Port Controlled Hamiltonian And Adaptive Coordination Control Of Robot

With the development of social economy,computer and microelectronics technology robot technology has been gradually mature,and various types of robots have been widely used in many fields,and plays an important role.Accordingly,the research of robot control system is becoming more and more important.As a high order complex system,the actual operation of the robot will inevitably be affected by the uncertainties and external disturbances.How to reduce the influence and interference of these factors to the system is the key point of the robot control strategy.The traditional robot control scheme does not take into account the joint drive motor,On this basis,the controller design although achieves good results,but in the actual operation is unsatisfactory with great limitations.Based on this,the robot dynamics and drive motor are put together,and permanent magnet synchronous motor(PMSM)are used as the robot drive motors.The design process and method of the controller are given on the basis of the modified model.Firstly,the purpose and significance of this research are introduced,and the research status and trends of robot control at home and abroad are briefly described.Second,a new robot model is established by coordinating the robot dynamics model with the mathematical model of the joint drive motor PMSM.Third,the port Controlled Hamiltonian and Adaptive Coordinated Control of robot are studied,and port Controlled Hamiltonian controller and adaptive controller are designed.The simulation results show that by using this scheme system has good steady-state performance,confirmed the feasibility of coordinated control strategy.Fourth,taking into account the limitations of adaptive control,in this paper,disturbance observer is designed on the basis of existing schemes,and the shortcomings of improving parameter uncertainty and external disturbance of robot are improved.The simulation results show that the robot system with disturbance observer has high dynamic performance and steady state performance under adaptive and PCH coordinated control,and has strong anti-interference ability and expected good results.To sum up,to minimize the influence of internal and external factors of the robot system and the dynamic interference,obtain good steady-state performance,,the port Controlled Hamiltonian and adaptive coordination control scheme based on the design of the interference observer is given,and simulation shows it obtained good results.