Abstract
This paper presents the trajectory tracking control of a flexible-joint manipulator driven by permanent magnet synchronous motor (PMSM). Combining the PMSM electrical equation and mechanical equation of robotic manipulators, a novel smooth switching control scheme is proposed. Firstly, the position loop controller of the system is designed, with an improved hierarchical sliding mode control (IHSMC) algorithm proposed to further the response speed of the system, additionally, a robust interconnection and damping assignment passivity-based controller (IDA-PBC) is designed to improve the steady state performance of the system. Then, the IDA-PBC control strategy is leveraged to design the current loop controller of the system, on which basis a hybrid controller with smooth switching is designed. Furthermore, Gaussian function is applied as the smooth switching function of the hybrid controller to promote the switching performance. As a result, the hybrid controller has both good dynamic and steady performance. The simulation results verify the effectiveness of the algorithms.
Highlights
Flexible-joint robots are widely used in industrial fields, with a broad application prospect such as aerospace, defense, and medical [1,2,3,4,5]
The introduction of joint flexibility increases the difficulty of control Permanent magnet synchronous motor (PMSM), which has been widely used in the servo system of flexible-joint robots due to their small torque ripple, large torque inertia ratio, and high efficiency
This paper proposes a hybrid control strategy based on velocity error for the position tracking control of flexible-joint robots driven by PMSM
Summary
Flexible-joint robots are widely used in industrial fields, with a broad application prospect such as aerospace, defense, and medical [1,2,3,4,5]. An adaptive fuzzy control strategy for a PMSM-driven rigid-joint robot is proposed in [11], but this article did not make a specific analysis of the controller performance. In order to make the control system take into account both good dynamic and steady state performance, some researchers have begun to propose to combine two control strategies with different points through smooth switching, to achieve a hybrid control strategy based on time switching [13,14]. PID outer ring control can effectively reduce the influence of external disturbance on the system and improve the steady state performance of the system [21,22] On this basis, the electrical subsystem of the PMSM is written in the form of PCH, and the IDA-PBC control is designed for current loop control.
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