Intelligent control method for high-precision positioning of flexible mechanical arm

Abstract

The invention discloses an intelligent control method for high-precision positioning of a flexible mechanical arm, wherein the method is characterized by comprising the following steps: 1) setting parameters of a controller and a precision range [-delta1, delta1] of a tracking error; (2) calculating state variables x1, x2, x3 and x4 according to the position q1 of a connecting rod of a single-connecting-rod flexible manipulator and the angle q2 of a motor angle obtained by a sensor; 3) combining the state variables x1, x2, x3 and x4 with an expected trajectory ym(t) to calculate an input vector xi(t) of a fuzzy logic system; 4) applying the input vector xi(t) to the fuzzy logic system to obtain a spread function vector of the fuzzy logic system; 5) iteratively calculating a state error z, an intermediate variable omega, a self-adaptive parameter theta and a virtual controller alpha by combining the state variables x1, x2, x3 and x4, the expected trajectory ym (t) and the spread function vector; 6) calculating an input signal u(t) of the connecting rod of the single-connecting-rod flexible manipulator in combination with the virtual controller alpha; and 7) the controller drives the single-connecting-rod flexible manipulator to move according to the input signal u(t), trajectory tracking is completed, strict convergence proving and stability analysis can be conducted, and good robustness and reliability are achieved.

Description

technical field [0001] The invention relates to the technical field of intelligent control of manipulators, in particular to an intelligent control method for high-precision positioning of flexible manipulators. Background technique [0002] Existing schemes, such as neural network-based control methods and PID control methods, have the following disadvantages: [0003] 1) The design of the controller is complex, and the parameters of the controller are difficult to solve, the speed is slow, and it takes a long time, so it is difficult to realize the fast tracking of the desired trajectory and high-precision positioning of the flexible manipulator; In the case of high nonlinearity, the control accuracy of the flexible manipulator is limited, and it cannot be guaranteed to be within the range of any artificially given accuracy; 3) lack of modeling foundation, resulting in the convergence and stability of the closed-loop control system cannot be obtained from the exact theory ...

AI Technical Summary

Problems solved by technology

[0003] 1) The design of the controller is complex, and the parameters of the controller are difficult to solve, the speed is slow, and it takes a long time, so it is difficult to realize the fast tracking of the desired trajectory and high-precision positioning of the flexible manipulator; In the case of high nonlinearity, the control accuracy of the flexible manipulator is limited, and it cannot be guaranteed to be within the range of any artificially given accuracy; 3) lack of modeling foundation, resulting in the convergence and stability of the closed-loop control system cannot be obtained from the exact theory Assure

4) The robustness of the flexible manipulator control system cannot be guaranteed

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