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Robot controller design method, device and equipment and readable storage medium

A design method and robot technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of low system stability and feasibility, and inability to solve nonlinear problems

Active Publication Date: 2021-05-28
HUNAN INSTITUTE OF ENGINEERING
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Problems solved by technology

[0004] The main purpose of the present invention is to provide a robot controller design method, device, equipment and readable storage medium, aiming to solve the existing robot control system based on the event trigger mechanism, because the non-linearity of the event trigger cannot be solved, resulting in system stability and technical issues with low feasibility

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  • Robot controller design method, device and equipment and readable storage medium
  • Robot controller design method, device and equipment and readable storage medium
  • Robot controller design method, device and equipment and readable storage medium

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Embodiment Construction

[0044] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0045] In the following description, use of suffixes such as 'module', 'part' or 'unit' for denoting elements is only for facilitating description of the present invention, and has no specific meaning by itself. Therefore, 'module', 'part' or 'unit' may be used in combination.

[0046] The robot controller design device (also called terminal, device or terminal device) of the embodiment of the present invention can be a PC, or a mobile terminal device with a display function such as a smart phone, a tablet computer, and a portable computer.

[0047] Such as figure 1As shown, the terminal may include: a processor 1001 , such as a CPU, a network interface 1004 , a user interface 1003 , a memory 1005 , and a communication bus 1002 . Wherein, the communication bus 1002 is used to realize connection and communication bet...

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Abstract

The invention discloses a robot controller design method, device and equipment and a readable storage medium. According to the method, a kinetic model of the robot is established, a target control model of the robot is determined, an event triggering mechanism of the robot is designed according to the kinetic model, and model description is performed on the target control model, so that a function approximation model of the target control model is determined; and on the basis of the event triggering mechanism, a control law and an adaptive law of the robot is constructed by using the function approximation model, a closed-loop control model of the robot is determined, and a target controller of the robot is established by using the control law, the adaptive law and the closed-loop control model; the nonlinear problem of an event triggering mechanism is solved, and the stability and feasibility of the control system of the fan detection robot operation arm based on event triggering are improved.

Description

technical field [0001] The present invention relates to the field of robot control, in particular to a robot controller design method, device, equipment and readable storage medium. Background technique [0002] With the development of wind power generation technology, wind power has become an indispensable renewable energy source, especially the huge energy demand that the world is currently facing. It is expected that the global energy demand will continue to grow in the next 50 years, and the use of wind power generators will also increase. more and more widely. Since wind turbines are mostly operated outdoors, their blades will be affected by natural factors such as ultraviolet radiation, rain and snow, hail, and sudden temperature changes, which will lead to stress fatigue of wind turbine components, or impact damage, dust and salt and other harsh environmental effects will cause The efficiency and performance of fan components decrease, which leads to fan failure. To ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 胡慧易伟郭鹏李洋王越彪屈繁
Owner HUNAN INSTITUTE OF ENGINEERING
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