Robust stabilization control method and system for mechanical arm system

A stabilization control, system robust technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that the result is only applicable

Inactive Publication Date: 2021-09-10
SHANDONG JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The current observer design methods mainly include Lyapunov function method, coordinate transformation method, extended Lomberg observer method and extended Kalman filter method, etc., but the finite-time control algorithm currently d...

Method used

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  • Robust stabilization control method and system for mechanical arm system
  • Robust stabilization control method and system for mechanical arm system
  • Robust stabilization control method and system for mechanical arm system

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Experimental program
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Embodiment 1

[0116] Such as figure 1 A robust stabilization control method and system for a manipulator system proposed in Embodiment 1 of the present invention are given.

[0117] In step S101, the dynamic equation of the manipulator system is established, such as figure 2 A schematic diagram of the structure of the manipulator system is given, in which m1 is the mass of the first joint of the manipulator, and m2 is the mass of the second joint of the manipulator.

[0118]where the kinetic equation is:

[0119] Among them, q=[q 1 ,q 2 ] T ∈ R 2 is the rotation angle vector of the manipulator joint; q 1 is the angle between the first joint of the manipulator and the X axis; q 2 is the angle between the second joint of the manipulator and the X axis; is the rotational angular velocity vector of the manipulator joint; is the rotational acceleration vector of the manipulator joint; M(q)∈R 2×2 is the inertia matrix; is the Coriolis force matrix; G(q)∈R 2 is the gravitational ...

Embodiment 2

[0232] Based on the robust stabilization control method for the manipulator system proposed in Embodiment 1 of the present invention, Embodiment 2 of the present invention also proposes a robust stabilization control system for the manipulator system, such as image 3 A schematic diagram of a robust stabilization control of a manipulator system according to Embodiment 2 of the present invention is given. The system includes: an establishment module, a conversion module, an extension module and a verification module;

[0233] The building block is used to establish the dynamic equation of the manipulator system;

[0234] The conversion module is used to use the generalized momentum to obtain the extended dimension system of the manipulator system through the method of coordinate transformation by using the generalized momentum; select the Hamilton function and use the method of orthogonal decomposition to obtain the equivalent manipulator Hamilton model;

[0235] The extension ...

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Abstract

The invention provides a robust stabilization control method and system for a mechanical arm system. The method comprises the steps that a kinetic equation of the mechanical arm system is established; a dimension expansion system of the mechanical arm system is obtained from the kinetic equation through a coordinate conversion method by means of generalized momentum; a Hamilton function is selected and an orthogonal decomposition method is adopted to obtain an equivalent mechanical arm Hamilton model; a finite time observer of the mechanical arm system is designed; a mechanical arm Hamilton model and a finite time observer are expanded into a high-dimension Hamilton model; and a Lyapunov function is constructed, and the finite time stability of the high-dimension Hamilton model is verified through the Lyapunov function, so that the robust stability of the mechanical arm system is verified. Based on the method, the invention further provides a robust stabilization control system for the mechanical arm system. According to the method, a finite time observer is adopted, a nonlinear observation system is adopted, and compared with a linear observation system, the convergence speed is higher, and the robustness performance is higher.

Description

technical field [0001] The invention belongs to the technical field of robust stabilization of a manipulator system, and in particular relates to a robust stabilization control method and system for a manipulator system. Background technique [0002] Robotic arms play an important role in the field of industrial automation. Especially with the further development of technology, the requirements for the working precision of the mechanical arm are getting higher and higher. Therefore, the research on the control of the manipulator system is of great significance. As we all know, the manipulator system usually works in a complex environment and is disturbed by the environment, which will increase the overshoot and reduce the stability of the system. [0003] In order to overcome these problems, the robust control of the manipulator system has received extensive attention and achieved good results, effectively improving the robustness of the system. It is worth noting that in...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨仁明石鑫张海英
Owner SHANDONG JIAOTONG UNIV
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