CN111558938B - Observer-based control method for transient and steady performance of mechanical arm system - Google Patents
Observer-based control method for transient and steady performance of mechanical arm system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
Abstract
The invention discloses a control method for transient and steady performance of a mechanical arm system based on an observer, which comprises the following steps: step one, establishing a mathematical model of a two-link mechanical arm system; step two, providing a preset performance function of the two-link mechanical arm system; step three, designing a preset performance controller based on a step-back control technology; the control method realizes unified estimation and online compensation of unknown nonlinear and multi-source interference, can realize asymmetric performance constraint envelope design, and has lower complexity and higher adaptability; the method provided by the invention is not only suitable for a two-link mechanical arm system, but also can be directly expanded to any other nonlinear system based on the online estimation and asymmetric preset performance envelope implementation technology of the extended state observer on coupling nonlinearity and interference, and has good universality.
Description
Technical Field
The invention relates to a transient and steady performance protection control method for a mechanical arm system based on an observer, and belongs to the technical field of mechanical system control.
Background
A two-link robotic arm system is a typical multiple-input multiple-output mechanical system, which can be described by the euler-lagrange system. Many control methods are tried on such mechanical systems, such as application of a variable structure control method in a robot mechanical system, an output feedback control method with nonlinear Euler-Lagrange system speed, a robot neural network control method, and the like.
Although the prior art can realize the stable and tracking control of such a system, the following two limitations exist: firstly, most of interference sources considered by the existing research method are single, and an interference observer or a robust control method is generally adopted to eliminate the influence of interference, so that the additional interference caused by the nonlinearity and the structural uncertainty of a limited system cannot be processed; secondly, most of the existing preset performance control methods for such systems consider symmetric performance envelopes, and are difficult to deal with asymmetric situations.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the transient and steady performance control method for the mechanical arm system based on the observer, the control method can realize unified estimation and online compensation of unknown nonlinearity and multisource interference, and can realize asymmetric performance constraint envelope design, and the control method has low complexity and high adaptability.
In order to achieve the above object, the present invention provides a method for controlling transient and steady state performance of a manipulator system based on an observer, comprising the following steps:
step one, establishing a mathematical model of a two-link mechanical arm system:
the two-link mechanical arm system with Euler-Lagrange multiple input and multiple output characteristics has the following mathematical model:
wherein the content of the first and second substances,
is an n-dimensional position vector of the two-link mechanical arm system,
velocity and acceleration vectors, respectively;
respectively, known nominal values, respectively, of the system inertia matrixMatrix of force and centrifugal force, gravity-related vector, and M (p) ═ M0(p) + Δ M, M (p) is the system inertia matrix, from the known nominal value M0(p) and a bounded uncertainty value Δ M;
is a control input variable for the system and,
one part of the interference is interference such as external noise and the like, and the other part of the interference is structural uncertainty of the system, so that the interference is multi-source interference;
step two, a preset performance function of the two-link mechanical arm system is provided:
1) rewriting the mathematical model of the two-link mechanical arm system in the step one, and obtaining the following strict negative feedback form:
wherein the content of the first and second substances,
2) for a desired trajectory prDefining the tracking error as e1＝[e1,1,e1,2,....,e1,n]T＝q1-prTo guarantee transient and steady-state performance of the tracking error system, the following performance envelope is defined:
-δ1,iρi(t)＜e1,i＜δ2,iρi(t)(i＝1,2,...,n) (3)，
wherein, delta1,i,δ2,iIs a positive parameter, pi(t) is a performance function, having an exponential form, i.e.: rhoi(t)＝(ρi,0-ρi,∞)exp(-lit)+ρi,∞Where ρ isi,0＞ρi,∞> 0 is the boundary constant of the performance function, li> 0 isThe rate of convergence of the performance function;
step three, designing a preset performance controller based on a step-back control technology:
1) to guarantee the performance envelope in step two, the following function is defined:
wherein the function
Satisfy the requirement of
Lyapunov function J1Is non-negatively conductive, and
μi,γithe specific form of (A) is as follows:
2) designing a first virtual controller α1,iThe form is as follows:
wherein k is1,iIs a positive control gain;
3) defining a second tracking error e2＝q2-χ1Therein, x1＝[χ1,1,χ1,2,...,χ1,n]TIs the output of a first order adaptive filter, and satisfies the following form:
wherein the content of the first and second substances,s1,i＝χ1,i-α1,i( i 1,2.. n.) is a virtual controller α designed1,iThe error of the approximation is bounded by a finite error,
ε0> 0 is a constant parameter of the filter,
the adaptive parameters of the filter are designed according to the adaptive law as follows:
wherein, pii＞0,κiMore than 0 is a positive parameter;
4) estimating nonlinear terms of coupled multi-source uncertain disturbances using a linear extended state observer
The observer form is as follows:
wherein the content of the first and second substances,
is observer gain and makes polynomial lambda2+β1,iλ+β2,i0 (i-1, 2.., n) is Hurwitz stable; z is a radical of1,z2Coupling non-linear terms of multiple sources of uncertain disturbances for the output of a linear state observer
From z2Obtaining an approximation;
5) based on the output results of the above extended state observer, the actual controller τ is designed in the form:
wherein the content of the first and second substances,
is a positive diagonal gain matrix.
