Single-connecting-rod flexible mechanical arm control method and system

Abstract

The invention provides a single-connecting-rod flexible mechanical arm control method and system. The single-connecting-rod flexible mechanical arm control method comprises the following steps: acquiring the value of the state quantity of a single-connecting-rod flexible mechanical arm in real time; according to the value of the state quantity, utilizing a set estimation model to estimate unknown parameters in a state space model of the single-connecting-rod flexible mechanical arm and to obtain the estimated value of the corresponding unknown parameter; according to the given track, the estimated value of the unknown parameter and a self-adaption near-optimality control rate formula, obtaining a controlled quantity to enable the controlled quantity to control the single-connecting-rod flexible mechanical arm to run along the given track; and utilizing the controlled quantity to control the single-connecting-rod flexible mechanical arm to run. With adoption of the single-connecting-rod flexible mechanical arm control method, under the condition that the value of the unknown parameter in the state space model of the single-connecting-rod flexible mechanical arm is unknown, the single-connecting-rod flexible mechanical arm can be controlled through the controlled quantity to realize the situation that the tail end of the single-connecting-rod flexible mechanical arm tails after the given track. 本发明提供了一种单连杆柔性机械臂控制方法及系统，包括：实时获取单连杆柔性机械臂的状态量的值；根据所述状态量的值利用设定估计模型估计所述单连杆柔性机械臂的状态空间模型中的未知的参数，并得到相应的未知参数估计值；根据给定轨迹、所述未知参数估计值及自适应近优控制率公式得出控制量，以使得所述控制量能够控制所述单连杆柔性机械臂沿所述给定轨迹运行；利用所述控制量控制所述单连杆柔性机械臂运行。本发明在不知道单连杆柔性机械臂状态空间模型中的未知参数值的情况下，能通过控制量对单连杆柔性机械臂进行控制，以实现单连杆柔性机械臂的末端对所述给定轨迹的跟踪。