狭小空间下机械臂关节的二阶线性系统控制方法研究

针对当前控制方法的控制精度较低,不适于狭小空间的问题,提出一种新的机械臂关节的二阶线性系统控制方法。介绍了机械臂关节动力学方程,给出狭小空间下机械臂关节二阶线性系统结构,二阶线性系统的控制主要通过跟踪微分器、过渡阶段和扩张状态观测器实现。分析了时间尺度,针对可通过传递函数描述的机械臂关节系统,在通过二阶线性系统对其进行控制的过程中引入时间尺度,以降低计算复杂度。实验结果表明,采用所提方法对狭小空间下机械臂关节进行控制,响应速度快,无超调,且跟踪精度高。

Research on control method of two order linear system of manipulator joints in narrow space

Aiming?at?the?problem?that?the?current?control?method?has?low?control?accuracy?and?is?not?suitable?for?narrow?space,?a?new?second?order?linear?system?control?method?for?manipulator?joint?is?proposed.?The?dynamics?equation?of?manipulator?joint?is?introduced,?and?the?second?order?linear?system?structure?of?manipulator?joint?in?narrow?space?is?given.?The?control?of?second?order?linear?system?is?mainly?realized?by?tracking?differentiator,?transition?stage?and?extended?state?observer.?The?time?scale?is?analyzed,?and?for?the?manipulator?joint?system?which?can?be?described?by?transfer?function,?the?time?scale?is?introduced?into?in?the?control?process?of?the?second?order?linear?system,?to?reduce?the?computational?complexity.?The?experimental?results?show?that?the?proposed?method?can?control?the?manipulator?joints?in?narrow?space?with?fast?response,?have?no?overshoot?and?high?tracking?accuracy.