Multi-constraint self-adaptive control method for motor-driven manipulator

A self-adaptive control, motor-driven technology, applied in the direction of self-adaptive control, comprehensive factory control, general control system, etc., to achieve the effect of improving real-time performance, good adaptability and high control accuracy

Active Publication Date: 2022-06-03
SOUTHWEST PETROLEUM UNIV
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Problems solved by technology

[0006] The present invention provides a multi-constraint adaptive control method for a motor-driven manipulator to solve the above-mentioned problems in the control method of a motor-driven manipulator in the prior art. , to achieve the purpose of stable and precise adaptive control of the manipulator

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  • Multi-constraint self-adaptive control method for motor-driven manipulator
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  • Multi-constraint self-adaptive control method for motor-driven manipulator

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Embodiment 1

Embodiment 2

A multi-constraint adaptive control method for a motor-driven manipulator, on the basis of Embodiment 1, the state space expression of the manipulator in this embodiment is:

In the formula, x 1 , x 2 , x 3 are state variables; respectively x 1 , x 2 , x 3 the derivative with respect to time; , respectively x 2 , x 3 The state estimate of ; y Output trajectory for the manipulator; t is a time variable; u ( v ) is the control input voltage; θ is the rotational angular velocity of the manipulator, is the angular velocity of the manipulator at the next moment, I Input current for the manipulator; f 2 ( ), g 2 ( ), f 3 ( ), g 3 ( ) are all functions of arbitrary independent variables; means that the independent variable is The function f 2 ( ); means that the independent variable is The function g 2 ( ); means that the independent variable is The function f 3 ( ); means that the independent variable is The f...

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Abstract

The invention discloses a multi-constraint adaptive control method for a motor-driven manipulator, and the method comprises the steps: firstly building a dynamic model of the manipulator, integrating an uncertain part in the dynamic model with a derivative of an inversion virtual control law, and obtaining a state space expression; based on the state space expression, the action executed by the manipulator is divided into n steps; a Mamdani fuzzy system is adopted to carry out approximation on a nonlinear function in each step of action; iterating in sequence, and calculating a virtual control rate and an adaptive rate of each step of action; and the virtual control rate and the self-adaption rate of the nth step serve as actual self-adaption control output signals, and the actual self-adaption control output signals are used for controlling the manipulator to act. The method is used for solving the problems existing in a control method of a motor-driven manipulator in the prior art, and the purpose of stable and accurate self-adaptive control over the manipulator is achieved when the model is uncertain and full-state constraint and actuator saturation constraint need to be met.

Description

technical field [0001] The invention relates to the field of trajectory tracking control of a manipulator, in particular to a multi-constraint adaptive control method of a motor-driven manipulator. Background technique [0002] Manipulator trajectory tracking control is an operation process that controls the position, speed and other variables of each joint through the output driving torque of the controller of each joint, so as to follow the change of the given trajectory with high precision, so that the manipulator can achieve the desired ideal path. The design of the traditional controller usually adopts the design method based on the controlled object model. By establishing the dynamic equation of the manipulator, the control law is designed according to the traditional control theory. [0003] In practical applications, it is very difficult to obtain an accurate mathematical model of the manipulator due to uncertain factors such as the load mass, the center of mass of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 唐斌廖茁栋万敏张强弋歆周莉梁颖黄敬森温杰宾
Owner SOUTHWEST PETROLEUM UNIV
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