Mechanical arm disturbance torque estimation method, device and equipment and storage medium

The invention discloses a mechanical arm disturbance torque estimation method and device, equipment and a storage medium. The method comprises the steps that a mechanical arm dynamic model is established, and a traditional momentum observer is obtained based on the mechanical arm dynamic model; combining a traditional momentum observer with a superhelix algorithm to obtain a momentum state-based observer adopting a sigmoid function; constructing a disturbance observer according to the observer based on the momentum state; and performing disturbance torque estimation based on the disturbance observer. While the stability is maintained, the flutter defect of a similar sliding mode method is overcome. 本申请公开了一种机械臂干扰力矩估计方法、装置、设备及存储介质，所述方法包括：建立机械臂动力学模型并基于其获得传统动量观测器；将传统动量观测器与超螺旋算法相结合后获得采用sigmoid函数的基于动量状态的观测器；根据基于动量状态的观测器构造干扰观测器；基于所述干扰观测器进行干扰力矩估计。在保持稳定性的同时，克服了类似滑模方法的颤振缺点。