Three-connecting-rod manipulator finite time fault detection method based on singular system model

Abstract

The invention discloses a three-connecting-rod manipulator finite time fault detection method based on a singular system model. The method comprises the steps that a three-connecting-rod planar manipulator singular time delay system model is established by considering actuator faults, unknown disturbance and time delay, and a fault detection filter is arranged according to the singular time delay system model; an augmented residual system model is established according to the singular time delay system model and the fault detection filter; H- / H-infinity mixed performance indexes are used for representing the influence of unknown disturbance and faults on residual errors, a time-delay dependent Lyapunov-Krasovskii functional containing exponential terms is constructed and analyzed, the sufficient conditions which enable the robust finite time of the augmented residual error system to be stable and to meet the H- / H-infinity performance indexes are determined, and the solution conditions of the fault detection filter are analyzed and determined; and a fault judgment scheme is formed. The influences of the actuator fault parameters, unknown disturbance parameters and time delay parameters on the system are considered, the fault detection scheme of a three-connecting-rod planar manipulator is designed, and the method has more practical significance and practical value.

Description

technical field [0001] The invention relates to a limited-time fault detection method for a three-link manipulator based on a singular system model, and belongs to the technical field of system control. Background technique [0002] The three-link planar manipulator is an important class of service robots widely used in disasters and emergency rescue, construction, public services and environmental protection. It has high flexibility, high reliability, wide application range and can work in difficult environments. Features. As a flexible automation device, the planar manipulator can replace or assist people to complete various monotonous repetitive and high-risk tasks, so it is widely used in manufacturing, space stations, military strategy, medical industries, etc. Robotic systems can only be widely used in these industries if they are always in normal working condition. During the actual working process of the planar manipulator, due to electromagnetic interference, devi...

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Problems solved by technology

[0005] However, due to the mechanical inertia and inertia factors in the response process, there is inevitably a time delay in the dynamic system, and the above studies have not considered the influence of the time delay in the system, and with the increase of the complexity of the system and model, modeling The impact of uncertain factors such as errors and various disturbances is inevitable

[0006] Various limiting forces and (static) constraints inevitably exist in the modeling process of the three-link planar manipulator, and the normal state-space model cannot be described uniformly

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