Cathode copper robot anti-disturbance control method and system based on complementary extended state observer

Abstract

The application discloses a cathode copper robot anti-disturbance control method and system based on a complementary extended state observer, and the method comprises the following steps: constructing a hyper-local model according to periodic disturbance and aperiodic disturbance when the robot is running; constructing a complementary state observer based on the hyper-local model, wherein the complementary state observer comprises a linear extended state observer and a nonlinear extended state observer; setting a control strategy, calculating an approaching law for a sliding surface through the control strategy, obtaining the approaching law, bringing the hyper-local model into the approaching law, and combining the complementary state observer to obtain a control amount of the system. The application designs a new observation idea, solves the problem that an existing hyper-local model regards total disturbance as one item, and makes the observation burden heavy; the application solves the observation problem of periodic large disturbance and aperiodic small disturbance of a cathode copper robot drive system by using an extended state observer; and the control strategy has the advantages of not depending on an accurate mathematical model, strong anti-disturbance capacity and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm automation, and in particular to a cathode copper robot anti-disturbance control method and system based on a complementary extended state observer. BACKGROUND

[0002] Copper smelting is the cornerstone of modern industrial processes, and the electrolytic production process of cathode copper is the core of this complex process, which plays a key role in converting copper ore into valuable commodities. The production process of cathode copper requires a large number of demolding, transferring and handling operations. Using manual labor not only increases the labor cost of the enterprise, but also intensifies the labor intensity of workers. Therefore, many domestic copper smelting enterprises widely use mechanical arms based on alternating current drive systems in the smelting and production process. Permanent magnet synchronous motors are known for their low energy consumption, reliable operation, simple structure and other advantages, so they are widely used in the drive system of the robot.

[0003] However, in order to achieve high-performance control of the robot drive system, the following control problems are faced: first, the weight of each cathode copper plate is between 55 kg and 140 kg, and a bundle can weigh up to 2.5 tons, which will cause large periodic disturbances; second, in the production of copper smelting, the cathode copper robot drive system is in adverse working conditions such as acid mist and hot steam, which often leads to significant changes in the internal parameters of the drive system, and when combined with changes in the external environment, it will cause small non-periodic disturbances. The existing nonlinear extended state observer is suitable for observation and compensation of small disturbances, and the linear extended state observer is suitable for observation and compensation of large disturbances. For the cathode copper robot system which is subjected to large periodic disturbances and small non-periodic disturbances, the existing single load observer often cannot meet the high-performance disturbance control requirements of the cathode copper drive system for the robot. Therefore, there is an urgent need for a control method that can meet different performance disturbances to avoid such problems. SUMMARY

[0004] In view of the above existing problems, the present application is proposed.

[0005] Therefore, the present application provides a cathode copper robot anti-disturbance control method and system based on a complementary extended state observer to solve the problem that the existing single load observer cannot meet the high-performance disturbance control requirements of the cathode copper drive system for the robot and cannot adapt to precise control under different disturbances.

[0006] To solve the above technical problems, the present application provides the following technical solutions:

[0007] In a first aspect, the present application provides a cathode copper robot anti-disturbance control method based on a complementary extended state observer, comprising:

[0008] According to periodic disturbance and non-periodic disturbance when the machine arm runs, a super-local model is constructed;

[0009] A complementary state observer is constructed based on the super-local model, and the complementary state observer comprises a linear extended state observer and a nonlinear extended state observer;

[0010] A control strategy is set, the control strategy is obtained by approaching law calculation on a sliding film surface, an approaching law is obtained, the super-local model is brought into the approaching law, and the complementary state observer is combined to obtain a control amount of the system.

[0011] As a preferred scheme of the cathode copper machine arm anti-disturbance control method based on the complementary extended state observer, wherein: according to periodic disturbance and non-periodic disturbance when the machine arm runs, the super-local model is represented as:

[0012]

[0013] Wherein, u is a control amount of the system; The differential of the control target value of the system; a represents a control coefficient, which is selected to ensure that u and y are of the same order of magnitude; F1 and F2 represent periodic disturbance and non-periodic disturbance of the system, respectively.

