Saturation parameterization control method of mechanical arm system

Abstract

The invention discloses a mechanical arm system parameterization control method with actuator saturation. At present, a control method for a mechanical arm system in China generally adopts an order reduction mode to convert a second-order system into a first-order system, and the situation that the order reduction of the system can cause damage to the all-drive characteristic of the mechanical arm system is not considered. In addition, saturation of the actuator is also an important problem needing to be considered. The method comprises the steps of mechanical arm system dynamic model establishment, mechanical arm system controller design, actuator saturation linearization, system model conversion, parameterization matrix introduction and system gain matrix solving. On the basis of a parameterization method, the controller suitable for the mechanical arm system is designed by considering the influence of actuator saturation, the system conforming to the expected closed-loop characteristic is obtained by cancelling the dynamic characteristic of the open-loop system, the damage to the full-drive characteristic of the system is avoided, and stable control over the mechanical arm system is achieved.

Description

technical field [0001] The invention belongs to the field of modern control technology. A controller is designed for a manipulator system with actuator saturation. The saturation function is expanded by means of convex combination, and the matrix is ​​solved by linear matrix inequality, and a parameter matrix is ​​introduced to cancel the open-loop system. to directly obtain the desired closed-loop characteristics, so as to realize the stable control of the manipulator system, and avoid the damage to the full drive characteristics of the system when the second-order manipulator system is reduced to a first-order system. The influence on the stability of the system, so as to realize the stabilization control of the robotic arm system. Background technique [0002] Robotic arms have a wide range of applications in modern society. Whether it is military, manufacturing, Internet industries, etc., relevant research is required to improve production efficiency. Robotic arms are w...

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Problems solved by technology

Therefore, it may lead to the inability to obtain a stabilizing controller for the nonlinear system, and cannot guarantee the global stability of the closed-loop system, let alone give an expected linear steady-state closed-loop system

At the same time, due to the limited torsion angle of the manipulator joints, the expected control purpose may not be achieved. If the actuator saturation problem is not considered, the stability of the system will be affected.

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