Modeling and control method of hydraulic mechanical arm based on rotation and sliding separation

Abstract

A modeling and control method for a hydraulic mechanical arm based on rotation and sliding separation comprises the following steps that during modeling, sliding inside a hydraulic cylinder of the hydraulic mechanical arm and rotation at the joint hinging position are modeled in a separated mode, and a state-space equation about q (generalized angle) is listed based on known parameters in a mathematical model; parameters of the mathematical model are linearized, and the design of the adaptive robust controller is updated based on model parameter linearization and mathematical model design error dynamics (the design of the adaptive robust controller). Compared with traditional PID control and feed-forward PID control, the method has the advantage that the response speed and the control precision of the system can be obviously improved. According to the method, the problem of high nonlinearity of a hydraulic control system is solved, meanwhile, compared with the method applied to a hydraulic mechanical arm, the control mode of the method is higher in robustness, the dynamic response to the system is faster, the dynamic tracking effect of the system is obviously enhanced, the tracking error of the system is smaller, and the control precision is higher.

Description

technical field [0001] The invention relates to the technical field of hydraulic system control, in particular to a modeling and control method of a hydraulic mechanical arm based on rotation and sliding separation. Background technique [0002] With the rapid development of industrial robots, the core advantages of electro-hydraulic servo systems, such as large output torque and high power-to-weight ratio, have been widely used in important fields such as mechanical engineering, aerospace, and equipment manufacturing. With the improvement of technical standards, a better control system is required to improve the hydraulic control accuracy. The traditional PID control has good advantages. One is that the PID control only has three parameters K p , K i , K d , it will be very convenient to adjust. The second is that PID control does not need to be model-based, and can effectively control any closed-loop control. However, the shortcomings of PID control are also obvious, t...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a method of modeling and control of hydraulic mechanical arm based on the separation of rotation and sliding to solve the problem of highly nonlinear hydraulic control system. The control method is more robust, and the dynamic response to the system is faster, the dynamic tracking effect of the system is significantly enhanced, the tracking error of the system is smaller, and the control accuracy is higher

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