CN104503224B - A kind of space mechanism uses the system control method and control system of reliability - Google Patents
A kind of space mechanism uses the system control method and control system of reliability Download PDFInfo
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Abstract
The invention discloses system control method and control system that a kind of space mechanism uses reliability, use reliability effect parameter to space mechanism is detected, obtain detected value, determine adjustable strategies according to detected value, to realize the adjustment of the control parameter to next controlling cycle, such that it is able to control space mechanism in the tasks carrying of next controlling cycle, therefore the present invention can be realized in the factor of the use reliability for influence space mechanism occur, the control parameter to space mechanism is adjusted in time, improve the use reliability of space mechanism, extend the service life of space mechanism, reduce the use cost and maintenance cost of space mechanism.
Description
Technical field
The invention belongs to technical field of automatic control, and in particular to a kind of space mechanism is controlled using the system of reliability
Method and control system.
Background technology
With the development of China's Aerospace Technology, AEROSPACE APPLICATION task is increasingly various, and space mechanism's product is widely applied, and is in
Reveal diversified development trend.Spacecraft overall development trend is presented high value, long-life feature, and the function of space mechanism is not
Disconnected to increase, structure is also increasingly sophisticated, and in particular with the growth of operation on orbit time, space mechanism will have many unpredictable
Novel fault pattern be exposed.Most space mechanism's product neededs are in the layout of outside spacecraft module, are limited by condition, are safeguarded
It is difficult.Therefore, the high reliability long life for realizing space mechanism is to complete the national key special subjects such as China's manned space flight, survey of deep space
Required, one of Major Difficulties also as world's space technology of task.
The reliability of product can be divided into inherent reliability and use reliability in practice.Inherent reliability is that product is setting
Assigned in meter, manufacture, be controllable product development person, it is a kind of inherent characteristic of product.The use of reliability is to produce
A kind of characteristic of property retention ability that product show in actual use, it except consider inherent reliability influence because
Outside element, it is also contemplated that product is installed, operates with influence with the aspect factor such as maintenance support.Therefore, space mechanism's system
The lifting of reliability can from inherent reliability and using reliability two in terms of set about, especially the maintenance using reliability with keep
Problem should cause enough attention.
Systems control theory grows up on the basis of systematology and cybernatic thought and method of work is received
Control system synthesis optimum theory, by analysis system internal relation, considers system components and influences each other relation, in control
On the basis of system theory, the control process of system is optimized and adjusted, realize that system integrality is optimal.
Space mechanism's species is various, and some mechanisms are uncontrollable, such as：The supporting constructions such as truss；Some mechanisms can be controlled
System, such as：Space manipulator, navigation inter-satellite link drive mechanism etc..The space containing multi-activity part this kind of for mechanical arm etc. can
Control mechanism, under arms during can improve the use reliability of space mechanism by adjusting control strategy, optimal control parameter,
The service life of prolonged mechanical arm, reduces the use cost and maintenance cost of mechanical arm.
In the prior art, PID control, variable-structure control, fuzzy control, the controlling party such as ANN Control and PREDICTIVE CONTROL
Method is had been widely used in space mechanism's control technology, and in space mechanism's control process, control variables and Consideration are many
It is many, and existing Controlling model only focuses on the influence factor related to tasks carrying effect mostly, seldom considers and space mechanism
The use reliability effect factor of life-span correlation, and tasks carrying effect phase is considered simultaneously from system level there is presently no one kind
The control method of influence factor and life-span reliability effect factor used in connection with is closed, causing space mechanism to be on active service the cycle can by use
Influenceed by sex-related factors and shortened.Therefore, in order to further improve the use reliability of space mechanism, it is contemplated that a kind of comprehensive
The system control method of various use reliability factors is closed, is built from system level and is kept and lifted to use the controlling party of reliability
Method and adjustable strategies, by the adjustment and adaptive change of control strategy, in space mechanism's military service lifecycle process, prolong
The problems such as slow train of mechanism performance degradation and the reliability that may cause decay, in the case of inherent reliability is constant, improves system
System uses reliability.
