CN108873686B - A kind of control method for series elastic driver - Google Patents
A kind of control method for series elastic driver Download PDFInfo
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Abstract
The present invention provides a kind of control method for series elastic driver, and method includes: 100, obtains angle/position q, SEA spring stress value τ that load-side contacts ports, desired angle/position qd, desired joint stiffness Ks；101, angle/position q, the desired angle/position q of port are contacted according to load-sided, desired joint stiffness Ks, obtain the output valve ν of controller outer ring；102, according to τs, ν and selection controller inner ring parameter information, obtain the output valve w of controller inner ring；103, according to w, setting and τsAssociated numerical value obtains the control force τ of motor in SEAm.The above method makes the mechanical output mouth of SEA that the rigidity value of any desired can be presented, while can break through traditional SEA and can not surmount the limitation of actual physics rigidity, while can guarantee and contact stabilization with external environment.
Description
Technical field
The present invention relates to a kind of control methods for series elastic driver.
Background technique
Series elastic driver (Series Elastic Actuators, SEA) as shown in Figure 1, SEA are tied in machinery
Have many advantages, such as safety on structure, mitigate outside shock and energy stores, an important advantage in terms of control is by spring
Stress value is converted into the location variation of spring to handle, because the modification amount and power output of spring are in ratio；Its another it is excellent
Point is that play the role of damping decoupling to motor inertia, reduces the reflection quality of the equipment such as actuator.It is known that SEA is being controlled
On there are bandwidth limitation, rigidity limitation and stability limit the problems such as.
The concept of port Impedance: port Impedance is derived from mechanical impedance, is mainly used for describing interactive controlling." interactive controlling " refers to
Be with environment pass through interact port adjusting robot dynamic behaviour.Interaction port is one and carries out energy exchange with environment
Place passes through one group of movement and power variable-definition, P=FtV, such as the edge on the contact point vector v (or angular speed) of speed
Different freedom degree movements, FtIt is corresponding power (torque) vector, P is the flow of power between machine human and environment.Impedance
It is for being fully described by robotic arm how in principle, can be real if being able to achieve any resistance with various environmental interactions
Existing arbitrary act.
Stable concept is contacted with external environment: one there are the systems of passive port Impedance, for any time, system
It forever cannot be in the output of interaction port than inputting more energy, then contact is exactly stable.I.e. when environment is passive, if
The controlled device being in contact is also passive, then interactive process is stable.In control system, usually with passivity come table
Whether sign contacts stable with external environment.Passive represent contacts stabilization with environment, and not passive representative contacts unstable with environment.
Whether at ± 90 ° passivity usually is judged with phase angle figure in the frequency response chart of port Impedance, is nothing within the scope of ± 90 °
Source system i.e. interaction is stablized, and is not passive system more than the range, that is, is interacted unstable.
Impedance control is mainly the impression controlled at the time of contact, for example, the impedance that controlled device shows is lower, manpower is touched
When, it can feel softer；The impedance that controlled device shows is higher, when manpower touches, can feel harder.
Usually there are two types of methods to realize impedance control, and one is mechanical methods (variation rigidity driver), and there are also a kind of
It is the method for control.As shown in Fig. 2, variation rigidity driver (Variable stiffness actuators, VSA), the device
Change joint output movement by a motor, enables a motor carry out spring rate adjusting, as shown in Fig. 2 (a)；If removing just
Degree adjusts motor, uses control algolithm instead and is also able to achieve stiffness tuning, is the method for virtual variation rigidity.As shown in Fig. 2 (b).
For the control method of above-mentioned SEA, provide in the prior art there are many, three kinds of controlling parties illustrating as follows
Method:
(1) motor is all the position control block diagram (as shown in Figure 3) of feedback
Enable θd=0, it may be assumed that
Complex variable in substituted (2)Frequency response Z (j ω) is obtained, frequency characteristic is shown in Fig. 4, and counts
It calculates it and it is expected rigidity value KdesiredWith final rigidity value Kfinal, see formula (3).
