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Disturbance observation control method for flexible mechanical arm with external disturbances

A technology of flexible manipulator and disturbance observation, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of poor control accuracy and achieve the effect of improving control accuracy

Active Publication Date: 2017-03-15
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0005] In order to overcome the deficiencies of poor control accuracy of existing flexible manipulator disturbance control methods, the present invention provides a disturbance observation control method for flexible manipulators in the presence of external disturbances

Method used

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  • Disturbance observation control method for flexible mechanical arm with external disturbances
  • Disturbance observation control method for flexible mechanical arm with external disturbances
  • Disturbance observation control method for flexible mechanical arm with external disturbances

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Embodiment Construction

[0044] refer to figure 1 . The specific steps of the disturbance observation control method of the flexible manipulator with external disturbance in the present invention are as follows:

[0045] (a) Dynamic model of n-DOF flexible manipulator:

[0046]

[0047] Among them, M is a positive definite symmetric inertia matrix, is a term related to Coriolis force and centripetal force, D 1 、D 2 is the damping matrix, K 2 is the stiffness matrix, u is the joint input moment, [θ T ,δ T ] T =[θ 1 …theta n …δ 1,1 …δ 1,m …δ n,1 …δ n,m ] T is a generalized vector composed of the joint angles of the manipulator and the flexibility mode, θ i is the i-th joint angle variable, δ i,j is the j-th modal variable of the i-th link, f d is the external disturbance term caused by joint friction and vibration damping of the flexible link;

[0048] Taking the two-link flexible space manipulator as an example, the link length l 1 = l 2 =0.5m, connecting rod mass m 1 = m 2 =0...

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Abstract

The invention discloses a disturbance observation control method for a flexible mechanical arm with external disturbances. The disturbance observation control method is used for solving the technical problem that an existing flexible mechanical arm disturbance control method is poor in control precision. According to the technical scheme, output redefining is conducted on a flexible mechanical arm dynamics model with a non-minimum phase characteristic, and an input output subsystem and an internal dynamic subsystem are further obtained; state feedback control is adopted for internal dynamic stabilization; and aiming at unknown disturbances existing in the input output subsystem, a controller is designed by adopting the nonlinear disturbance observation method to achieve system tracking, so that the control precision is improved.

Description

technical field [0001] The invention relates to a disturbance control method for a flexible manipulator, in particular to a disturbance observation control method for a flexible manipulator with external disturbances. Background technique [0002] The flexible manipulator has the advantages of light weight, fast speed, low energy consumption and large operating space, and has attracted widespread attention at home and abroad; however, due to its structural characteristics, deformation and vibration will occur during the movement, which brings challenges to the control of the manipulator. A series of difficulties, such as difficulty in establishing an accurate mathematical model, non-minimum phase characteristics, strong nonlinear coupling, and susceptibility to external disturbances. [0003] The control tasks for flexible manipulators are divided into the following four categories: end-effector position adjustment, end-effector fixed-point motion within a fixed time, joint ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1635B25J9/1638
Inventor 许斌杨代朋张琪程怡新韩毅
Owner NORTHWESTERN POLYTECHNICAL UNIV
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