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Flexible actuator based on time-varying disturbance and continuous sliding mode and design and control method

An actuator and synovial technology, which is applied in the field of robot control driven by flexible actuators, can solve the problems of not reasonably eliminating system uncertainty and external interference, achieve good convergence speed, improve anti-interference performance, and be easy to implement. Effect

Pending Publication Date: 2022-07-12
CHONGQING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these control methods do not reasonably eliminate the uncertainties of the system and the influence of external disturbances

Method used

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  • Flexible actuator based on time-varying disturbance and continuous sliding mode and design and control method
  • Flexible actuator based on time-varying disturbance and continuous sliding mode and design and control method
  • Flexible actuator based on time-varying disturbance and continuous sliding mode and design and control method

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0083] The present invention also provides a method for designing a flexible actuator based on time-varying disturbance and continuous synovial film, comprising:

[0084] S1. Based on the mathematical model of the robot driven by the flexible actuator, design the first continuous sliding mode controller and the second continuous sliding film controller without disturbance;

[0085] S2. Design a first reduced-order generalized proportional-integral observer and a second reduced-order generalized proportional-integral observer using the measurable information of the system, where the first reduced-order generalized proportional-integral observer and the second reduced-order generalized proportional-integral observer It is used to observe the matching / unmatched time-varying disturbances in the system where the robot driven by the flexible actuator is located and obtain the corresponding disturbance estimation value;

[0086]S3. Feedback the actual arm-side position signal q in th...

Embodiment 2

[0124] The first observer: receives the actual position signal q of the arm side and the actual position signal θ of the motor side transmitted by the generalized object module, and according to the actual position signal q of the arm side, the actual position signal θ of the motor side and the time-varying disturbance signal ρ of the arm side 1 Get the arm side disturbance estimation signal

[0125] The second observer: receives the actual position signal θ of the motor side transmitted by the generalized object module and the output torque τ of the composite anti-jamming motor side position controller, and according to the actual position signal θ of the motor side and the output of the composite anti-jamming motor side position controller Torque τ and time-varying disturbance signal ζ on the motor side 1 Get the motor side disturbance estimation signal

[0126] The first continuous synovial controller ( image 3 CSMC controller in I): According to the input arm side r...

Embodiment 3

[0131] attached figure 1 It is a schematic diagram of the control system principle of the present invention, with the attached figure 2 is the detailed block diagram of the generalized object controlled by the present invention. According to these two drawings, it is easy to know that,

[0132] The implementation process of the present invention includes the following steps:

[0133] The first observer obtains the actual position signal q of the arm side and the actual position signal θ of the motor side of the robot, and according to the actual position signal q of the arm side, the actual position signal θ of the motor side and the time-varying disturbance signal ρ of the arm side 1 Get the arm side disturbance estimation signal

[0134] The second observer obtains the actual position signal θ on the motor side of the robot and the output torque τ of the position controller on the composite anti-jamming motor side, and according to the actual position signal θ on the mo...

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Abstract

The invention relates to the field of flexible actuator driven robot control, and discloses a flexible actuator based on time-varying disturbance and a continuous sliding mode, which comprises a first observer, a second observer, a first continuous sliding mode controller and a second continuous sliding mode controller, the invention further discloses a design method and a control method of the flexible actuator based on the time-varying disturbance and the continuous sliding mode. According to the method, the sliding mode controller is used, the anti-interference performance of the system can be improved from a feedback channel, the observer is a reduced-order observer, the disturbance estimation function can be completed, and the calculation burden during algorithm implementation can be reduced.

Description

technical field [0001] The invention relates to the field of robot control driven by a flexible actuator, in particular to a flexible actuator, a design and a control method based on a time-varying disturbance and a continuous sliding film. Background technique [0002] With the rapid development of robotics, robots driven by flexible actuators have attracted great attention in the fields of industry and aerospace. Robots driven by flexible actuators have the characteristics of high load, light weight and low power consumption. However, due to the particularity of its structure, the robotic arm will deform and vibrate during motion, which makes the positioning and tracking of robots driven by flexible actuators difficult. Control brings a lot of problems. From the perspective of the application field and scope of robots driven by flexible actuators, their work tasks are diverse and the work environment changes with the work tasks. Therefore, robots driven by flexible actua...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王会明宋青峰张志泽唐贤伦
Owner CHONGQING UNIV OF POSTS & TELECOMM