Research On Tracking Control Of Software Driver

Industrial robots are unable to meet the requirements of people in a variety of harsh environments due to their large size,inability to move flexibly,poor adaptability to the surrounding environment,and low stability.At present,human beings are beginning to study how they can satisfy themselves in extreme environments Soft robots that need and do little harm to human beings,and soft robots with rather high flexibility,have begun to enter the public's field of vision.The advent of soft robots has drawn much attention worldwide.Software robots are very flexible in complex special environments and have good flexibility and extensibility.However,due to the different material characteristics and strength of software,software drivers have complex nonlinearities,and their unique complicated characteristics pose a very big challenge to the mathematical modeling of intelligent software flexible materials and tracking controller design.Its effective dynamic modeling and tracking controller design is the most difficult problem to be solved.At present,the research on software drivers in China is limited to the theoretical part.In this paper,a single-chamber bidirectional bending software driver is taken as the research object.The bending test of the intelligent software driver is performed to prove that the bending property of the object is very good.Next,the static characteristics of the object under forward and reverse pressure are analyzed Through the simulation of hysteresis characteristics under different pressures,it can be seen that the research object can ignore the hysteresis characteristics of the material to our research,and then perform step-pressure response experiments of different pressures on the subjects Step response under different pressures Simulation graphics We learned that the software driver has good dynamic characteristics.Discussed the basic structure of the two-way bending software driver,the principle of two-way bending,static characteristics analysis,dynamic characteristics of the drive itself,such as the basic problems.And the mathematical model of bending angle is identified through the system identification method and the driver's own characteristics.The force applied under different pressures is measured by the force measuring device and the relationship between the output force and the input pressure is obtained.Uncertainty of the linear relationship between the mathematical model.Based on the system of bending angle position,it was designed and analyzed by tracking control system.In nonlinear system analysis and design,first,the parameters in the mathematical model expressions are introduced into the system using the International System of Units to obtain a nonlinear expression on input pressure and output angle.Second,we design the controller by identifying the above nonlinear expressions as a linear relationship through the system identification toolbox.Then,through the system identification toolbox,the linear function with the highest fitting degree is identified as the mathematical model of the controlled object,and a set of optimal parameters is found out by the optimization module as the parameters of the follow-up controller.Finally,it can be seen that the tracking effect is very good by tracking the input response curve,and the validity and feasibility of the designed tracking controller are obtained through the simulation curve analysis.