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Cascade control system and method of flexible robot based on time-varying interference compensation

A cascade control and interference compensation technology, applied in the field of flexible robot cascade control system based on time-varying interference compensation, can solve the problems of unmodeled dynamics of the system, difficulty in industrial implementation of control solutions, and high cost

Active Publication Date: 2020-06-09
CHONGQING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, most control schemes or industrial implementations are difficult, and there are the following defects: for example, the control method is too complicated, which is not conducive to engineering implementation, the number of sensors required is too large, the cost is high, and other problems, or it is impossible to effectively observe various time-varying systems. disturbances and immediately suppress these system disturbances, including system unmodeled dynamics, parameter uncertainties, external disturbances, etc.

Method used

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  • Cascade control system and method of flexible robot based on time-varying interference compensation
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  • Cascade control system and method of flexible robot based on time-varying interference compensation

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Embodiment 1

[0053] like Figure 1 to Figure 9 As shown, the present invention is a flexible robot cascade control system based on time-varying disturbance compensation, with figure 1 It is a detailed principle block diagram of the control system of the present invention, the system includes a position controller on the DC motor side, an extended state observer based on the DC motor model, a position controller on the manipulator side, an extended state observer based on the manipulator model, and a DC motor side A position sensor, a position sensor on the side of the manipulator, a DC motor, a flexible node, and a manipulator. The position controller on the side of the manipulator is connected to the position controller on the side of the DC motor. The position controller on the side of the manipulator is connected to the extended state based on the manipulator model The observer is connected, the position controller on the DC motor side is connected to the DC motor, the position controll...

Embodiment 2

[0088] like Figure 1 to Figure 9 As shown, the difference between this embodiment and Embodiment 1 is that a cascade control method for flexible robots based on time-varying disturbance compensation, such as figure 1 As shown, the method includes the following steps:

[0089] 1) Obtain the position of the DC motor by detecting the signal of the position sensor on the DC motor side;

[0090] 2) Obtain the position of the manipulator by detecting the signal of the position sensor on the side of the manipulator;

[0091] 3) The signal of the position sensor on the manipulator side and the output control signal of the position controller on the manipulator side are estimated by the extended state observer (namely observer I) based on the manipulator model to obtain the position estimation of the manipulator speed estimation and an estimate of the disturbance

[0092] 4) The signal of the position sensor on the DC motor side and the output control signal of the position co...

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Abstract

The invention discloses a cascade control system and method of a flexible robot based on time-varying interference compensation. The cascade control system includes a direct current motor side position controller, an extended state observer based on a direct current motor model, a mechanical arm side position controller, an extended state observer based on a mechanical arm model, a direct currentmotor side position sensor, a mechanical arm side position sensor, a direct current motor, flexible joints and a mechanical arm. The mechanical arm side position controller comprises feedforward compensation control based on interference estimation and feedback control based on state estimation; the direct current motor side position controller includes feedforward compensation control based on interference estimation and feedback control based on state estimation. Compared with a traditional cascade proportional-differential control method, the cascade control system and a method of a flexible robot based on time-varying interference compensation are simple in design and implementation, strong in anti-interference ability, and the application requirements of a position tracking system ofa single-joint flexible mechanical arm can be meet.

Description

technical field [0001] The invention relates to the technical field of a control method based on a single-joint flexible robot arm, in particular to a cascade control system and method for a flexible robot based on time-varying disturbance compensation. Background technique [0002] In recent years, the trajectory tracking problem of flexible manipulators has attracted great attention, mainly because of the complexity of this problem. To slow down flexible arms, many robots incorporate harmonic drives, but such drives introduce elastic torques in the joints. Industrial robots usually add elastic elements to the transmission system. When the robot needs to respond quickly, the phenomenon of torsional vibration will occur. For many robotic arms, joint elasticity comes from many sources, such as the elasticity of gears, belts, tendons, bearings, hydraulic lines, etc. However, most existing method designs assume perfect stiffness at the joints, which may limit the dynamic accu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J9/16B25J13/00
CPCB25J9/12B25J9/1612B25J9/1635B25J9/161B25J9/1653B25J13/00
Inventor 王会明张扬鲜娟李清都
Owner CHONGQING UNIV OF POSTS & TELECOMM
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