The content of the invention
In view of this, the system control method it is an object of the invention to provide a kind of space mechanism using reliability and control
System processed, to improve the use reliability of space mechanism.
A kind of space mechanism of the invention is concretely comprised the following steps using the system control method of reliability：
Step 101, after a controlling cycle of task terminates, detect space mechanism use reliability effect parameter,
Obtain the detected value of the use reliability effect parameter；
Step 102, the detected value according to the use reliability effect parameter, obtain adjustable strategies；
Step 103, according to the adjustable strategies, obtain the control parameter of next controlling cycle；
Step 104, task next controlling cycle arrive when, according to next controlling cycle control parameter control
Space mechanism performs task.
Further, use reliability effect parameter of the present invention includes task dependencies energy parameter and cost correlation
Can parameter；
The task dependencies energy parameter at least includes one in following information：Terminal position, tip speed and collision
Power；
The cost correlation performance parameters at least include one in following information：Speed, load, temperature, frequency of use
And power consumption.
Further, the detected value according to the use reliability effect parameter of the present invention, obtains adjustable strategies, bag
Include：
According to the detected value of the task dependencies energy parameter, the implementing result of task is obtained；
According to the detected value of the cost correlation performance parameters, the running status of task is obtained；
According to the implementing result and the running status, adjustable strategies are obtained.
Further, adjustable strategies of the present invention are not adjust the control parameter of next controlling cycle or adjust next control
The control parameter in cycle processed；
The control parameter includes following information：Mission planning constraint, path planning constraint and motion control parameter.
Further, the present invention obtains adjustable strategies according to the implementing result and the running status, including：Judge
Whether implementing result meets default first condition and whether running status meets default second condition；
If the implementing result meets default first condition, and the running status meets default second condition, adjusts
Whole strategy is the control parameter for not adjusting next controlling cycle；
If the implementing result meets default first condition, and the running status is unsatisfactory for default second condition,
Adjustable strategies are the path planning constraint in the control parameter for adjust next controlling cycle；
If the implementing result is unsatisfactory for default first condition, and the running status meets default second condition,
Adjustable strategies are the motion control parameter in the control parameter for adjust next controlling cycle；
If the implementing result is unsatisfactory for default first condition, and the running status is unsatisfactory for default Article 2
Part, adjustable strategies are：First, it is determined that whether space mechanism breaks down, if it is judged that space mechanism breaks down, then enter one
Step determines the source of trouble, according to the source of trouble for determining, failture evacuation, then the control for adjusting next controlling cycle is carried out to space mechanism
Mission planning constraint in parameter；
If it is judged that space mechanism does not break down, then the task in the control parameter of next controlling cycle is directly adjusted
Plan constraint.
Further, the present invention judges whether implementing result meets default first condition and be：
The detected value of i-th task dependencies energy parameter is made to be expressed as Ii, wherein, i=1,2,3 ..., n, n are task phase
Close the number of parameter in performance parameter；
In the m controlling cycle for having performed, i-th detected value of task dependencies energy parameter and corresponding target
The error of value is expressed as Δ Iij, wherein, j=1,2,3 ..., m；
K last controlling cycle is taken from m controlling cycle, i-th task dependencies energy in k controlling cycle is calculated
The cumulative errors Q of parameterit：
Wherein, t is current control period；
Judge the cumulative errors Q of task dependencies energy parameteritWith the corresponding threshold value being previously setSize, if institute
The cumulative errors Q of some task dependencies energy parametersitRespectively less than corresponding threshold valueImplementing result meets default first
Part, otherwise, implementing result is unsatisfactory for default first condition；
Judge whether running status meets default second condition and be：
The detected value for making the i-th ' individual cost correlation performance parameters is Ci′, wherein, i '=1,2,3 ..., n ', n ' they are cost phase
Close the number of parameter in performance parameter；
In the m controlling cycle for having performed, the corresponding detected value of cost correlation performance parameters is Ci′j, wherein, j
=1,2,3 ..., m；
K last controlling cycle is taken from m controlling cycle, the i-th ' individual cost correlation in k controlling cycle is calculated
The aggregate-value L of the detected value of energy parameteri′t：
Wherein, t is current control period；
Judge the aggregate-value L of the detected value of cost correlation performance parametersi′tWith the corresponding threshold value being previously setIt is big
It is small, if the aggregate-value L of the detected value of all cost correlation performance parametersi′tRespectively less than corresponding threshold valueRunning status meets pre-
If second condition；Otherwise, running status is unsatisfactory for default second condition.
