The Flexible Joint Robot Driven By PMSM Is Commanded To Filter Back Step Control In A Finite Time

In recent years,with the continuous improvement of industrial production demand,the automatic lines of robots get more and more attention.Compared with the traditional rigid robot,the flexible joint robot had the advantages of light weight,low energy consumption,and was widely used in various industrial production.However,the model of flexible joint robot has the characteristics of flexible vibration and high-order nonlinearity,so in order to improve the control performance of flexible joint robot,scholars have proposed many effective control methods,such as backstepping,singular perturbation control,etc.However,most of the previous research ignored the control of the motor side of the flexible joint robot,which limited the application of the control algorithm of the flexible joint robot in the actual project.In this thesis,permanent magnet synchronous motor is selected as the driving motor of flexible joint robot.In recent years,with the development of motor related theory and control technology,permanent magnet synchronous motor has been widely used for its advantages of high power factor,simple structure,long service life and simple maintenance.Its own characteristics meet the needs of flexible joint robot drive and control.In this thesis,the flexible joint robot driven by permanent magnet synchronous motor.is taken as the research object,and the motor side control of the flexible joint robot is considered.In this thesis,combined with command filtering control method and the finite-time control method,a new control algorithm for the flexible joint robot driven by permanent magnet synchronous motor is proposed based on the backstepping.The main results of research are as follows:1.According to using Lagrange equation,the dynamic model of flexible joint robot is derived,and then it is combined with the mathematical model of permanent magnet synchronous motor to realize the position control of flexible joint robot through the input voltage of permanent magnet synchronous motor.Combined with the fuzzy adaptive technology,the backstepping method is used in the control of the new model,and the nonlinear term of the system is approached by the fuzzy logic system,which improve the control accuracy of the system.2.According to the established mathematical model of the flexible joint robot driven by permanent magnet synchronous motor,the "computational complexity" problem caused by multiple derivation in the traditional backstepping is effectively solved by command filtering technology.At the same time,the error compensation mechanism is introduced to reduce the influence of filtering error on tracking performance.Through Matlab/ Simulink simulation,the simulation results show the superiority of command filtering technology in the position control of flexible joint robot system driven by permanent magnet synchronous motor.3.In order to improve the tracking speed and tracking performance of the system,according to the above system model,combined with the finite time control method and the command filtering control method,the finite time command filtering control is introduced.In this method,the problem of "computational complexity" is avoided and the system is improved from asymptotic convergence to finite time convergence,so that the system can achieve ideal tracking performance in finite time and improve the control effect of the system.4.According to Matlab/Simulink simulation,compared with the control strategy without finite time technology,the simulation results show that the application of finite time control technology improves the convergence speed and error tracking accuracy of the flexible joint robot system driven by permanent magnet synchronous motor.