[0014] As a preferred scheme of the cathode copper machine arm anti-disturbance control method based on the complementary extended state observer, wherein: the complementary state observer is represented as:

[0015]

[0016] Wherein, the parameters of the complementary extended state observer Satisfy Z 22 represents an estimated value of the periodic disturbance F1; Z' 22 represents an estimated value of the non-periodic disturbance F2; Z 21 represents an estimated value of the control target value; Z' 21 represents another estimated value of the control target value; represents the differential of the estimated value of the control target value; represents the differential of the another estimated value of the control target value; represents the differential of the estimated value of the periodic disturbance F1; represents the differential of the estimated value of the periodic disturbance F1.

[0017] As a preferred scheme of the cathode copper robot arm anti-disturbance control method based on the complementary extended state observer, the control strategy is obtained by approaching law calculation on the sliding surface, and the approaching law comprises:

[0018] The sliding surface is differentiated, and the approaching law is obtained, wherein the sliding surface is represented as:

[0019] s(t) = K1e(t) + K2∫e(t)dt

[0020] The sliding surface is differentiated, and the approaching law is obtained, wherein the sliding surface is represented as:

[0021]

[0022] Wherein, the parameters K1, K2 of the sliding surface satisfy K1>0, K2>0.

[0023] As a preferred scheme of the cathode copper robot arm anti-disturbance control method based on the complementary extended state observer, the control strategy is obtained by approaching law calculation on the sliding surface, and the approaching law comprises:

[0024]

[0025] Wherein, η is the approaching law parameter, η>0; sign(s(t)) is a sign function.

[0026] As a preferred scheme of the cathode copper robot arm anti-disturbance control method based on the complementary extended state observer, the control strategy is obtained by approaching law calculation on the sliding surface, and the approaching law comprises:

[0027]

[0028] Wherein, y r is the expected output of the system, is the differential of the expected output of the system, e(t) = y r -y.

[0029] As a preferred scheme of the cathode copper robot arm anti-disturbance control method based on the complementary extended state observer, the control strategy is obtained by approaching law calculation on the sliding surface, and the approaching law comprises:

[0030] The periodic disturbance observation value Z 22 observed by the complementary extended state observer is replaced by the periodic disturbance F1, the non-periodic disturbance observation value Z' 22 observed by the complementary extended state observer is replaced by the non-periodic disturbance F2, and the control amount of the system is obtained, and is represented as:

[0031]

[0032] At this time, K1 and K2 are also anti-disturbance control strategy parameters.

[0033] In a second aspect, the present application provides a complementary extended state observer based anti-disturbance control system for a cathode copper robot arm, comprising:

[0034] a local model construction module, configured to construct a super-local model according to periodic disturbance and aperiodic disturbance during robot arm operation;

[0035] an observer construction module, configured to construct a complementary state observer based on the super-local model, wherein the complementary state observer comprises a linear extended state observer and a nonlinear extended state observer;

[0036] a strategy setting module, configured to set a control strategy, wherein the control strategy is obtained by bringing the super-local model into the reaching law and combining the complementary state observer, so as to obtain a control amount of the system.

[0037] In a third aspect, the present application provides a computing device, comprising:

[0038] a memory and a processor;

[0039] the memory is configured to store computer executable instructions, and the processor is configured to execute the computer executable instructions, so as to realize the steps of the complementary extended state observer based anti-disturbance control method for a cathode copper robot arm.

[0040] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are executed by a processor to realize the steps of the complementary extended state observer based anti-disturbance control method for a cathode copper robot arm.

[0041] Compared with the prior art, the present application has the following beneficial effects: the present application divides the total disturbance of the cathode copper robot arm driving system into periodic disturbance and aperiodic disturbance, designs a new observation idea, solves the problem that the existing super-local model of the permanent magnet synchronous motor regards the total disturbance as one item, so that the observation burden of the existing disturbance observer is heavy, constructs a super-local model, and constructs a complementary state observer based on the super-local model, fully utilizes the advantages that the linear extended state observer and the nonlinear extended state observer are beneficial to observing large disturbance and small disturbance respectively, solves the observation problem of periodic large disturbance and aperiodic small disturbance of the cathode copper robot arm driving system, sets a new control strategy, has the advantages of not depending on an accurate mathematical model and strong anti-disturbance ability, and thus meets the requirements of high performance anti-disturbance of the cathode copper robot arm driving system. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0043] Figure 1 The overall flowchart of the complementary extended state observer-based anti-disturbance control method for a cathode copper robot arm according to an embodiment of the present application is shown in the figure.

