Research On Motor Control System Of Flexible Grasping Manipulator Based On Active Disturbance Rejection Control Algorithm

With the development of science and technology and the improvement of people's quality of life,the application of service robot is more and more extensive.In some practical scenarios,such as pouring water for guests and grasping objects,the realization of these services requires the manipulator to have high flexibility,good environmental adaptability and a certain flexible control of the manipulator.Therefore,it is of great significance to study the servo control system of micro DC motor flexible manipulator with good anti-interference performance.In this paper,the flexible servo control system of micro DC motor is studied to improve the rapidity,stability and immunity of its response.On the basis of consulting the relevant references,according to the requirements of the subject,the simulation of the servo control system and the control algorithm is first carried out,and then the hardware system is designed for experimental verification.On the basis of fully familiar with the working principle of DC motor,the modeling method of servo control system is studied,the mathematical model of the controlled object is obtained,and the model parameters of the system are identified.The PID control algorithm and ADRC algorithm are introduced in detail,and the controller is designed.In order to ensure the good dynamic characteristics and steady-state accuracy of the servo control system,the control system is designed as a three-loop control structure.The simulation of PID algorithm and ADRC algorithm is carried out on Simulink platform in Matlab,and the control performance of the two algorithms is compared.Finally,it is concluded that the tracking performance,anti-disturbance performance and model adaptation performance of ADRC algorithm are better than those of PID algorithm.In order to further verify,the hardware of flexible servo control system of the micro DC motor is developed.The main modules of the system are designed,encoded and debugged.The main control chip is STM32 F series ARM microcontroller,and the development environment is Real View MDK.The interference test and flexible control experiment are carried out.The rationality of the software and hardware design of the servo control system and the effectiveness of the ADRC algorithm are verified by the experimental results.Finally,the research work of this subject is summarized,and the problems encountered in the research process and the contents that need to be improved in the future are pointed out.