Further, the nominal value M of the inertia matrix0(p) by mass and dimensional design data of the system.
Aiming at a two-link mechanical arm system with unknown uncertain nonlinearity and multi-source external interference, the control method further provides a preset performance function of the two-link mechanical arm system on the basis of establishing a mathematical model of the two-link mechanical arm system, defines a performance envelope to ensure the transient and steady-state performance of a tracking error system, and obtains an actual controller by designing a virtual controller and based on an output result of an extended state observer, so that unified estimation and online compensation of the unknown nonlinearity and the multi-source interference are realized, asymmetric performance constraint envelope design can be realized, the complexity is low, and the adaptability is high; the method provided by the invention is not only suitable for a two-link mechanical arm system, but also can be directly expanded to any other nonlinear system based on the online estimation and asymmetric preset performance envelope implementation technology of the extended state observer on coupling nonlinearity and interference, and has good universality.
Drawings
FIG. 1 is a schematic view of a two-link robotic arm system of the present invention;
FIG. 2 is a graph of the joint angle response over time for a two-link robotic arm system;
FIG. 3 is a graph of angular velocity response over time for a two-link robotic arm system joint;
FIG. 4 is a graph of filter adaptation parameter response over time;
FIG. 5 is a graph of the coupled nonlinear output of Extended State Observer (ESO) estimation;
FIG. 6 is a control input diagram for a two-link robot system;
FIG. 7 is a two-link robot system joint angle q1,1A time response graph;
FIG. 8 shows a two-link arm system joint angle q1,2A time response graph;
FIG. 9 is a graph of angular velocity response over time for a two-link robot system joint during tracking control;
FIG. 10 is a graph of filter adaptation parameter response over time;
fig. 11 is a control input diagram of the two-link arm system in the tracking control.
Detailed Description
The invention will be further explained with reference to the drawings.
A transient and steady performance control method for a mechanical arm system based on an observer comprises the following steps:
step one, establishing a mathematical model of a two-link mechanical arm system:
the two-link mechanical arm system with Euler-Lagrange multiple input and multiple output characteristics has the following mathematical model:
wherein the content of the first and second substances,
is an n-dimensional position vector of the two-link mechanical arm system,
velocity and acceleration vectors, respectively;
respectively, known nominal values of the system inertia matrix, the coriolis and centrifugal force matrix, the gravity-related vector, and M (p) ═ M0(p) + Δ M, M (p) is the system inertia matrix, from the known nominal value M0(p) and a bounded uncertainty value Δ MRespectively representing;
is a control input variable for the system and,
one part of the interference is interference such as external noise and the like, and the other part of the interference is structural uncertainty of the system, so that the interference is multi-source interference;
step two, a preset performance function of the two-link mechanical arm system is provided:
1) rewriting the mathematical model of the two-link mechanical arm system in the step one, and obtaining the following strict negative feedback form:
wherein the content of the first and second substances,
2) for a desired trajectory prDefining the tracking error as e1＝[e1,1,e1,2,....,e1,n]T＝q1-prTo guarantee transient and steady-state performance of the tracking error system, the following performance envelope is defined:
-δ1,iρi(t)＜e1,i＜δ2,iρi(t)(i＝1,2,...,n) (3)，