[0044] Figure 2 The control framework diagram of the complementary extended state observer-based anti-disturbance control method for a cathode copper robot arm according to an embodiment of the present application is shown in the figure.

[0045] Figure 3 The observation comparison diagram of three different observers on the same periodic large disturbance in the complementary extended state observer-based anti-disturbance control method for a cathode copper robot arm according to a second embodiment of the present application is shown in the figure.

[0046] Figure 4 The detailed enlarged diagram of the observation comparison of three different observers on the same periodic large disturbance in the complementary extended state observer-based anti-disturbance control method for a cathode copper robot arm according to an embodiment of the present application is shown in the figure.

[0047] Figure 5 The rotational speed output response curve diagram of three different anti-disturbance control methods on the same periodic large disturbance in the complementary extended state observer-based anti-disturbance control method for a cathode copper robot arm according to an embodiment of the present application is shown in the figure.

[0048] Figure 6 The detailed enlarged diagram of the rotational speed output response curve of three different anti-disturbance control methods on the same periodic large disturbance in the complementary extended state observer-based anti-disturbance control method for a cathode copper robot arm according to an embodiment of the present application is shown in the figure.

[0049] Figure 7 The observation comparison diagram of three different observers on the same non-periodic small disturbance in the complementary extended state observer-based anti-disturbance control method for a cathode copper robot arm according to an embodiment of the present application is shown in the figure.

[0050] Figure 8 The detailed enlarged diagram of the observation comparison of three different observers on the same non-periodic small disturbance in the complementary extended state observer-based anti-disturbance control method for a cathode copper robot arm according to an embodiment of the present application is shown in the figure.

[0051] Figure 9The speed output response curve diagram of the same aperiodic small disturbance under three anti-disturbance control methods in the complementary extended state observer-based anti-disturbance control method of the cathode copper robot arm is described in an embodiment of the present application.

[0052] Figure 10 The speed output response curve diagram of the same aperiodic small disturbance under three anti-disturbance control methods in the complementary extended state observer-based anti-disturbance control method of the cathode copper robot arm is described in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

[0054] Embodiment 1

[0055] Reference Figures 1-2 For an embodiment of the present application, a complementary extended state observer-based anti-disturbance control method of a cathode copper robot arm is provided, and the overall control method framework diagram is as shown in Figure 2 The specific method comprises the following steps.

[0056] S100: According to the periodic disturbance and the aperiodic disturbance during the operation of the robot arm, a super-local model is constructed.

[0057] Further, the super-local model is expressed as:

[0058]

[0059] Wherein, u is the control quantity of the system; represents the differential of the control target value of the system; a represents a coefficient, which is selected to ensure that u and y are of the same order of magnitude; F1 and F2 represent the periodic disturbance and the aperiodic disturbance of the system, respectively.

[0060] It should be noted that the total disturbance of the cathode copper robot arm driving system is divided into periodic disturbance and aperiodic disturbance, and this design idea can solve the problem that the existing super-local model of the permanent magnet synchronous motor regards the total disturbance as one item, thereby making the observation burden of the existing disturbance observer heavier. Moreover, this model can more accurately reflect the dynamic behavior of the robot arm under specific operating conditions by identifying and modeling the periodic and aperiodic disturbances encountered by the robot arm during operation, such as vibration and load change.

[0061] S200: constructing a complementary state observer based on the hyperlocal model, the complementary state observer including a linear extended state observer and a nonlinear extended state observer;

[0062] Further, the complementary state observer is expressed as:

[0063]

[0064] wherein parameters of the complementary extended state observer respectively satisfy Z 22 represents an estimated value of the periodic disturbance F1; Z' 22 represents an estimated value of the non-periodic disturbance F2; Z 21 represents an estimated value of the control target value; Z' 21 represents another estimated value of the control target value; represents a differential of the estimated value of the control target value; represents a differential of the another estimated value of the control target value; represents a differential of the estimated value of the periodic disturbance F1; Z represents a differential of the estimated value of the periodic disturbance F1.

[0065] Specifically, the nonlinear function fal(x) in the above observer is expressed as:

[0066]

[0067] wherein parameters of the nonlinear function fal(x) satisfy The parameter δ of the nonlinear function fal(x) satisfies 1>δ>0.

