| Distribution network is a key part of serving power users,and its reliable power supply is an important guarantee for national economy.In order to improve the reliability of power supply,the application of live working technology in distribution network is indispensable.However,the distribution network itself has complex lines,compact equipment structure and narrow working space,which undoubtedly brings huge challenges to the live operation of the distribution network.The use of mechanical arm to assist the operator to complete the live operation of the distribution line on the one hand to avoid the operator to participate in high-danger and high-intensity work,reduce the probability of injury and death of the operator;On the other hand,it improves the efficiency of live work and reduces the waste of human resources.However,the actuator of the manipulator joint drive connecting rod is prone to failure or its own aging wear,saturation and other problems under long-term working conditions,while taking into account that the manipulator is susceptible to interference signals such as electromagnetic fields.Therefore,how to improve its anti-interference ability and ensure the control accuracy and response speed of the manipulator is an urgent technical problem to be solved.In this thesis,the Angle control of the manipulator system is studied based on modern control theory,considering the above complicated working conditions that may occur in the long-term operation of the manipulator.Firstly,the dynamics of the manipulator system is analyzed,and the mathematical model of the single-degree-of-freedom manipulator is established by using Lagrange dynamics algorithm,and the approximate linearization process is carried out.Then the dynamics model of the two-degree-of-freedom manipulator system is established.Then,when the robot arm is in a state of small amplitude and small range of motion,aiming at the situation that the parameter matrix of the robot arm system may be completely unknown in the application scenarios such as live work in the distribution network,adaptive dynamic optimal control is adopted to linearize the system,which can avoid the influence of system parameter uncertainty on the control performance.The effectiveness of the control strategy is verified through simulation experiments.It can make the system reach the equilibrium state in a short time.When the manipulator is in a large range of motion,fixed time sliding mode control is adopted for the nonlinear and strong coupling characteristics of the manipulator system.At the same time,considering the problems of sudden faults and random interference in the normal operation of the manipulator,the idea of fault-tolerant control is introduced,and the fixed-time sliding mode fault-tolerant control strategy containing random interference is studied,and the influence of fault quantity and random interference on the control effect of the system is evaluated.Simulation experiments verify that the controller has strong anti-interference ability and fast convergence ability.Finally,aiming at the possible parameter changes of the robot arm system under complex working conditions and under large interference,the synchronization control idea is introduced,and the finite time and fixed time parameter identification methods based on the synchronization control idea are adopted.The parameter identification effect is verified through simulation experiments,and the tracking identification of uncertain parameters is realized.Provide data support and technical support for the safe and stable operation of the manipulator.Through relevant control strategy research,this thesis improves the anti-interference ability of the robot arm,ensures the control accuracy and response speed of the robot arm,and provides theoretical support for the reliable operation and high-performance control of the robot arm under complex working conditions such as random interference and mechanism failure.This thesis has 34 figures,1 table,and 81 references. |
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