wherein, delta1,i,δ2,iIs a positive parameter, pi(t) is a performance function, having an exponential form, i.e.: rhoi(t)＝(ρi,0-ρi,∞)exp(-lit)+ρi,∞Where ρ isi,0＞ρi,∞> 0 is the boundary constant of the performance function, li> 0 is the convergence rate of the performance function;
step three, designing a preset performance controller based on a step-back control technology:
1) to guarantee the performance envelope in step two, the following function is defined:
wherein the function
Satisfy the requirement of
Lyapunov function J1Is non-negatively conductive, and
μi,γithe specific form of (A) is as follows:
2) designing a first virtual controller α1,iThe form is as follows:
wherein k is1,iIs a positive control gain;
3) defining a second tracking error e2＝q2-χ1Therein, x1＝[χ1,1,χ1,2,...,χ1,n]TIs the output of a first order adaptive filter, and satisfies the following form:
wherein s is1,i＝χ1,i-α1,i( i 1,2.. n.) is a virtual controller α designed1,iThe error of the approximation is bounded by a finite error,
ε0> 0 is a constant parameter of the filter,
the adaptive parameters of the filter are designed according to the adaptive law as follows:
wherein, pii＞0,κiMore than 0 is a positive parameter;
4) estimating nonlinear terms of coupled multi-source uncertain disturbances using a linear extended state observer
The observer form is as follows:
wherein the content of the first and second substances,
is observer gain and makes polynomial lambda2+β1,iλ+β2,i0 (i-1, 2.., n) is Hurwitz stable; z is a radical of1,z2Coupling non-linear terms of multiple sources of uncertain disturbances for the output of a linear state observer
From z2Obtaining an approximation;
5) based on the output results of the above extended state observer, the actual controller τ is designed in the form:
wherein the content of the first and second substances,
is a positive diagonal gain matrix.
In particular, the nominal value M of the inertia matrix0(p) by mass and dimensional design data of the system.
The first embodiment is as follows:
as shown in FIG. 1, the present invention selects a two-link arm system as a research object to develop joint angle stabilization and tracking control simulation. Wherein the content of the first and second substances,
and
respectively representing the joint angle and angular velocity of the mechanical arm, a nominal inertia matrix M0(q1) The specific form of (A) is as follows:
wherein m is1,m2,l1,l2Respectively representing the mass and the length of two mechanical arm connecting rods, and other nonlinear parameters are as follows:
each element of (A) is
(
Expressed as gravitational acceleration);
each element of (a) is: c11＝-m2l1l2 sin(q1,2)q2,2,C12＝-m2l1l2sin(q1,2)q2,2-m2l1l2sin(q1,2)q2,1，C21＝m2l1l2 sin(q1,2)q2,1，C22＝0；
The structural parameters of the two-link mechanical arm are as follows: m is1＝1kg,m2＝2kg,l1＝1.5m,l21m, acceleration of gravity
Other simulation parameters were:
k1＝diag{1,1},k2＝diag{100,100}，δ1,i＝δ2,i＝1,
ε0＝0.01，πi＝0.4,κi＝1.5(i＝1,2),ρ0＝3,ρ∞＝0.05,l＝0.3,β1＝β2＝diag{10,10}；
the expected tracking trajectory is 0 and the initial simulation state is
q1＝[2,-2]T,q2＝[0,0]T(ii) a The multi-source external unknown interference is assumed to be d ═ 0.5[ sin (0.1t), cos (0.1t)]TThe corresponding simulation results are shown in fig. 2 to 6, from which can be derived: 1) as shown in figures 2 and 3, the controlled double-link mechanical arm system can realize the stability of the joint angle in about 20s and the steady state error is 10-2Magnitude; 2) as shown in fig. 4 to 6, the adaptive parameters of the filter can reach stable values approximately in 12s, the output of the extended state observer can be well approximated to the nonlinear term coupled with the multi-source interference in 18s, and the control input is stabilized below 20Nm after 3s, so that the stability and the robustness of the joint angle stabilization control simulation of the double-link mechanical arm system verify the stability and the robustness of the method provided by the invention.
