Flexible mechanical arm system fuzzy control method based on series/parallel estimation model

A technology for flexible manipulators and estimation models, which can be applied to manipulators, program control, general control systems, etc., and can solve the problems of inversion method complexity explosion, complexity explosion, and poor system robustness

Active Publication Date: 2016-11-16
NANJING CHENGUANG GRP
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Problems solved by technology

[0005] In order to overcome the problems of unknown nonlinear uncertain items in the existing manipulator servo system, the complexity explosion caused by the inversion method, and the poor robustness of the system, the present invention proposes a fuzzy control system based on a series-parallel estimation model for a flexible manipulator system method, combined with dynamic surface control technology to avoid the "complexity explosion" problem caused by traditional inversion control methods, using fuzzy adaptive control technology and series-parallel estimation model, on this basis to design parameter adaptive law and control law , realizing fast and stable tracking of the system

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  • Flexible mechanical arm system fuzzy control method based on series/parallel estimation model
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  • Flexible mechanical arm system fuzzy control method based on series/parallel estimation model

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

[0104] refer to figure 1 – Figure 7 , a kind of fuzzy control method of flexible manipulator system based on series-parallel estimation model, described control method comprises the steps:

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

[0106] 1.1 The expression of the motion equation of the dynamic model of the flexible manipulator servo system is

[0107] I q ·· + K ( q - θ ) + ...

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Abstract

The invention discloses a flexible mechanical arm system fuzzy control method based on a series / parallel estimation model. The method comprises the steps of: building a dynamic model of a flexible mechanical arm servo system, and initializing a system state, a sampling time and control parameters; compensating unknown nonlinear uncertain items in the mechanical arm system by adopting the self-learning and self-adaptive capacity controlled by a fuzzy neural network; introducing virtual control quantities in each design through a dynamic surface technology, and preventing the complexity explosion problem caused by a traditional inversion control method through a first-order low-pass filter; and meanwhile, determining variable prediction values and designing related change rules based on the series / parallel estimation model to improve robustness of the control system. The fuzzy self-adaptive control method based on the series / parallel estimation model can effectively improve the control performance of the flexible mechanical arm servo system and realize quick and precise system tracking.

Description

technical field [0001] The invention relates to a fuzzy control method for a flexible manipulator system based on a series-parallel estimation model, in particular to a control method for a manipulator servo system with unknown nonlinear uncertain items. Background technique [0002] With the continuous improvement of the level of industrial automation, the mechanical arm, as the main automatic mechanical device, is widely used in industrial control fields such as CNC machine tools, electronic processing and testing equipment, and production automation by virtue of its advantages of labor saving, convenient operation, and good safety. Has been widely used. How to realize the rapid and precise control of the servo system of the manipulator has become a hot issue, and the trajectory tracking control system of the manipulator and the flexible manipulator have also received more and more attention. However, a large number of coupling terms and nonlinear uncertain terms exist in...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605G05B2219/40527
Inventor 陈强高灵捷余梦梦
Owner NANJING CHENGUANG GRP
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