A multi-constraint adaptive control method for a motor-driven manipulator

An adaptive control and motor drive technology, applied in adaptive control, comprehensive factory control, general control system, etc., to achieve the effect of small calculation, avoid complexity explosion, and improve real-time performance

Active Publication Date: 2022-07-12
SOUTHWEST PETROLEUM UNIV
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  • Abstract
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  • Claims
  • Application Information

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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

Method used

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  • A multi-constraint adaptive control method for a motor-driven manipulator
  • A multi-constraint adaptive control method for a motor-driven manipulator
  • A multi-constraint adaptive control method for a motor-driven manipulator

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Effect test

Embodiment 1

[0119] like figure 1 A multi-constraint adaptive control method of a motor-driven manipulator is shown, including:

[0120] A dynamic model of the manipulator is established, and the uncertain part in the dynamic model is integrated with the derivative of the inversion virtual control law to obtain a state space expression;

[0121] Based on the state space expression, the manipulator execution actions are divided into n step;

[0122] The nonlinear function in each step is approximated by Mamdani fuzzy system;

[0123] Iterate in turn to calculate the virtual control rate and adaptive rate of each step action;

[0124] with the first n The virtual control rate and the adaptive rate of the step are used as the actual adaptive control output signal, and the action of the manipulator is controlled by the actual adaptive control output signal.

Embodiment 2

[0126] 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:

[0127]

[0128]

[0129]

[0130]

[0131]

[0132] 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 ...

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Abstract

The invention discloses a multi-constraint self-adaptive control method of a motor-driven manipulator. Firstly, a dynamic model of the manipulator is established, and the uncertain part in the dynamic model is integrated with the derivative of the inversion virtual control law to obtain a state space expression ;Based on the state space expression, the manipulator execution actions are divided into n step; use Mamdani fuzzy system to approximate the nonlinear function in each step; iterate in turn to calculate the virtual control rate and adaptive rate of each step; n The virtual control rate and adaptive rate of the step are used as the actual adaptive control output signal, and the manipulator action is controlled by the actual adaptive control output signal. The present invention is used to solve the above-mentioned problems existing in the control method of the motor-driven manipulator in the prior art, and realizes the stable and accurate self-adaptive control of the manipulator when the model is uncertain and the full-state constraint and the actuator saturation constraint need to be satisfied. Purpose.

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] The 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 realize 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 ...

Claims

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Application Information

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Patent Type & Authority Patents(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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