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Active-disturbance-rejection control method of multi-axis series mechanical arm

A technology of active disturbance rejection control and active disturbance rejection controller, applied in manipulators, program control manipulators, manufacturing tools, etc., can solve problems such as difficulty in establishing mathematical models, complex mechanical structures of manipulators, complex models, etc., and achieve good high-frequency The effect of flutter suppression ability and active anti-interference ability, fast response speed and strong anti-interference ability

Inactive Publication Date: 2020-08-14
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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  • Application Information

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Problems solved by technology

[0003] However, due to the complex mechanical structure of the manipulator, the interaction between different joint linkage systems is highly coupled, and the overall characteristics of nonlinear and strong coupling make it difficult for conventional control strategies to control it quickly and with high precision.
Most of the existing manipulator control methods rely on the mathematical model of the system, but due to the complexity of the model of the manipulator control system and the influence of some unknown factors, it is difficult to establish an accurate mathematical model

Method used

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  • Active-disturbance-rejection control method of multi-axis series mechanical arm

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Embodiment 1

[0048] Such as figure 1 As shown in ~, this embodiment provides a technical solution: an active disturbance rejection control method for a multi-axis series manipulator, including the following steps:

[0049] S1: Establish a dynamic mathematical model of the motor position

[0050]Analyze the working circuit of the joint motor of the manipulator, establish the mathematical model of the motor according to the balance equation of the motor, and use the Laplace transform to obtain the transfer function between the output and input of the motor under zero initial conditions and the dynamic mathematical model of the motor position;

[0051] S2: Design ADRC

[0052] The ADRC controller is designed, and the nonlinear function is selected to construct the extended state observer and the nonlinear error feedback control law in the ADRC controller;

[0053] S3: Estimate the total disturbance of the system and compensate

[0054] The Kalman filter is introduced into the extended stat...

Embodiment 2

[0083] Such as figure 2 As shown, this embodiment proposes an active disturbance rejection control method for a multi-axis series manipulator, including the following steps:

[0084] The first step is to analyze the working circuit of the joint motor of the manipulator, establish the mathematical model of the DC torque motor according to the four balance equations of the motor, and use the Laplace transform to obtain the output ω and input u of the DC torque motor under zero initial conditions a A dynamic mathematical model of the transfer function between and the motor position;

[0085] In the second step, the components of ADRC are designed, including tracking differentiator, extended state observer, nonlinear error feedback control law and disturbance compensation device, and a new nonlinear function is selected to construct the extended state observer and Nonlinear error feedback control law;

[0086] The third step is to introduce the Kalman filter into the extended s...

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Abstract

The invention discloses an active-disturbance-rejection control method of a multi-axis series mechanical arm, and belongs to the technical field of series mechanical arm control. The control method comprises the following steps of S1, establishing a dynamic mathematical model of a motor position; S2, designing an active disturbance rejection controller; and S3, estimating and compensating the total disturbance of the system. The method has the advantages that the response speed is higher, the anti-interference capability is higher, and the tracking without overshoot is realized; a novel nonlinear function is adopted, better smoothness, continuity and conductibility are achieved near an original point, and meanwhile the better high-frequency flutter suppression capacity and the better active disturbance rejection capacity are achieved compared with a traditional ADRC; a Kalman filter is introduced into an extended state observer, so that the total disturbance of the system can be effectively estimated, including external disturbance, the coupling effect between shafts and the friction force between components; and simulation and test results show that the control method has good static performance, dynamic quality and anti-jamming capability, can provide reference for research of a connecting rod mechanism, and has very high engineering practical value.

Description

technical field [0001] The invention relates to the technical field of series manipulator control, in particular to an active disturbance rejection control method for multi-axis series manipulators. Background technique [0002] In modern industrial production, industrial robots have replaced human beings in many fields with harsh working environments, heavy labor, high precision and high repeatability. As a type of robot with obvious structural characteristics, the multi-axis serial manipulator can accept instructions and complete positioning and trajectory tracking work as its most basic function. The positioning and trajectory tracking control of multi-axis series manipulators can be summarized as starting from the dynamics of the robot and manipulating the driving torque of the joints so that the position and attitude of the manipulator can be quickly, stably and accurately converted according to the requirements of the task, forming a stable closed-loop system , let th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1628
Inventor 刘丙友李兴王力超张峥峥罗建赵瑞
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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