Dynamic surface transient control method for mechanical arm servo system based on dead zone and friction compensation

Abstract

The invention discloses a dynamic surface transient control method for a mechanical arm servo system based on dead zone and friction compensation. The method comprises the steps that a dynamic model of the mechanical arm servo system is established, and the system state, the sampling time and control parameters are initialized; an inverse model is established for a dead zone, friction force is analyzed, and dead zone and friction influences are offset; a bounded function limiting the tracking error transient characteristics is introduced; through an error conversion method, the transient error variable is defined; on the basis of the Lyapunov theory, the virtual control variable of the system is designed; uncertain items of the model are estimated through the neural network; and a first-order filter is added in the virtual controller design, and the complex and explosive problems are avoided. By means of the dynamic surface transient control method for the mechanical arm servo system based on dead zone and friction compensation, the influences of the unknown dead zone and friction on the system can be effectively offset, rapid and stable tracking of expected signals through system output is guaranteed, and the system tracking performance is improved.

Description

technical field [0001] The invention relates to a dynamic surface transient control method of a mechanical arm servo system based on a dead zone and friction compensation, in particular to an adaptive control method of a mechanical arm servo system with a neural network. 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. However, the friction force and unknown dead zone that widely exist in the servo system of the manipulator often lead to the reduction of the efficiency of the control system or even failure. Therefore, in order to improve the control performance, compensation and control methods for dead zone and friction force are essential. The traditional method to solve the nonlinearity of the dead zone is generally to establish an inverse model or an approximate ...

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Problems solved by technology

[0004] In order to overcome the problems of model parameter uncertainty, dead zone and friction in the existing manipulator servo system, as well as the complexity explosion problem caused by the inversion method, the present invention proposes a manipulator servo system based on dead zone and friction compensation. The system dynamic surface transient control method simplifies the design structure of the controller, realizes the position tracking control of the manipulator system with unknown dead zone and friction, and ensures the transient tracking performance of the system

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