A control strategy combining the linear extended state observer and full coefficient adaptive control based on characteristic model is proposed for the time-varying load and model uncertainties of industrial robot joint servomechanism.A two-inertia flexible joint dynamics model is established,and the equation of the fifth-order extended state of joint servomechanism was obtained.A fifth-order linear extended state observer is designed based on the model,through which the total disturbance of the system is estimated and compensated,and the convergence of the observer is proved.Based on the method of characteristic modeling,the characteristic parameters are identified by experimental data and gradient descent method,and the full coefficient adaptive control law is designed based on the parameter values.A control strategy is designed to accurately control the system by combining the control law with the linear extended state observer.The experimental results show that the proposed control strategy is used to make the positioning accuracy of the system reach 0.003° under the condition of variable load disturbance and the sinusoidal signal tracking error keep within 0.92°.The system has strong robustness and control accuracy.
关键词
关节伺服系统/5阶线性扩张状态观测器/特征建模/全系数自适应控制/扰动补偿
Key words
joint servomechanism/fifth-order linear extended state observer/characteristic modeling/full coefficient adaptive control/disturbance compensation
维普
万方数据