Example two:
selecting a two-link mechanical arm system as a research object, developing joint angle tracking control of the two-link mechanical arm system, and assuming that an expected joint angle instruction is pr＝[sin(0.2t),cos(0.2t)]TThe corresponding simulation parameters are:
k1＝diag{2,2},k2＝diag{220,220},πi＝0.5(i＝1,2),ρ0＝4,ρ∞＝0.01,l＝0.15，
other simulation parameters and initial states are the same as those in the first embodiment, and corresponding simulation results are shown in fig. 7 to 11, and can be obtained from the simulation results in fig. 7 to 11: 1) the simulation results of fig. 7 to 9 show that under uncertain system nonlinearity and external interference, the angle of the controlled double-link mechanical arm system can track the expected track in about 30s, the tracking error performance envelope can be realized, and the steady-state error is 10-2Magnitude; 2) as shown in fig. 10, the adaptive parameters of the filter can reach a stable value approximately around 15s, i.e., the designed adaptation law is convergent; 3) the control input is stabilized at about 50Nm after 3s, and the jump phenomenon occurs at 4.7s, 63s and 78s, because the amplitude of the external interference is equivalent to the preset steady-state boundary threshold value, and in order to make the controlled system track fall within the expected steady-state boundary, a large control input is needed to weaken the influence of uncertainty and the external interference.
The effectiveness of the control method and the robustness for dealing with unknown nonlinearity and external multi-source interference are verified by the example simulation of the two groups of double-link mechanical arm systems.
Claims (2)
1. A transient and steady performance control method for a mechanical arm system based on an observer is characterized by comprising the following steps:
step one, establishing a mathematical model of a two-link mechanical arm system:
the two-link mechanical arm system with Euler-Lagrange multiple input and multiple output characteristics has the following mathematical model:
wherein the content of the first and second substances,
is an n-dimensional position vector of the two-link mechanical arm system,
velocity and acceleration vectors, respectively;
respectively, known nominal values of the system inertia matrix, the coriolis and centrifugal force matrix, the gravity-related vector, and M (p) ═ M0(p) + Δ M, M (p) is the system inertia matrix, from the known nominal value M0(p) and a bounded uncertainty value Δ M;
is a control input variable for the system and,
as a composite interference term, a part of interference comes from external noise and the like, and a part of interference comes fromStructural uncertainty in the system itself is a multi-source disturbance;
step two, a preset performance function of the two-link mechanical arm system is provided:
1) rewriting the mathematical model of the two-link mechanical arm system in the step one, and obtaining the following strict negative feedback form:
wherein the content of the first and second substances,
2) for a desired trajectory prDefining the tracking error as e1＝[e1,1,e1,2,....,e1,n]T＝q1-prTo guarantee transient and steady-state performance of the tracking error system, the following performance envelope is defined:
-δ1,iρi(t)＜e1,i＜δ2,iρi(t)(i＝1,2,...,n) (3)，
wherein, delta1,i,δ2,iIs a positive parameter, pi(t) is a performance function, having an exponential form, i.e.: rhoi(t)＝(ρi,0-ρi,∞)exp(-lit)+ρi,∞Where ρ isi,0＞ρi,∞Boundary constant of performance function > 0，li> 0 is the convergence rate of the performance function;
step three, designing a preset performance controller based on a step-back control technology:
1) to guarantee the performance envelope in step two, the following function is defined:
wherein the function
Satisfy the requirement of
Lyapunov function J1Is non-negatively conductive, and
μi,γithe specific form of (A) is as follows:
2) designing a first virtual controller α1,iThe form is as follows:
wherein k is1,iIs a positive control gain;
3) defining a second tracking error e2＝q2-χ1Therein, x1＝[χ1,1,χ1,2,...,χ1,n]TIs the output of a first order adaptive filter, and satisfies the following form:
wherein s is1,i＝χ1,i-α1,i(i 1,2.. n.) is a virtual controller α designed1,iThe error of the approximation is bounded by a finite error,
ε0> 0 is a constant parameter of the filter,
the adaptive parameters of the filter are designed according to the adaptive law as follows:
wherein, pii＞0,κiMore than 0 is a positive parameter;
4) estimating nonlinear terms of coupled multi-source uncertain disturbances using a linear extended state observer
The observer form is as follows:
wherein the content of the first and second substances,
is observer gain and makes polynomial lambda2+β1,iλ+β2,i0 (i-1, 2.., n) is Hurwitz stable; z is a radical of1,z2Coupling non-linear terms of multiple sources of uncertain disturbances for the output of a linear state observer
From z2Obtaining an approximation;
5) based on the output results of the above extended state observer, the actual controller τ is designed in the form:
wherein the content of the first and second substances,
is a positive diagonal gain matrix.
2. The observer-based control method for transient and steady state performance of a manipulator system according to claim 1, wherein the nominal value M of the inertia matrix is0(p) by mass and dimensional design data of the system.
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