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Dual-adaptive high-robustness control method for parallel robot

A control method and robot technology, applied in the directions of adaptive control, comprehensive factory control, general control system, etc., can solve problems such as chattering, the dynamic model does not consider the modeling error of parallel robots, mechanism joint friction and external interference, etc. To achieve the effect of reducing overcoming, weakening the chattering of sliding mode control and improving the robustness of the system

Pending Publication Date: 2022-08-09
JIANGSU UNIV
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Problems solved by technology

This method has the following shortcomings: (1) The dynamic model established by this method does not consider the interference items such as the modeling error of the parallel robot, the joint friction of the mechanism, and the external disturbance; The sign function of , will lead to sliding mode control chattering
This method has the following deficiencies: (1) The disturbance observer designed by this method needs to satisfy the condition that the rate of change of disturbance is zero

Method used

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  • Dual-adaptive high-robustness control method for parallel robot
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  • Dual-adaptive high-robustness control method for parallel robot

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Embodiment 1

[0136] The control method of the present invention mainly focuses on realizing the high robustness motion control of the parallel robot by using a parallel robot dual adaptive high robustness control technology. Taking the parallel robot for automobile electrophoretic coating and conveying as an example, the specific implementation of the control method is as follows:

[0137] 1. Use the analytical method to analyze the kinematic inverse solution of the parallel robot for automobile electrophoretic coating and conveying, and further obtain the positive kinematic solution and Jacobian matrix of the parallel robot

[0138] exist image 3 , the rod length constraint equation is adopted, and the position equation of the mechanism can be obtained according to the structure of the lifting and turning mechanism.

[0139]

[0140] In the formula, L 1 is the length of the connecting rod (unit: m); z i (i=1, 2), β i (i=1, 2) are respectively figure 1 The z-axis position of the t...

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Abstract

The invention discloses a dual-adaptive high-robustness control method for a parallel robot. Aiming at the parallel robot, establishing a kinetic model containing lumped disturbance terms such as modeling errors, mechanism joint friction and external disturbance; secondly, designing a parallel robot dynamics sliding mode controller with self-adaptive switching gain, and designing a constraint function self-adaptive law for the switching gain to break through the limitation that interference upper bound information needs to be obtained, so that the system can quickly overcome the interference effect and weaken sliding mode control buffeting; and then, designing an extended state observer with adaptive bandwidth gain to break through the condition limitation that the change rate of a to-be-disturbed item is zero, reduce an initial observation error peak value and realize real-time estimation and compensation of disturbance, so that the burden of a sliding mode controller is reduced, the robustness of the system is further improved, and sliding mode control buffeting is weakened. According to the method, the anti-interference performance of the parallel robot system can be improved, sliding mode control buffeting is obviously reduced, and high-robustness motion control of the parallel robot is achieved.

Description

technical field [0001] The invention relates to the technical field of industrial robots for electrophoretic coating and conveying, in particular to a dual-adaptive high robustness control method for parallel robots. Background technique [0002] As a key link in the electrophoretic coating process production line, the performance of the conveying mechanism and its control system for conveying the automobile body-in-white for coating is directly related to the quality and production efficiency of the automobile electrophoretic coating. A parallel robot for automobile electrophoretic coating and conveying has been developed, which has the advantages of simple structure, high level of flexibility, and strong bearing capacity. However, from the control point of view, due to the highly nonlinear and strong coupling characteristics of the parallel robot, and because the dynamic parameters are difficult to determine, there are modeling errors in the established dynamic model. In a...

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 高国琴秦秋月
Owner JIANGSU UNIV
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