Mechanical arm joint control system, method and equipment and storage medium

Abstract

The invention discloses a mechanical arm joint control system, and the system comprises: an error calculation unit, which is used for determining a difference value between a position set value and a first observation value; a PD control unit, which is used for carrying out PD control according to the difference value and a second observation value and outputting a first compensation amount; a disturbance compensation unit, which is used for carrying out disturbance compensation on the first compensation amount according to a third observation value and outputting a rotating speed instruction value; a linear extended state observer, which is used for outputting a first observation value, a second observation value and a third observation value according to the received rotating speed instruction value and a position feedback value; and a rear-stage control unit, which is used for carrying out position control on the mechanical arm joint according to the rotating speed instruction value output by the disturbance compensation unit. By the adoption of the scheme, the control effect on the mechanical arm joint can be improved, and the rapidness and precision of control are guaranteed. The invention further provides a control method and control 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...

AI Technical Summary

Problems solved by technology

[0005] In the traditional PID control, the integral link can suppress constant disturbance, but the integral link also has many side effects, including slow response of the closed-loop system, oscillation, and saturation of the control amount. The control of the flexible manipulator requires rapidity and precision. In the case of sexuality, the manifestation is more obvious

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