Industrial mechanical arm anti-interference robustness self-adaptation PID control method

Abstract

The invention relates to an industrial mechanical arm anti-interference robustness self-adaptation PID control method. The industrial mechanical arm anti-interference robustness self-adaptation PID control method is characterized in that a robustness self-adaptation PID controller comprises a PID control item, a self-adaptation control item and a robustness control item, the input of the PID control item and the input of the robustness control item are the errors of the position and the speed of a mechanical arm, the input of the self-adaptation control item is the estimation value of indefinite kinetic parameters of the mechanical arm, and the robustness self-adaptation PID control is achieved by carrying out the superposition on the PID control item, the self-adaptation control item and the robustness control item.

Description

technical field [0001] The invention relates to an anti-jamming robust adaptive PID control method for an industrial manipulator. Background technique [0002] In modern industrial production, manipulators can reduce production costs, enhance operation accuracy, and improve production efficiency, so they have been more and more widely used. However, due to the strong coupling, highly nonlinear and time-varying characteristics of the manipulator system itself, the control of the manipulator faces great difficulties. In addition, there are often unknown external disturbances in the working environment of the manipulator, and there are uncertain factors in the dynamics of the manipulator itself, which will lead to instability of the manipulator system during the operation process. At present, the most simple and effective method in the control of industrial manipulators is linear PD control. However, the actual engineering shows that the use of linear PD control often leads to...

AI Technical Summary

Problems solved by technology

However, due to the strong coupling, highly nonlinear and time-varying characteristics of the manipulator system itself, the control of the manipulator faces great difficulties.

In addition, there are often unknown external disturbances in the working environment of the manipulator, and there are uncertain factors in the dynamics of the manipulator itself, which will lead to instability of the manipulator system during the operation process.

At present, the most simple and effective method in the control of industrial manipulators is linear PD control. However, the actual engineering shows that the use of linear PD control often leads to a large initial torque output of the drive mechanism. Large initial torque, and the maximum torque that the manipulator itself can bear is also limited, which will limit the further improvement of system performance by increasing the PD control gain

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