[0068] It should be noted that the complementary state observer sets the corresponding two observers according to the construction idea of the hyperlocal model, so as to cooperate with the observation, and fully utilizes the advantages that the linear extended state observer and the nonlinear extended state observer are beneficial to observing large disturbance and small disturbance respectively, solves the observation problem of the periodic large disturbance and the non-periodic small disturbance of the cathode copper robot arm driving system, and also provides a data basis for the subsequent corresponding control strategy.

[0069] S300: setting a control strategy, the control strategy obtains a reaching law by reaching law calculation on a sliding surface, brings the hyperlocal model into the reaching law, and combines the complementary state observer to obtain a control amount of the system.

[0070] Further, the control strategy obtains the reaching law by reaching law calculation on the sliding surface, including:

[0071] The derivative of the sliding surface is taken, and the reaching law is taken, wherein the sliding surface is represented as:

[0072] s(t) = K1e(t) + K2∫e(t)dt

[0073] The derivative of the sliding surface is taken, and the reaching law is taken, wherein the sliding surface is represented as:

[0074]

[0075] Wherein the parameters K1, K2 of the sliding surface satisfy K1>0, K2>0.

[0076] Further, the reaching law is represented as:

[0077]

[0078] Wherein η is the reaching law parameter, η>0; sign(s(t)) is a sign function.

[0079] Specifically, the sign(s(t)) is represented as:

[0080]

[0081] It should be noted that the above two parts of the formula of the derivative of the sliding surface and the reaching law can be combined to obtain:

[0082]

[0083] Further, the super-local model is brought into the reaching law, and is represented as:

[0084]

[0085] Wherein y r is the expected output of the system, is the derivative of the expected output of the system, e(t) = y r -y.

[0086] It should be noted that at this time, according to the above formula transformation, a control quantity without a combination observer can be obtained, and is represented as:

[0087]

[0088] Further, the complementary state observer is combined to obtain the control quantity of the system, including:

[0089] The periodic disturbance observation value Z 22 observed by the complementary extended state observer is replaced by the periodic disturbance F1, and the non-periodic disturbance observation value Z′ 22 observed by the complementary extended state observer is replaced by the periodic disturbance F2, to obtain the control quantity of the system, and is represented as:

[0090]

[0091] At this time, K1 and K2 are also anti-disturbance control strategy parameters.

[0092] It should be noted that the control quantity has the advantages of not depending on accurate mathematical models, strong anti-disturbance ability, and the like, and has advantages in processing nonlinear and multivariable systems. The combination of the super-local model and the complementary state observer forms a tightly coupled control loop to cope with disturbances and ensure efficient execution of the mechanical arm action, thereby meeting the requirements of the cathode copper robot arm drive system for high-performance anti-disturbance.

[0093] The above is a schematic scheme of the cathode copper robot arm anti-disturbance control method based on the complementary extended state observer according to the embodiment. It should be noted that the technical scheme of the cathode copper robot arm anti-disturbance control system based on the complementary extended state observer belongs to the same concept as the technical scheme of the cathode copper robot arm anti-disturbance control method based on the complementary extended state observer described above. The technical scheme of the cathode copper robot arm anti-disturbance control system based on the complementary extended state observer according to the embodiment is not described in detail, and the details can be referred to the description of the technical scheme of the cathode copper robot arm anti-disturbance control method based on the complementary extended state observer.

[0094] In the embodiment, a cathode copper robot arm anti-disturbance control system based on a complementary extended state observer is also provided, which comprises:

[0095] A local model construction module is configured to construct a super-local model according to periodic disturbances and aperiodic disturbances during operation of the robot arm.

[0096] An observer construction module is configured to construct a complementary state observer based on the super-local model, and the complementary state observer comprises a linear extended state observer and a nonlinear extended state observer.

[0097] A strategy setting module is configured to set a control strategy. The control strategy is obtained by performing a reaching law calculation on a sliding surface, bringing the super-local model into the reaching law, and combining the complementary state observer to obtain a control quantity of the system.