Further, the present invention is used to perform the control system of the control method, and the system includes detection unit, decision-making list
Unit, adjustment unit and control execution unit, wherein：
Detection unit, for after a controlling cycle of task terminates, detecting the use reliability effect of space mechanism
Parameter, obtains the detected value of the use reliability effect parameter；
Decision package, for the detected value according to the use reliability effect parameter, obtains adjustable strategies；
Adjustment unit, for according to the adjustable strategies, the preset control parameters to next controlling cycle of task to be carried out
Adjustment, the control parameter after being adjusted；
Control execution unit, for when next controlling cycle of task arrives, according to the control parameter after the adjustment
Control space mechanism performs task.
The present invention has the advantages that：
The present invention detects that obtain detected value, foundation detected value is true to the use reliability effect parameter of space mechanism
Adjustable strategies are determined, to realize the adjustment of the control parameter to next controlling cycle, such that it is able to control space mechanism in next control
The tasks carrying in cycle processed, thus the present invention can realize occur influence space mechanism use reliability factor when, and
When ground-to-air mechanism control parameter be adjusted, improve space mechanism use reliability, extend space mechanism use
In the life-span, reduce the use cost and maintenance cost of space mechanism.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the control method of the mechanical arm that the embodiment of the present invention is provided；
Fig. 2 is the mapping schematic diagram that reliability effect parameter and control parameter are used in the embodiment of the present invention；
Fig. 3 is the curved surface schematic diagram of abrasion in the embodiment of the present invention；
Fig. 4 is the structural representation of the control system of the mechanical arm that the embodiment of the present invention is provided；
Fig. 5 is first effect diagram of the control method with the control method of prior art of the embodiment of the present invention；
Fig. 6 is second effect diagram of the control method with the control method of prior art of the embodiment of the present invention.
Specific embodiment
Develop simultaneously embodiment below in conjunction with the accompanying drawings, and the present invention will be described in detail.
Refer to the controlling cycle that mechanical arm is controlled using the present invention, control system from data acquisition to control computing again to
It is a series of dynamic to controlling computing to export this to control signal again from data acquisition to next time that control signal exports this series of actions
Interval between work.
It is identical to the control form in mechanical arm each cycle using the present invention, therefore the present embodiment is with the first controlling cycle and
As a example by two controlling cycles.The present invention is described in detail, as shown in figure 1, the method bag by taking mechanical arm as an example to its control method
Include following steps：
Step 101, after the first controlling cycle of task terminates, detects the use reliability effect parameter of mechanical arm, obtains
The detected value of the use reliability effect parameter.
Specifically, the control of mechanical arm mainly includes three parts, i.e. mission planning, path planning and motion control, its
In：
The mission planning unit of mechanical arm needs the mission planning for being input into execution task needed for mechanical arm to constrain, such as task mesh
Mark (such as time of task), constraint (such as angle and speed in each joint of mechanical arm), the Environment Obstacles of mechanical arm are (such as obstacle
Size and position) etc.；Mission planning unit is constrained according to the mission planning of input, and the task complete to carries out task and tear open
Point, so as to obtain at least two subtasks；Then, mission planning unit is constrained according to mission planning, determines each subtask
Intermediate point；The intermediate point of each subtask can be one or more.Mission planning unit it is determined that after intermediate point, by what is determined
Intermediate point is sent to path planning unit.
