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Saturation Compensation Control Method of Manipulator System Based on Inverse Sliding Mode Control

A technology of compensation control and control method, which is applied in the general control system, control/regulation system, adaptive control, etc., and can solve problems such as ineffective saturation compensation and model parameter uncertainty

Active Publication Date: 2017-10-13
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to overcome the deficiencies of the existing manipulator servo system, such as ineffective saturation compensation and model parameter uncertainty, the present invention provides a manipulator system saturation compensation control method based on inverse sliding mode control, which realizes the saturation compensation control method with saturation input Advanced mechanical arm system position tracking control to ensure stable and fast tracking of the system

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  • Saturation Compensation Control Method of Manipulator System Based on Inverse Sliding Mode Control
  • Saturation Compensation Control Method of Manipulator System Based on Inverse Sliding Mode Control
  • Saturation Compensation Control Method of Manipulator System Based on Inverse Sliding Mode Control

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Embodiment Construction

[0103] The present invention will be further described below in conjunction with the accompanying drawings.

[0104] refer to Figure 1-Figure 5 , a control method for saturation compensation of a manipulator system based on inverse sliding mode control, comprising the following steps:

[0105] Step 1, establish the dynamic model of the servo system of the manipulator, initialize the system state, sampling time and control parameters, the process is as follows:

[0106] 1.1 The expression form of the dynamic model of the manipulator servo system is

[0107]

[0108] Among them, q and θ are the angles of the manipulator connecting rod and the motor, respectively; g is the acceleration of gravity; I is the inertia of the connecting rod; J is the inertia of the motor; K is the spring stiffness coefficient; length; u is the control signal; v(u) is saturation, expressed as:

[0109]

[0110] Where sgn(u) is an unknown nonlinear function; v max is the unknown saturation pa...

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Abstract

A saturation compensation control method for a manipulator system based on inverse sliding mode control, including: establishing a dynamic model of the manipulator servo system, initializing the system state, sampling time and control parameters; according to the differential mean value theorem, the nonlinear Input saturation linearization processing, deduce the servo system model of the manipulator with unknown saturation; calculate the tracking error, sliding mode surface and differential of the control system. The invention provides an inversion sliding mode control method capable of effectively avoiding the influence of unknown saturation input on system position tracking control performance, and realizing stable and fast tracking of the system by using dynamic compensation.

Description

technical field [0001] The invention relates to a control method for saturation compensation of a manipulator system based on inversion sliding mode control, in particular to a control method for a manipulator servo system with input saturation constraints. Background technique [0002] The servo system of the manipulator has been widely used in high-performance systems such as robots and aviation vehicles. How to realize the fast and precise control of the servo system of the manipulator has become a hot issue. The trajectory tracking control system of the robot arm and the problem of the flexible robot arm have received more and more attention. However, the unknown saturated nonlinear link widely exists in the servo system of the manipulator, which often leads to a decrease in the efficiency of the control system or even failure. Therefore, the constraint of input saturation must be considered during the controller design process. For the control problem of the servo sys...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 陈强施琳琳
Owner ZHEJIANG UNIV OF TECH
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