[0098] The embodiment also provides a computing device suitable for the cathode copper robot arm anti-disturbance control based on the complementary extended state observer, which comprises:

[0099] The memory is configured to store computer executable instructions, and the processor is configured to execute the computer executable instructions to implement the cathode copper robot arm anti-disturbance control method based on the complementary extended state observer according to the embodiment.

[0100] The embodiment also provides a storage medium, which stores a computer program, and the computer program is executed by a processor to implement the cathode copper robot arm anti-disturbance control method based on a complementary extended state observer.

[0101] The storage medium provided by the embodiment belongs to the same inventive concept as the cathode copper robot arm anti-disturbance control method based on a complementary extended state observer, and the technical details not described in the embodiment can be referred to the above embodiment, and the embodiment has the same beneficial effects as the above embodiment.

[0102] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary universal hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH, a hard disk or an optical disk, etc., including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the method of each embodiment of the present application.

[0103] Embodiment 2

[0104] Reference Figures 3-10 Based on the last embodiment, the embodiment provides an application comparison example of the cathode copper robot arm anti-disturbance control method based on a complementary extended state observer.

[0105] The control effects of the existing cathode copper robot arm drive system anti-disturbance control method based on a nonlinear extended state observer (method 2), the existing cathode copper robot arm drive system anti-disturbance control method based on a linear extended state observer (method 3) and the cathode copper robot arm drive system anti-disturbance control method based on a complementary extended state observer designed in the present application (method 1) are simulated and compared in Matlab / Simulink. Specifically as follows:

[0106] In the existing cathode copper robot arm drive system anti-disturbance control method based on a nonlinear extended state observer (method 2), the expression of the existing nonlinear extended state observer is:

[0107]

[0108] Wherein, the parameters β'1 and β'2 of the nonlinear extended state observer satisfy β'1>0, β'2>0 respectively, and the parameter δ in the nonlinear function fal(x) satisfies Satisfy The parameter δ in the nonlinear function fal(x) satisfies is the estimated value of the system state y, is the estimated value of the total disturbance of the system.

[0109] The existing anti-disturbance control method (method 2) of the cathode copper robot arm driving system based on the nonlinear extended state observer is as follows:

[0110]

[0111] Wherein, u is the control quantity of the system, y represents the control target value of the system, a is a parameter without actual physical meaning, and the selection of a needs to ensure that u and y are of the same order of magnitude, is the total disturbance of the system estimated by the nonlinear extended state observer.

[0112] In the existing anti-disturbance control method (method 3) of the cathode copper robot arm driving system based on the nonlinear extended state observer, the expression of the existing nonlinear extended state observer is as follows:

[0113]

[0114] Wherein, the parameters β1 and β2 of the nonlinear extended state observer satisfy β1>0, is the estimated value of the system state y, is the estimated value of the total disturbance of the system.

[0115] The existing anti-disturbance control method (method 3) of the cathode copper robot arm driving system based on the nonlinear extended state observer is as follows:

[0116]

[0117] Wherein, u is the control quantity of the system, y represents the control target value of the system, a is a parameter without actual physical meaning, and the selection of a needs to ensure that u and y are of the same order of magnitude, is the total disturbance of the system estimated by the linear extended state observer.

[0118] The parameter setting of the anti-disturbance control method (method 1) of the cathode copper robot arm driving system based on the complementary extended state observer designed in the application is as follows: a=100, K1=1, K2=10, α=0.25,

[0119] The parameter settings of the existing anti-disturbance control method of the cathode copper robot arm driving system based on the nonlinear extended state observer (method 2) are as follows: a = 100, K1 = 1, K2 = 10, β'1 = 2000, β'2 = 150000, α = 0.25, and δ = 0.1.

[0120] The parameter settings of the existing anti-disturbance control method of the cathode copper robot arm driving system based on the nonlinear extended state observer (method 3) are as follows: a = 100, K1 = 1, K2 = 10, β1 = 2000, and β2 = 150000.

[0121] After simulation, the results are as follows Figure 3 Figure 10 . Figure 3 Figure 4 It can be seen that, when facing the same periodic large disturbance, the observation value of the complementary extended state observer designed in the application is more accurate than that of the existing nonlinear extended state observer and the existing linear extended state observer. Figure 7 8 It can be seen that, when facing the same non-periodic small disturbance, the observation value of the complementary extended state observer designed in the application is also more accurate than that of the others.

