Hamiltonian method based on action micro-control is widely used in the control of mechanical arm synchronous motor. In order to realize the combination of robot dynamics and drive motor control, Hamiltonian control method is used in this paper to exploit a novel controller for robot, which can be used for better steady-state characteristics in the system. However, dynamic response of port-controlled Hamiltonian (PCH) of control system is slower, so the related control method is exploited and coordinated with the proportional-derivative (PD) plus gravity compensation. At this time, the system has both the fast dynamic response of the PD and the steady state of the PCH. The reverse motor method is used and the two controllers are combined by current conversion to realize the overall control of the robot and the drive motor. The robot drive motor is controlled, and the robot joint position control is combined with the drive motor current control by current conversion. It can be seen from the simulation results that the coordinately controlling the end position of robot can reach the desired position quickly and accurately. Moreover, compared with the separate control of PD plus gravity compensation and PCH control method, it is proved that this scheme has both a fast dynamic process and better performance and ability to resist load torque disturbance. So control method proposed in this paper has a good application prospect
A Novel Control Method and Mathematical Model for Intelligent Robot
