Control system, method, equipment for mechanical arm joint, and storage medium

Abstract

The invention discloses a control system for a mechanical arm joint. The control system comprises a tracking differentiator used for outputting an error signal and an error differential signal according to a received position instruction and a position feedback value of the mechanical arm joint, a non-linear PID controller used for non-linear combination of PID control according to the error signal and the error differential signal and outputting a speed instruction value so that a control error is in negative correlation with a gain, and a rear-stage control unit used for position control over the mechanical arm joint according to the speed instruction value. By adopting the scheme, the differential link can play a role, and meanwhile the noise amplification effect is very low; the control system can adapt to different working conditions, and further benefits prevention of the situation that the mechanical arm shakes in the operation process. The invention further discloses a controlmethod and equipment of the mechanical arm joint, and a storage medium, and the corresponding technical effects are achieved.

Description

technical field [0001] The present invention relates to the technical field of feedback control, in particular to a control system, method, device and storage medium of a mechanical arm joint. Background technique [0002] The manipulator joint is mainly driven by PMSM (Permanent Magnet Synchronous Motor, permanent magnet synchronous motor). The control performance of PMSM directly determines the stability of the manipulator control. At present, in PMSM control, PID control is widely used. The traditional PID control method uses the difference between the position command signal and the position feedback signal as the position error. The error feedback control is aimed at the present (Proportional) and past (Integral) of the error. , the future (Differential) linear combination. PID control has good robustness in most industrial control fields. However, in the control of the flexible manipulator, the traditional PID control has been unable to meet the requirements of the m...

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Problems solved by technology

[0005] Moreover, since the error feedback law of traditional PID control is a linear combination of the error's present (P), past (I), and future (change trend D), the linear combination of these quantities is not necessarily the most suitable combination form, especially In the control of flexible manipulators, the traditional PID control often has a large mechanical resonance, a set of parameters is difficult to adapt to various working conditions, and it is easy to shake.

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