Hybrid gain control method for nonlinear mechanical arm system
A nonlinear system, gain control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as large uncertainty
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Embodiment 1
[0037] In this embodiment, the setting parameters are as follows.
[0038] accurate value
[0039] parameter J m R 0
M 0
L 0
unit kg·m 2
kg m kg m value 1.625×10 -3
0.506 0.023 0.434 0.305 parameter B 0
L H
R K τ
K B
unit N·m·s / rad H Ω N·m / A N·m / A value 16.25×10 -3
25×10 -3
5 0.9 0.9
[0040] step 1:
[0041] Using the principle of dynamics to establish a mathematical model describing the manipulator system:
[0042]
[0043]
[0044] q(t), represent the angular position, velocity and acceleration of the link respectively, I(t) is the motor armature current, V E (t) is the voltage used as the control input.
[0045]
[0046] where J is the rotor inertia, m is the link quality, M 0 is the load mass, L 0 is the link length, R 0 is the load radius, G is the gravity coefficient, B 0 is the viscous friction coefficient at the joint, K τ is the conversion...
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