1. curve in Fig. 4 indicates 2. the frequency response curve of port Impedance Z (s), curve indicate desired rigidity frequency response curve
(frequency response curve of interaction port impedance display), 3. curve indicates the frequency response curve of spring self-stiffness.Observe the progressive of the Fig. 4
Line can more intuitively understand SEA behavior.
For low-frequency range ω → 0, it is able to achieve the rigidity of planning, rigidity value is the K in formula (3)desired, but can by deriving
Know, which is less than the self-stiffness value K of spring forever；For high band ω → ∞, it is known that the interaction port Impedance of display
It will be close to the mechanical spring rigidity of SEA.Thus, it can be known that the control method is in interaction, the port Impedance of presentation is limited to forever
Spring self-stiffness.
(2) the PI control of tandem
Although its port Impedance of the control method being set forth below can be more than spring self-stiffness, steady when will affect interactive
Qualitative, i.e., to guarantee that interaction is stablized, port Impedance is no more than spring self-stiffness.It is as shown in Figure 5 that it controls box.
Its control law and kinetic model are following formula (4), and P is stiffness reliability device parameter:
It can obtain port Impedance transmission function:
It obtains:
Port Impedance frequency response curve as shown in Figure 6, by its port Impedance of the control method known to analysis low
Frequency range has been more than mechanical spring self-stiffness value, but stability when will affect interactive, i.e., exists in phase angle figure and be greater than -90 °, i.e.,
It is unsatisfactory for passivity condition, knows that port Impedance is no more than spring self-stiffness to guarantee that interaction is stablized by proving.
(3) there are the monocycle of resonant conditions feedbacks
When not using serials control, it is controlled as illustrated in a block diagram in fig under connecting rod side position feedback: it is controlled
Rule and kinetic model are as follows:
It can obtain port Impedance transmission function:
Port Impedance frequency response curve as shown in Figure 8,1. curve indicates the port Impedance frequency response of only position ring, bent
2. line indicates the practical stiffness frequency response curve of spring, can be clearly seen from Fig. 8 in Mid Frequency there are resonant frequency point, high
Frequency band impedance approaches practical spring rate, and is unsatisfactory for passivity condition according to phase angle figure this method, hands over environment
When mutual, there can be unstable situation.
Any phase is presented for this purpose, how to provide one kind and SEA is made to obtain mechanical output mouth in the above-mentioned equal existing defects of each method
It hopes rigidity value, and can be more than the limitation of actual physics rigidity as current problem to be solved.
Summary of the invention
For the problems of the prior art, the present invention provides a kind of control method for series elastic driver.
In a first aspect, the present invention provides a kind of control method for series elastic driver, comprising:
100, angle/position q of load-side contact port, the spring stress value τ of series elastic driver SEA are obtaineds, the phase
The angle of prestige/position qd, desired joint stiffness Ks；
101, angle/position q, the desired angle/position q of port are contacted according to the load-sided, desired joint it is rigid
Spend Ks, obtain the output valve ν of controller outer ring；
102, according to the spring stress value τs, output valve ν and selection controller inner ring parameter information, obtain control
The output valve w of device inner ring；
103, according to the output valve w of the controller inner ring, setting with the spring stress value τsAssociated numerical value, is obtained
Take the control force τ of motor in the SEAm。
Specifically, the step 101 includes:
V=(qd-q)×(KS+Kds)
Wherein, KdFor differential coefficient,Indicate (qd-q)×KdDerivative operation.
Specifically, the step 102 includes:
Wherein,The parameter information of controller inner ring,It indicatesDerivation
Operation.
Specifically, setting with the spring stress value τsAssociated numerical value specifically: τs± C, C are default value.
Specifically, qdWhen=0, port Impedance, that is, spring stress value τsWith loading speedThe transmission function being divided by:
Enable complex variableIt substitutes into formula (A3) and obtains frequency response Z (j ω), it is special with the impedance frequency for obtaining exit port
Property；And
It is expected that rigidity value KdesiredWith final rigidity value Kfinal, specifically:
Wherein, B is the position of load, and K is the spring spring rate of SEA.