The path planning unit of mechanical arm is constrained according to intermediate point and default path planning, is mechanical arm generation each two
Execution route between intermediate point, the execution route is mobile route of the mechanical arm between two intermediate points, is held according to this
Walking along the street footpath, mechanical arm can just be moved according to the execution route of planning, with the completing to specify of the task.Path planning unit will
The execution route of acquisition is sent to the control execution unit of mechanical arm, wherein, path planning unit is sent to control execution unit
Execution route can be discretization in time domain joint angle sequence, each element in joint angle sequence includes time and pass
Section angle, by joint angle can with the position of control machinery arm, therefore, joint angle sequence is used to indicate mechanical arm to go out in which time
Present which position；Wherein, the joint angle refers to the anglec of rotation of mechanical arm upper joint.
The control execution unit of mechanical arm is according to the joint angle sequence and default motion control parameter for receiving, control machine
Tool arm performs the task.
At least two controlling cycles are set in control execution unit in advance, control execution unit is in the execution of control machinery arm
State in task process, after each controlling cycle terminates, all detect the use reliability effect parameter of mechanical arm, say for convenience
Bright, the embodiment of the present invention is illustrated by taking the first controlling cycle and the second controlling cycle as an example, i.e. the first controlling cycle of task
After end, it is possible to use sensor is detected to the use reliability effect parameter of mechanical arm, so as to obtain use reliability
The detected value of affecting parameters.
In embodiments of the present invention, the mechanical arm can be space manipulator.
As shown in Fig. 2 according to reliability theory, the use reliability effect parameter of mechanical arm is predefined, wherein, it is described
Can include task dependencies energy parameter and cost correlation performance parameters using reliability effect parameter.
According to the in-orbit mission requirements of space manipulator, its typical in-orbit task is divided into unloaded transfer, target acquistion, load
Carry and in-orbit assembling.For every kind of task, analyzing influence task is completed and completes the principal element of effect, so that it is determined that task
Correlation performance parameters；As shown in Fig. 2 the task dependencies energy parameter can be included at least one in following information：End position
Put, tip speed and impact force.For cost correlation performance parameters, can first according to the work characteristics and engineering experience of mechanical arm
Cost is classified, such as abrasion, electronic component performance decay or failure, deformation, analyzed respectively on this basis every
The influence factor of cost is planted, so that it is determined that cost correlation performance parameters, the influence factor of such as abrasion is load, speed, temperature, electricity
The influence factor of subcomponent performance degradation is power consumption, temperature, frequency of use, and the influence factor of deformation is to collide, overload；
As shown in Fig. 2 the cost correlation performance parameters can be included at least one in following information：Speed, load, temperature and use
Frequency.
Summary information, may finally determine to use the affecting parameters of reliability, based on the use reliability for determining
Affecting parameters, set up the Mathematical Modeling of each affecting parameters respectively, and model independent variable is divided into controllable parameter and uncontrollable ginseng
Number, therefore, in the control process of mechanical arm, the use reliability of mechanical arm can be improved by adjusting control parameter, carry
The success rate of execution task high, the service life of prolonged mechanical arm.
After the first controlling cycle of task terminates, the use reliability effect parameter of mechanical arm is detected using sensor,
The detected value of the use reliability effect parameter is obtained, because the use reliability effect parameter includes the task phase
Performance parameter and cost correlation performance parameters are closed, therefore, the detected value includes detected value and the generation of task dependencies energy parameter
The detected value of valency correlation performance parameters.
Step 102, according to the detected value of the use reliability effect parameter, obtains adjustable strategies.
Specifically, according to the detected value of the task dependencies energy parameter, obtaining the task in the first controlling cycle
Implementing result；According to the detected value of the cost correlation performance parameters, fortune of the task in first controlling cycle is obtained
Row state；According to the implementing result and the running status, the adjustable strategies are obtained.
In the embodiment of the present invention, the adjustable strategies can be：Do not adjust next controlling cycle preset control parameters or
Person adjusts the preset control parameters of next controlling cycle, the preset control parameters of next controlling cycle be execution task it
Before, in advance for task is configured.Wherein, control parameter can be included at least one in following information：The mission planning of task
Constraint, the path planning constraint of task, the motion control parameter of task；Therefore, the adjustment control parameter includes：Adjustment is described
The mission planning constraint of task, the path planning constraint for adjusting the task, the motion control parameter for adjusting the task.
