Hybrid gain control method for nonlinear mechanical arm system

A nonlinear system, gain control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as large uncertainty

Pending Publication Date: 2022-04-08
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of global adaptive state asymptotic regulation through output feedback for nonlinear manipulator systems with large uncertainties

Method used

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  • Hybrid gain control method for nonlinear mechanical arm system
  • Hybrid gain control method for nonlinear mechanical arm system
  • Hybrid gain control method for nonlinear mechanical arm system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] In this embodiment, the setting parameters are as follows.

[0038] accurate value

[0039] parameter J m R 0

M 0

L 0

unit kg·m 2

kg m kg m value 1.625×10 -3

0.506 0.023 0.434 0.305 parameter B 0

L H

R K τ

K B

unit N·m·s / rad H Ω N·m / A N·m / A value 16.25×10 -3

25×10 -3

5 0.9 0.9

[0040] step 1:

[0041] Using the principle of dynamics to establish a mathematical model describing the manipulator system:

[0042]

[0043]

[0044] q(t), represent the angular position, velocity and acceleration of the link respectively, I(t) is the motor armature current, V E (t) is the voltage used as the control input.

[0045]

[0046] where J is the rotor inertia, m is the link quality, M 0 is the load mass, L 0 is the link length, R 0 is the load radius, G is the gravity coefficient, B 0 is the viscous friction coefficient at the joint, K τ is the conversion...

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Abstract

The invention belongs to the field of control theory and control engineering, is applied to adaptive control of a nonlinear system, and provides a novel hybrid gain scaling method containing static and dynamic gains for a nonlinear system with unknown continuous measurement sensitivity and uncertain nonlinearity at the same time. A hybrid gain control method for a nonlinear mechanical arm system comprises the steps that 1, a mathematical model for describing the mechanical arm system is established according to the dynamics principle; 2, determining that the system is a nonlinear system, and designing a high-gain observer to estimate the state of the original system; and step 3, establishing a controller to ensure stable operation of the system.

Description

technical field [0001] The invention belongs to the field of control theory and control engineering, and is applied to the adaptive control of nonlinear systems. For a class of nonlinear systems with unknown continuous measurement sensitivity and uncertain nonlinearity at the same time, we propose a new method including static and dynamic Hybrid gain scaling method for gains. Background technique [0002] With the continuous development of science and technology in the direction of intelligence and the continuous expansion and deepening of the application field of robots, industrial robots have become a high-tech industry, which has played a huge role in the level of industrial automation and will play an increasingly important role in future production and social development. more important role. Robot is a typical representative of advanced manufacturing technology and automation equipment, and the "ultimate" representative of man-made machines. It involves many discipli...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 湛书言贾祥磊
Owner HANGZHOU DIANZI UNIV
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