The Signal And Energy Of The Permanent Magnet Synchronous Motor Driving The Mechanical Arm Are Coordinated And Controlled

As a programmable automation device to replace human labor,manipulator is widely used in intelligent assembly,medical service,aviation manufacturing and other fields.As the manipulator is more widely used in life,the performance requirements of the manipulator are also increased,so more and more high-performance motors are used as actuators in the manipulator system.The Permanent Magnet Synchronous motor is popular because of its advantages of simple structure,small size and high efficiency.In this paper,the manipulator driven by PMSM is taken as the research object.The tracking control of the robot arm system considering the dynamics of the actuator is studied from two perspectives of signal and energy.The coordinated control strategy that can synthesize the advantages of both is studied.The main work of this article is:1)The PMSM drive system is studied.According to the passive control theory of portbased controlled dissipative Hamiltonian system,the PMSM energy controller is designed to solve the matching and mismatching uncertainties in the PMSM drive system.The proposed algorithm is verified experimentally by means of links-rt platform.The PMSM signal controller is designed according to the theory of finite time terminal sliding mode control.By introducing new sliding mode surface and double power approach law,the response speed of PMSM driving system is improved while sliding mode chattering is weakened.The effectiveness of the algorithm is verified by MATLAB simulation platform.2)Manipulator into the dynamics of considering actuator system study on the decentralized control issue,under certain assumptions,n degrees of freedom manipulator is decomposed into n independent systems,and on the basis of port controlled dissipative Hamiltonian systems of passive control theory and nonlinear PID control algorithm design single joint energy and manipulator signal controller.At the end of the chapter,the effectiveness of the algorithm is verified by MATLAB simulation platform.3)The coordinated control problem of manipulator system considering the dynamics of actuator is studied,and the centralized control scheme of the manipulator with n degrees of freedom is designed according to the idea of cascade control.The manipulator control system is decomposed into mechanical control subsystem and electric control subsystem,respectively from the viewpoint of energy and signal mechanical subsystem controller is designed,and through smooth switching strategy connecting energy and signal controller,will go through the output current as electrical subsystems of smooth switching strategy,given current mechanical control subsystem and control subsystem of signal,eventually form a coordinated control strategy.The smoothing control strategy based on time switching is compared,and the smoothing switching strategy based on tracking error rate is proposed.The proposed control strategy is verified by MATLAB simulation platform,and the simulation results show that the coordinated control strategy can realize the complementary advantages of the energy and signal controllers,so that the control system has good dynamic and steady performance.In conclusion,this paper designs the energy controller and the signal controller of the PMSM drive system and the manipulator driven by PMSM trajectory tracking system from two perspectives of energy and signal.In order to improve the control performance of the system and combine the advantages of the two controllers,this paper researched a coordinated control strategy for smooth switching according to time.The coordinated control strategy for smooth switching based on the change rate of the tracking error of the system is proposed,which better integrates the energy and signal controllers,so that the system has better dynamic performance and steady-state performance.