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[EN 202010806599.3] A Model Identification and Adaptive Control Method for Hydraulic Manipulator
[CN 202010806599.3] A Model Identification and Adaptive Control Method for Hydraulic Manipulator Title: A Model Identification and Adaptive Control Method for Hydraulic Manipulator Application Number: CN 202010806599.3 Applicant: University of Electronic Science and Technology Application Date: 2020-8-12 Patent Type: Invention Application The present invention discloses a model identification and adaptive control method for hydraulic manipulator, including the following steps: S1, establishing a dynamic model of manipulator containing unknown parameters; s2, using NFO algorithm to design the excitation trajectory of the robot arm under specific physical constraints and carry out excitation experiments, identify the unknown parameters in the robot arm dynamics model, S3, design adaptive anti-step controller, and use new control variables to correct the control output of the adaptive anti-step controller. The invention uses joint angle and torque information, uses neighborhood optimization algorithm to design an excitation trajectory with specific physical constraints for excitation experiments, and identifies the Lagrangian model parameters of a two-degree-of-freedom hydraulic manipulator; then designs a parameter adaptive backstepping controller on the basis of the identified model, which can effectively dynamically adapt unstable hydraulic parameters and finally realize the stable control of the hydraulic system to the manipulator.
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