Specifically, the desired angle/position qdBe given, or for by controller outer ring nested one with
On torque ring/impedance ring/position ring obtain.
The invention has the benefit that
The method of the present embodiment, itself are based on a motion control frame, export the mechanical of SEA by control algolithm
Any desired rigidity value can be presented in port, generate desired reciprocation, and it can not be more than actual physics rigidity that it, which breaks through tradition SEA,
Limitation.In practical applications, this method not only retains the basic performance of SEA, and has the design concept of VSA simultaneously, and base
Excellent effect is realized in other serials control algorithms of this method.
Detailed description of the invention
Fig. 1 is the block schematic illustration of SEA in the prior art；
Fig. 2 is the schematic diagram of virtual variable rigidity control device model in the prior art；
Fig. 3 is the block diagram for the position control method that motor is fed back with position in the prior art；
Fig. 4 is frequency characteristic curve diagram shown in Fig. 3；
Fig. 5 is the schematic diagram of another control method provided in the prior art；
Fig. 6 is the frequency response curve for being unsatisfactory for passivity in Fig. 5；
Fig. 7 is a kind of control block diagram of the control method provided in the prior art；
Fig. 8 is the port Impedance frequency response curve schematic diagram in Fig. 7；
Fig. 9 is the corresponding position schematic diagram of part system variable；
Figure 10 is the block diagram of virtual variable rigidity control device of the invention；
Figure 11 is the schematic diagram of the port Impedance frequency response curve of VVSC control；
Figure 12 is rigidity and impedance pair in the tandem method that the motor of method and the prior art of the invention is fed back with position
Compare schematic diagram；
Figure 13 is the schematic diagram of the experiment porch of the flexible joint with SEA provided in the present embodiment；
Figure 14 is the experimental result schematic diagram of the experiment porch shown in Figure 13.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
The virtual rigidity-changing method that the embodiment of the present application proposes, itself are based on a motion control frame, pass through control
Algorithm makes the mechanical output mouth of SEA that any desired rigidity value can be presented, and generates desired reciprocation, it breaks through tradition SEA
It can not be more than the limitation of actual physics rigidity.In practical applications, this method not only retains the basic performance of SEA, and has simultaneously
There is the design concept of VSA, and using the control algolithm as basic control algolithm, other control algolithms of series/parallel realize that effect is excellent
It is different.
The definition of model and some variables is given below:
As shown in figure 9, system variable defines: τmApplied to the magnetic force of rotor, the control force for controlling motor can also be claimed；
τsPower applied to load is also referred to as contact force, spring stress or external force；θ is angle/position of motor；Q is angle/position of load
It sets, alternatively referred to as the output position of spring, the position of connecting rod side；B is motor quality；K is spring rate；For the acceleration of motor
Degree.
Model column according to Fig. 9 write system differential equation:
In the present embodiment, two controllers, first controller (controller outer ring) are connected by using series system
Feedback information be load angle/position q feedback, the feedback information of second controller (controller inner ring) is spring force
Square, as shown in Figure 10.It is analyzed for convenience in the present embodiment, ignores the factors such as friction and damping.
Specifically, the control method for series elastic driver in the present embodiment, i.e. " virtual variable rigidity control device "
Control method can be described as:
101, first controller (outer ring) passes through the given desired angle of load/position qdWith the angle of load-side/
Position q subtracts each other, and obtains value α；
102, input of the value α as first controller (outer ring), multiplied by Ks+KdS (wherein KsFor proportionality coefficient, it is named as
It is expected that the joint stiffness showed, KdFor differential coefficient, it is named as the joint damping that expectation shows, s is arithmetic signExpression pair
u×KdDerivative operation afterwards) operation obtains output valve ν；
103, the stress value τ of output valve v and springsValue is β, parameter information of the β multiplied by second controller, warp after subtracting each other
Second controller operation obtains output valve w；
104, output valve w needs one numerical value of plus/minus, which can be spring stress value τs(this example using spring by
Force value τs, according to different application methods, which can be more than or less than τs), finally obtain the control force τ of motorm。
Above-mentioned second controller choosing multiple form but common factor k must be containedin(select simple ratio micro- here
Sub-controller
Desired position: desired control connecting rod is in that position, such as the position of expectation connecting rod side is 90 °, that is, is not being had
In the case where interference, connecting rod side position eventually stops at 90 °, this desired locations is exactly the horizontal position of the silver color connecting rod in Figure 13
It sets, is exactly q for Figure 10dValue；
It loads side position: being exactly the q value in Figure 10, spring output position/connecting rod side position/load side position；Controller
Outer ring: according to Figure 10, in τmThere are two frames for front, from τmNearest is inner ring；Controller inner ring: a frame outside inner ring is just
It is outer ring.