Wherein, according to the implementing result and the running status, the method for obtaining the adjustable strategies includes：
Judge whether implementing result meets default first condition, and judge whether running status meets default second
Condition.
If judging, the implementing result meets default first condition, and the running status meets default Article 2
Part, represents that mechanical arm performs the effect of task and Expected Results coincide, and running status is also reasonable, then the adjustable strategies for obtaining are
The control parameter of next controlling cycle need not be adjusted.
If judging, the implementing result meets default first condition, and the running status is unsatisfactory for default second
Condition, represents that mechanical arm performs the effect of task and Expected Results coincide, but running status is unreasonable, then the adjustable strategies for obtaining
It is the path planning constraint in the control parameter for adjust next controlling cycle.
If judging, the implementing result is unsatisfactory for default first condition, and the running status meets default second
Condition, represents that the effect of mechanical arm execution task misfits with Expected Results, but running status is rationally, then the adjustable strategies for obtaining
It is the motion control parameter in the control parameter for adjust next controlling cycle.
If judging, the implementing result is unsatisfactory for default first condition, and the running status is unsatisfactory for default
Two conditions, represent that the effect of mechanical arm execution task misfits with Expected Results, and running status is unreasonable, then need first to judge
Whether mechanical arm breaks down, if it is judged that mechanical arm breaks down, then the source of trouble is further determined that, according to the failure for determining
Source, failture evacuation treatment is carried out to mechanical arm, for example, there is 1 joint to break down in 7 joints of mechanical arm, then pinning should
Joint, to ensure that mechanical arm can continue executing with task under nonserviceabling, then adjusts the task rule of the second controlling cycle again
Draw constraint；If it is judged that mechanical arm does not break down, then the adjustable strategies for obtaining are the controls for needing to adjust the second controlling cycle
Mission planning constraint in parameter processed.
For example, judging whether implementing result meets default first condition and can be：
Mapping relations as shown in Figure 2, the detected value of i-th task dependencies energy parameter is：
Ii, i=1,2,3 ..., n, wherein, n is the number of parameter in task dependencies energy parameter.
In the m controlling cycle for having performed, the corresponding detected value of i-th task dependencies energy parameter with it is corresponding
The error of desired value is：ΔIij, j=1,2,3 ..., m.
K last controlling cycle is taken from m controlling cycle, i-th task dependencies energy in k controlling cycle is calculated
The cumulative errors of parameter, here, in order to ensure error scalarization, are calculated using equation below：
Wherein, QitIt is i-th cumulative errors of task dependencies energy parameter, t is current control period (t ＞ k).
The cumulative errors Q of each task dependencies energy parameter is judged successivelyitWith the threshold value being previously setSize, if
The cumulative errors Q of all task dependencies energy parametersitLess than corresponding threshold valueThink that implementing result meets default first
Part, implementation effect coincide with expected implementation effect；If the cumulative errors for having one or more task dependencies energy parameters are more than
Or equal to threshold valueThink that implementing result is unsatisfactory for default first condition, implementation effect is misfitted with expected implementation effect.
For example, judging whether running status meets default second condition and can be：
Mapping relations as shown in Figure 2, the detected value of i-th cost correlation performance parameters includes：
Ci, i=1,2,3 ..., n
Wherein, CiIt is the detected value of cost correlation performance parameters；N is the number of parameter in cost correlation performance parameters.
In the m controlling cycle for having performed, the corresponding detected value of i-th cost correlation performance parameters is：
Cij, i=1,2,3 ..., n；J=1,2,3 ..., m
Wherein, CijIt is the detected value of cost correlation performance parameters；
K last controlling cycle is taken from m controlling cycle, i-th cost correlated performance in k controlling cycle is calculated
The aggregate-value of the detected value of parameter：
Wherein, LitIt is the aggregate-value of the detected value of cost correlation performance parameters；T is current control period.
