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A full-order sliding mode control method for manipulator servo system based on extended state observer

A technology of a servo system and a control method, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problems of high controller gain, affecting system positioning accuracy and tracking performance, system damage, etc. Rod, achieve precise tracking control, eliminate chattering problems

Active Publication Date: 2018-06-12
ZHEJIANG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the traditional sliding mode control, due to the high gain of the controller or the discontinuous switching characteristics of the controller, it is easy to cause the chattering problem of the system
System chattering not only affects the positioning accuracy and tracking performance of the system, but even causes damage to the system itself

Method used

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  • A full-order sliding mode control method for manipulator servo system based on extended state observer
  • A full-order sliding mode control method for manipulator servo system based on extended state observer
  • A full-order sliding mode control method for manipulator servo system based on extended state observer

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Embodiment Construction

[0055] The present invention will be further described below in conjunction with the accompanying drawings.

[0056] refer to figure 1 - Figure 9, a method for full-order sliding mode control of a manipulator servo system based on an extended state observer, including the following steps:

[0057] Step 1, establish the servo system model of the manipulator, initialize the system state and control parameters;

[0058] 1.1, the servo system model of the manipulator is expressed in the following form

[0059]

[0060] where q 1 ,q 2 is the rotation angle of the connecting rod and the motor; I is the inertia link of the connecting rod; J is the moment of inertia of the motor; K is the stiffness of the spring; u is the input torque; M and L represent the quality and length of the connecting rod respectively; y=q 1 is the output of the system;

[0061] 1.2, define the state variable x 1 =q 1 , x 3 =q 2 , Then the servo system equation can be written in the following ...

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Abstract

The invention discloses a mechanical arm servo system full-order slide mold control method based on an extended state observer. The method comprises the following steps: establishing a dynamic model of a mechanical arm servo system, and initializing a system state and control parameters; designing the extended state observer; and based on the extended state observer, designing a full-order slide mold controller. The invention provided by the invention can effectively improve the problem of slide mold buffeting of conventional slide mold control in the mechanical arm servo system, improves the robustness of the system to a certain degree and enables the mechanical arm servo system to realize accurate tracking control.

Description

technical field [0001] The invention relates to a full-order sliding mode control method of a manipulator servo system based on an extended state observer, in particular to a full-order sliding mode control method of a manipulator servo system whose system state and uncertain items are unknown. Background technique [0002] The servo system of the manipulator has been widely used in high-tech fields such as robotics and aerospace. As an important performance index for the servo system of the manipulator to complete the specified operation task, the motion accuracy has become a hot research topic for scholars at home and abroad. Aiming at how to effectively improve the motion precision of the system, various control methods have been proposed at home and abroad, including PID control, adaptive control, sliding mode control and robust control. Among them, the sliding mode control has the advantages of simple algorithm, insensitivity to external disturbance and parameter pertur...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 陈强陶亮董方
Owner ZHEJIANG UNIV OF TECH
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