KsIt is expected the joint stiffness showed, KdIt is expected the joint showed damping.The controller choosing multiple shape of inner ring
Formula but high-gain coefficient k must be containedin(simple proportional plus derivative controller is selected hereThis inner ring
Controller there is no specific type, can arbitrarily combine, but must be able to extract the i.e. k of common factorinAs long as this number
It can become larger just, to be generally at least 5 or more, be the bigger the better.
The specific following formula of computation model (A2):
qdWhen=0, port Impedance i.e. load force τ is write out according to above formulasWith loading speedThe transmission function being divided by:
Enable complex variableIt substitutes into formula (A3) and obtains frequency response Z (j ω), can be passed by analysis port impedance
The frequency response of letter obtains the impedance frequency characteristic of exit port.Its frequency characteristic is shown in Figure 11, and calculates it and it is expected rigidity value
KdesiredWith final rigidity value Kfinal,
The frequency for being less than physics spring rate Figure 11 (a) and being more than physics spring rate Figure 11 (b) is set forth in Figure 11
1. rate response diagram, the curve in Figure 11 indicate port ImpedanceFrequency response curve, 2. curve indicates desired rigidity frequency response
Curve (frequency response curve of interaction port impedance display), 3. curve indicates 4. the frequency response curve of physics spring rate, curve indicate
The final rigidity presented when high frequency.
The asymptote for observing the Figure 11 can more intuitively understand SEA behavior.For low-frequency range ω → 0, it is able to achieve planning
Rigidity, rigidity value are the K in formula (A4)desired, by deriving it is found that the rigidity value is unrelated with the self-stiffness value K of spring；It is right
In high band ω → ∞, it is known that the interaction port Impedance of display is by the K in proximity (A4)finalRigidity, the value and spring are intrinsic
Rigidity value K is in ratio, related with motor quality and controller parameter, it can be seen that in spite of being more than spring from phase angle figure
Rigidity can guarantee passivity.In summary, for the cascade control method in interaction, the port Impedance of presentation is not only restricted to spring
Self-stiffness, the spring rate that port is presented are limited to the parameter of controller.
In addition, it is necessary to explanation, the position above-mentioned formula (A3) ignore damping or friction the case where formula, if increase
Damping or friction, formula A3 suitably change.
From comparison diagram 12 (a), it is apparent that the Static stiffness that presents of the control method of the present embodiment is not by mechanical spring
Stiffness effect, and motor can not surmount spring rate with the Static stiffness that position is fed back always；It is " virtual to become rigid known in Figure 12 (b)
Degree controller " may be implemented to feed back identical port impedance characteristic of alternating current with position in low-frequency range, as the increase of frequency is " virtual to become rigid
The characteristic that degree controller " gradually surmounts mechanical spring, shows a spring performance relevant to controller parameter, and motor is same
Position feedback can only move closer to mechanical spring characteristic.The spy of a spring can also be showed in high frequency " virtual variable rigidity control device "
Point, therefore also equally there is security row (contact or a kind of feeling of spring when high frequency).
It further, in the above-mentioned methods, can be by nested again in outer ring, moreover it is possible to realize different control effects, example
Power control etc. such as can be realized in a nested torque ring (or can be position ring/impedance ring) outside.
