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Six-axis mechanical arm control system based on first-order variable gain ADRC

A six-axis manipulator and control system technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as high processor performance requirements and difficult parameters, and achieve good robustness and avoid dynamic response changes. Effects of slowness, simplified structure and algorithmic complexity

Active Publication Date: 2022-04-08
INST OF INTELLIGENT MFG TECH JITRI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Traditional nonlinear ADRC has the advantages of fast convergence speed and high steady-state accuracy, but due to the existence of various nonlinear functions, it has high requirements on processor performance, and there are many parameters, which are difficult to apply in practical situations

Method used

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  • Six-axis mechanical arm control system based on first-order variable gain ADRC
  • Six-axis mechanical arm control system based on first-order variable gain ADRC
  • Six-axis mechanical arm control system based on first-order variable gain ADRC

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Embodiment

[0045] Such as figure 1 As shown, the six-axis robotic arm control system based on the first-order variable gain ADRC described in this embodiment includes a first-order variable gain ADRC controller, and the first-order variable gain ADRC controller mainly includes the following three modules:

[0046] (1) Linear Tracker (Linear Tracker, LT)

[0047] The speed setting of the servo six-axis robot arm is mainly generated by the path and speed planning of the host computer, and then sent to the servo drive system in real time through the protocol. In theory, there is no sudden change in speed. Therefore, in order to maximize the response speed of the controller, the traditional ADRC differentiator tracker is discarded, and the given speed is directly output, as shown in the following formula

[0048]

[0049] (2 Extended State Observer (ESO)

[0050] As the core part of ADRC, ESO regards all internal and external disturbances of the controlled system as one, expands a new s...

Embodiment 2

[0070] Such as figure 2 Shown; The first-order variable gain ADRC control method includes the following steps:

[0071] S1 ADRC parameter initialization, S2 speed reference update, S3 state error feedback ESF, S4 feedback compensation, S5 output control quantity iq, S6 control object motor, S7 obtain real-time speed feedback, S8 observation disturbance ESO; the S8 observation disturbance ESO transmits data to S3 state error feedback ESF and S4 feedback compensation.

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Abstract

The invention provides a six-axis mechanical arm control system based on a first-order variable gain ADRC, which comprises a first-order variable gain ADRC controller, and the first-order variable gain ADRC controller comprises a linear tracking module, a first-order variable gain ADRC control module and a second-order variable gain ADRC control module, path and speed planning is carried out through the upper computer, and a given rotating speed is output and transmitted to the servo driving system; an expansion state observation module; all internal and external disturbances of the controlled system are regarded as a whole, a new state quantity-total disturbance (z2) is expanded, and dynamic estimation and feedback compensation are performed on the total disturbance; a variable gain fal function of a traditional ADRC is reserved, and ESO is adopted to achieve the effect of replacing error integral feedback with total disturbance estimation and feedback. A composite state error feedback module; the gain in the SEF is composed of a nonlinear function fal, and feedback compensation is performed on the disturbance quantity obtained by the ESO to offset the influence of internal and external disturbance on the system.

Description

technical field [0001] The invention relates to the technical field of manipulator control, in particular to a six-axis manipulator control system based on first-order variable gain ADRC. Background technique [0002] When the six-axis robotic arm is performing tasks such as grasping, handling, and docking, since the robotic arm is composed of multiple joints, its own configuration and posture directly affect the load torque of the robotic arm. Due to the relatively fixed control parameters of traditional PID control, if the load torque increases, the control performance of the servo system will decrease; in addition, the same set of PID parameters is also difficult to apply to the field of full-speed drive, especially the best PID parameters at high speed and low speed Both require additional tuning. [0003] The vector control system using ADRC controller has the advantages of adaptability to load change, parameter robustness and anti-interference. Therefore, in order to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCY02P90/02
Inventor 刘赵阳骆敏舟卢钰
Owner INST OF INTELLIGENT MFG TECH JITRI
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