[0122] The following table is a comparison of the rotational speed parameters of the three schemes

[0123] Table 1 Comparison of rotational speed parameters of the three schemes

[0124]

[0125] It can be seen from Figure 5 , Figure 6 , Figure 9 , Figure 10 and Table 1 that, when facing the same periodic large disturbance and the same non-periodic small disturbance respectively, the anti-disturbance control method of the cathode copper robot arm driving system based on the complementary extended state observer has stronger anti-disturbance ability.

[0126] It should be noted that the above examples are only used to illustrate the technical solutions of the application and are not limiting. Although the application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the application, and they should be covered in the scope of the claims of the application.​​​

Claims

1. Anti-disturbance control method for cathode copper robot arm based on complementary extended state observer, characterized in that: include: According to the periodic and non-periodic disturbances during the operation of the robot arm, the hyperlocal model is constructed as follows: Among them, u is the control quantity of the system; represents the differential of the control target value of the system; a represents the control coefficient, which is selected to ensure that u and y are of the same order of magnitude; F1 and F2 represent the periodic disturbance and non-periodic disturbance of the system respectively; Constructing a complementary state observer based on the hyperlocal model, wherein the complementary state observer includes a linear extended state observer and a nonlinear extended state observer; The complementary state observer is expressed as: Among them, the parameters of the complementary extended state observer are Satisfy respectively Z 22 represents the estimated value of the periodic disturbance F1; z′ 22 represents the estimated value of the non-periodic disturbance F2; Z 21 Represents an estimated value of the control target value; Z′ 21 It represents another estimated value of the control target value; represents the differential of an estimate of the control target value; represents the differential of another estimate of the control target value; represents the differential of the estimated value of the periodic disturbance F1; represents the differential of the estimated value of the periodic disturbance F1; A control strategy is set, wherein the control strategy calculates a reaching law for the sliding membrane surface to obtain a reaching law, introduces the hyperlocal model into the reaching law, and combines the complementary state observer to obtain a control variable of the system.

2. The cathode copper robot arm anti-disturbance control method based on complementary extended state observer according to claim 1, characterized in that: The control strategy calculates the reaching law of the synovial surface to obtain the reaching law, including: After taking the differential of the synovial surface, the reaching law is taken, where the synovial surface is expressed as: s(t)=K1e(t)+K2∫e(t)dt The differential of the synovial surface is expressed as: Among them, the parameters K1 and K2 of the sliding surface satisfy K1>0 and K2>0.

3. The cathode copper robot arm anti-disturbance control method based on complementary extended state observer according to claim 2, characterized in that: The reaching law is expressed as: Where η is the reaching law parameter, η>0; sign(s(t)) is the sign function.

4. The cathode copper robot arm anti-disturbance control method based on complementary extended state observer according to claim 3 is characterized in that: Bringing the hyperlocal model into the reaching law, it can be expressed as: Among them, y r is the expected output of the system, is the differential of the system's desired output, e(t) = y r -y.

5. The cathode copper robot arm anti-disturbance control method based on complementary extended state observer according to claim 1 or 4, characterized in that: Combined with complementary state observers, the control variables of the system are obtained, including: The periodic disturbance observation value Z obtained by the complementary extended state observer is 22 Replace the periodic disturbance F1 and use the non-periodic disturbance observation value Z′ obtained by the complementary extended state observer 22 Replacing the periodic disturbance F2, we get the control quantity of the system, which is expressed as: 。 6. A system using the cathode copper robot arm anti-disturbance control method based on complementary extended state observer according to claim 1, characterized in that: include: The local model building module is used to build a hyperlocal model based on the periodic and non-periodic disturbances during the operation of the robot arm; An observer construction module, configured to construct a complementary state observer based on the hyperlocal model, wherein the complementary state observer includes a linear extended state observer and a nonlinear extended state observer; The strategy setting module is used to set the control strategy. The control strategy calculates the reaching law of the sliding surface to obtain the reaching law, introduces the super local model into the reaching law, and combines the complementary state observer to obtain the control quantity of the system.

7. An electronic device comprising: memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the cathode copper robot arm anti-disturbance control method based on the complementary extended state observer according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the cathode copper robot arm anti-disturbance control method based on a complementary extended state observer as described in any one of claims 1 to 5.

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