Model identification control strategy for coupled elastic joint flexible load drive system based on NNSMC controller and new deformation description

被引:13
作者
Shang, Dongyang [1 ]
Li, Xiaopeng [1 ]
Yin, Meng [2 ]
Li, Fanjie [1 ]
机构
[1] Northeastern Univ, Sch Mech Engn & Automat, Shenyang 110819, Peoples R China
[2] Chinese Acad Sci, Shenzhen Inst Adv Technol, Shenzhen 518055, Peoples R China
基金
中国国家自然科学基金;
关键词
MANIPULATOR; LINK; DYNAMICS; ROBOT;
D O I
10.1016/j.jfranklin.2023.02.017
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this study, a coupled elastic join-flexible load drive system is presented, which takes the flexibility, friction torque, and the grasping object mass in flexible manipulators into account simultaneously. These nonlinear factors lead to lumped uncertainties in dynamic modeling, which aggravates the deterioration of flexible manipulators' rotation accuracy. Besides, a control strategy mixing neural network identification with a sliding mode controller is proposed to enhance the rotation accuracy. Firstly, based on the new deformation description method and Lagrange principle, the dynamic model of the coupled drive system is presented. Then, the deformation characteristics of the coupled drive system are analyzed, which shows that the new deformation description method can improve the modeling accuracy, and its calculation is simple. Next, the control law and adaptive law of the control strategy that uses neural networks to compensate for the lumped uncertainties are designed according to Lyapunov's theorem. Finally, some comparative simulations and prototype experiments are conducted to statistic the superiority of the proposed control strategy. (c) 2023 The Franklin Institute. Published by Elsevier Inc. All rights reserved.
引用
收藏
页码:6357 / 6401
页数:45
相关论文
共 55 条
[1]   Trajectory planning for residual vibration suppression of a two-link rigid-flexible manipulator considering large deformation [J].
Abe, Akira .
MECHANISM AND MACHINE THEORY, 2009, 44 (09) :1627-1639
[2]   A chattering-free robust adaptive sliding mode controller for synchronization of two different chaotic systems with unknown uncertainties and external disturbances [J].
Aghababa, Mohammad Pourmahmood ;
Akbari, Mohammad Esmaeel .
APPLIED MATHEMATICS AND COMPUTATION, 2012, 218 (09) :5757-5768
[3]   Dynamics of flexible-link and flexible-joint manipulator carrying a payload with rotary inertia [J].
Al-Bedoor, BO ;
Almusallam, AA .
MECHANISM AND MACHINE THEORY, 2000, 35 (06) :785-820
[4]   Geometrically non-linear dynamic model of a rotating flexible arm [J].
Al-Bedoor, BO ;
Hamdan, MN .
JOURNAL OF SOUND AND VIBRATION, 2001, 240 (01) :59-72
[5]   Revisiting the LuGre Friction Model STICK-SLIP MOTION AND RATE DEPENDENCE [J].
Astrom, Karl Johan ;
Canudas-de-wit, Carlos .
IEEE CONTROL SYSTEMS MAGAZINE, 2008, 28 (06) :101-114
[6]   Three-dimensional modeling and input saturation control for a two-link flexible manipulator based on infinite dimensional model [J].
Cao, Fangfei ;
Liu, Jinkun .
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2020, 357 (02) :1026-1042
[7]   Analysis of Oscillation Frequency Deviation in Elastic Coupling Digital Drive System and Robust Notch Filter Strategy [J].
Chen, Yangyang ;
Yang, Ming ;
Long, Jiang ;
Hu, Kun ;
Xu, Dianguo ;
Blaabjerg, Frede .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2019, 66 (01) :90-101
[8]   SIMULATION OF FLEXIBLE-LINK MANIPULATORS WITH INERTIAL AND GEOMETRIC NONLINEARITIES [J].
DAMAREN, C ;
SHARF, I .
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1995, 117 (01) :74-87
[9]   Dynamic analysis of flexible-link manipulator in underwater applications using Gibbs-Appell formulations [J].
Dehkordi, S. F. .
OCEAN ENGINEERING, 2021, 241
[10]   Neural network-based robust integral error sign control for servo motor systems with enhanced disturbance rejection performance [J].
Ding, Runze ;
Ding, Chenyang ;
Xu, Yunlang ;
Liu, Weike ;
Yang, Xiaofeng .
ISA TRANSACTIONS, 2022, 129 :580-591