The aggregate-value L of the detected value of each cost correlation performance parameters is judged successivelyitWith the threshold value being previously setIt is big
It is small, if the aggregate-value L of the detected value of all cost correlation performance parametersitLess than corresponding threshold valueThink that running status meets
Default second condition, running status is unreasonable；Otherwise it is assumed that running status is unsatisfactory for default second condition, running status
Rationally.
Step 103, according to the adjustable strategies, obtains the control parameter of the second controlling cycle.
Specifically, can be adjusted to the mission planning constraint of task performed by mechanical arm in the second controlling cycle；Example
Such as, the adjustment task object (such as original position of task, terminal position) of task, mechanical arm constraint (such as in mechanical arm each
The length of armed lever, the angle in each joint), Environment Obstacles (such as size of obstacle and position).
The path planning constraint of task performed by mechanical arm in the second controlling cycle can also be adjusted；For example, adjusting
The angular range or angular velocity range of whole mechanical arm；The angular range refers to the rotatable angle in joint on mechanical arm
Degree, the angular velocity range refers to mechanical arm can be moved in execution task with the angular speed in the angular velocity range, mobile
When mechanical arm angular speed can not exceed the angular velocity range.
The motion control parameter of task performed by mechanical arm in the second controlling cycle can also be adjusted；For example, with
As a example by PID controller, if be controlled to mechanical arm using PID controller, then motion control parameter includes proportionality coefficient
Kp, time of integration length Ti and derivative time length Td.
If it should be noted that adjustment mission planning constraint, then mission planning unit is needed according to the task after adjustment
Plan constraint, re-start task fractionation, redefine the intermediate point of each subtask, then path planning unit be also required to according to
According to the intermediate point for redefining, the execution route of mechanical arm is planned again.
Step 104, in the second controlling cycle of task, according to the control parameter after the adjustment, controls the machinery
Arm performs task.
Specifically, after the control parameter after being adjusted, because the first controlling cycle terminates, the second controlling cycle is opened
Begin, then need according to adjust after control parameter mechanical arm is controlled, with control machinery arm in the second controlling cycle according to
Task is performed according to the control parameter after adjustment, so that realize after each execution end cycle, can automatically to next control
The control parameter in cycle processed is adjusted, task can be more accurately completed with control machinery arm, and prolonged mechanical arm makes
Use the life-span.
For example, according to the path planning constraint after adjustment, it is necessary to be advised with path when performing task in the second controlling cycle
It is constraint to draw the angular speed included in constraint, it is impossible to beyond the angular velocity range.
Embodiment
Below by taking the unloaded transfer task of space manipulator as an example, the control method to mechanical arm is illustrated.This
In embodiment, the task dependencies energy parameter of the unloaded transfer task of mechanical arm is terminal position, and cost correlation performance parameters are
The abrasion in joint, and only consider influence of the speed to wearing and tearing.
Using sensor, such as rotary transformer detects the actual value of the joint angle of the mechanical arm of each controlling cycle, foundation
The difference of actual value and desired value, obtains the error of joint angle, according to Mechanical transmission test normal solution, obtains the mistake of terminal position
Difference；The quadratic sum of the mould of the error of the terminal position in k controlling cycle of calculating, implementing result is judged according to result of calculation, if
Result of calculation is less than threshold value, then implementing result meets default first condition, and implementation effect and the Expected Results of task coincide.If
Result of calculation is more than or equal to threshold value, then implementing result is unsatisfactory for default first condition, and the implementation effect of task is imitated with expected
Fruit is misfitted.
According to tribology theory, kinematic pair abrasion necessarily brings the loss of power consumption, so as to cause mechanical arm operating current
Increase, current value detected by sensor, if electric current is more than rational threshold value, running status is unsatisfactory for default second condition,
Motion state is unreasonable, it is necessary to adjust control parameter, if electric current is less than or equal to rational threshold value, running status meets default
Second condition, motion state is reasonable, it is not necessary to adjust control parameter.
Whether meet default first condition according to implementing result, and whether running status meets default Article 2
Part, determines adjustable strategies；If adjustable strategies are not adjust control parameter, mechanical arm continues executing with task, if adjustable strategies are
Adjustment control parameter, then can constrain mission planning constraint, path planning and motion control parameter is adjusted.
