007] In order to solve the above-mentioned problems in the prior art, that is, the traditional control method is likely to cause controller overflow, low control precision and slow response, the present invention provides a distributed control method for light and flexible systems based on IPMC drive. Methods include:

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  • Lightweight flexible system distributed control method, system and device based on ipmc drive

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[0086] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, not to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0087] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0088] The invention provides a distributed control method for a lightweight flexible system driven by IPMC. By constructing a control method based on a distributed parameter model, the method effectively avoids the instability phenomenon of controller overflow, effectively controls ...

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Abstract

The invention belongs to the field of control systems, and specifically relates to a distributed control method, system and device for a light and flexible system driven by IPMC, aiming to solve the problems of controller overflow, low control precision and slow response easily caused by traditional control methods. The invention includes: obtaining the control task and the real-time displacement of the free end of the light flexible system, converting the real-time displacement into a voltage signal, obtaining the driving electrical signal through the distributed parameter model of the light flexible system based on the voltage signal and the control task, and based on the obtained The above-mentioned driving electric signal controls the IPMC to perform corresponding actions, completes the control of the light and flexible system and suppresses vibration. The invention effectively suppresses the vibration problem of the lightweight flexible system by establishing a distributed parameter model of the lightweight flexible system with highly nonlinear and coupling characteristics and designing the Lyapunov function, so that the control of the lightweight flexible system is more accurate and the response speed Faster, more secure and more versatile.

Description

technical field [0001] The invention belongs to the field of control systems, and in particular relates to a distributed control method, system and device for a lightweight flexible system driven by IPMC. Background technique [0002] In recent years, people's continuous exploration of the field of robotics has made it develop rapidly. Among them, flexible mechanisms such as flexible manipulators and flexible beams are more and more used in important fields such as aviation and medical treatment because of their advantages such as light material, soft structure, strong flexibility, and low energy consumption. However, the shortcomings of this type of lightweight flexible system are also obvious, such as the vibration problem of the flexible suspension beam, which brings great challenges to the precise control of the lightweight flexible system. Aiming at the vibration control problem of this kind of light flexible system (distributed parameter model), the present invention ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨闳竣刘志杰程龙谭民贺威何修宇
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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