The method of embodiment for a better understanding of the present invention below further remarks additionally to each details.
1) the controller choosing multiple form of inner ring but high-gain coefficient k must be containedin:
It is illustrated based on above-mentioned formula (A3):
Formula (A3) is the expansion of following formula
When in the formula similarly hereinafter divided by kinWhen, it obtains
With kinIncrease, then whereinWithTwo will gradually go to zero, then about falling common factor formula up and downThen obtain
In common factor formulaIt is that k is removed in inner ringinItem, therefore when remove common factor kinWhen can to inner ring its
He does not require parameter.
2)KsIt is expected the joint stiffness showed, KdThe explanation damped for the joint that expectation shows:
In the control process for controlling/interacting the advanced algorithms such as match control/prediction control using impedance, KsAnd KdOnly
It is the characterization representative of port Impedance, it is not perseverance that specific value can according to need real-time change in control process
Fixed number value.
The control method of embodiment for a better understanding of the present invention, illustrates below in conjunction with experimental facilities shown in Figure 13
Explanation.
In Figure 13, connecting rod control at 90 ° of equilbrium positions of level, the expectation rigidity value K of controller is sets, by
Connecting rod end adds counterweight, obtains the change information of the position of connecting rod side, obtains the location error under different weight load effects
Figure, as shown in Figure 14 (a), by the weight G of alternate position spike Δ x and counterweight, is converted into the rigidity value showedFigure 14 (b)
When to use algorithm (method of the invention), rigidity value K it is expected by settings, that tests the system that acquires shows rigidity value K,
It is correct can to verify the algorithm from Figure 14 (b) for corresponding rigidity figure.
Above-mentioned each embodiment can be cross-referenced, and the present embodiment is not defined each embodiment.
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that:
It can still modify to technical solution documented by previous embodiment, or to part of or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (2)
1. a kind of control method for series elastic driver characterized by comprising
100, angle/position q of load-side contact port, the spring stress value τ of series elastic driver SEA are obtaineds, it is desired
Angle/position qd, desired joint stiffness Ks；
101, angle/position q, the desired angle/position q of port are contacted according to the load-sided, desired joint stiffness Ks,
Obtain the output valve ν of controller outer ring；
102, according to the spring stress value τs, output valve ν and selection controller inner ring parameter information, obtain in controller
The output valve w of ring；
103, according to the output valve w of the controller inner ring, setting with the spring stress value τsAssociated numerical value obtains institute
State the control force τ of motor in SEAm；
Wherein, the step 101 includes:
V=(qd-q)×(KS+Kds)；
Wherein, KdFor differential coefficient,Indicate (qd-q)×KdDerivative operation；
The step 102 includes:
Wherein,Indicate the parameter information of controller inner ring,It indicatesDerivation
Operation；
In addition, setting with the spring stress value τsAssociated numerical value specifically: τs± C, C are default value；
qdWhen=0, port Impedance, that is, spring stress value τsWith loading speedThe transmission function being divided by:
Enable complex variableIt substitutes into formula (A3) and obtains frequency response Z (j ω), to obtain the impedance frequency characteristic of exit port；With
And
It is expected that rigidity value KdesiredWith final rigidity value Kfinal, specifically:
Wherein, B is the quality or rotary inertia of motor, and K is the spring spring rate of SEA.
2. the method according to claim 1, wherein
Desired angle/position the qdBe given, or for by the more than one torque ring of controller outer ring nesting/
What impedance ring/position ring obtained.
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| CN109773792B (en) * | 2019-02-14 | 2021-07-06 | 中科新松有限公司 | Position control device and method for series elastic driver, storage medium and equipment |
| CN110262218A (en) * | 2019-05-20 | 2019-09-20 | 北京航空航天大学 | Control method, device, equipment and the storage medium of machine fish |
| CN112987812B (en) * | 2021-02-24 | 2021-12-10 | 深圳市优必选科技股份有限公司 | Torque control method and device, terminal equipment and storage medium |
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