摘要
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。
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.
作者
张婷婷
ZHANG Ting-ting(Information Institute,Beijing City University,Beijing 101300,China)
出处
《科学技术与工程》
北大核心
2018年第8期67-72,共6页
Science Technology and Engineering
关键词
狭小空间
机械臂
关节
二阶线性
控制
small space
mechanical arm
joint
two order linear
control