For example, current embodiment require that adjusts path plan constraint, the abrasion of the error and joint of foundation joint angle, it is determined that working as
The minimum joint angular region of preceding moment error, and the minimum joint of current time abrasion angular speed.
Wherein, error is distributed as under different joint angles：
E~F (p1(θ),p2(θ),…,pn(θ))
Wherein, e is the error of joint angle, and θ is the size of joint angle, and F () is the probability distribution of error, p1(θ)、p2
(θ)、……、pn(θ) is the parameter of F ().
Wherein, the wear rate under the angular speed in different joints is：
Wherein,It is wear rate,It is the angular speed in joint, t is the active time of mechanical arm, and G () is the curved surface of abrasion
Characteristic, the curved surface of the abrasion can be as shown in Figure 3.
When it is determined that joint angle and joint angular speed after, according to determine joint angle and joint angular speed to current road
Footpath plan constraint is adjusted, and is constrained as new path planning using the angular speed in the joint angle of determination and joint, according to new
Path planning constraint control machinery arm performs corresponding task in the second controlling cycle.
The embodiment of the present invention further provides the device embodiment for realizing each step and method in above method embodiment.
Fig. 4 is refer to, the structural representation of the control system of its mechanical arm provided by the embodiment of the present invention.As schemed
Show, the system includes：
Detection unit 40, for after the first controlling cycle of task terminates, detecting the use reliability effect of mechanical arm
Parameter, to obtain the detected value of the use reliability effect parameter；
Decision package 41, for the detected value according to the use reliability effect parameter, obtains adjustable strategies；
Adjustment unit 42, for according to the adjustable strategies, the control parameter to the task in the second controlling cycle to be entered
Row adjustment, with the control parameter after being adjusted；
Control execution unit 43, for when next controlling cycle of task arrives, joining according to the control after the adjustment
Number, controls the mechanical arm to perform the task.
Wherein, the use reliability effect parameter includes task dependencies energy parameter and cost correlation performance parameters；Institute
Stating task dependencies energy parameter includes in following information at least one：Terminal position, tip speed, impact force；The cost phase
Closing performance parameter is included at least one in following information：Speed, load, temperature, frequency of use.
Wherein, the decision package 41, specifically for：
According to the detected value of the task dependencies energy parameter, execution of the task in first controlling cycle is obtained
As a result；According to the detected value of the cost correlation performance parameters, operation shape of the task in first controlling cycle is obtained
State；According to the implementing result and the running status, the adjustable strategies are obtained.
Wherein, the adjustable strategies are the control of the second controlling cycle of control parameter or adjustment for not adjusting the second controlling cycle
Parameter processed；The control parameter of second controlling cycle is included at least one in following information：Mission planning constraint, path planning
Constraint, motion control parameter.
Wherein, the decision package 41, specifically for：
If the implementing result meets default first condition, and the running status meets default second condition, no
Adjust the control parameter of second controlling cycle；
If the implementing result meets default first condition, and the running status is unsatisfactory for default second condition,
Adjust the path planning constraint in the control parameter of the second controlling cycle；
If the implementing result is unsatisfactory for default first condition, and the running status meets default second condition,
Adjust the motion control parameter in the control parameter of the second controlling cycle；
If the implementing result is unsatisfactory for default first condition, and the running status is unsatisfactory for default Article 2
Part, adjusts the mission planning constraint in the control parameter of the second controlling cycle.
In the technical scheme of the embodiment of the present invention, the use reliability effect parameter to mechanical arm is detected, is examined
Measured value, determines adjustable strategies, to realize the adjustment of the control parameter to the second controlling cycle, such that it is able to control according to detected value
Mechanical arm in second tasks carrying of controlling cycle, therefore, it is possible to realize the use reliability for influence mechanical arm occur because
When plain, the control parameter to mechanical arm is adjusted in time, therefore can improve the use reliability of mechanical arm, so as to extend
The service life of mechanical arm, reduces the use cost and maintenance cost of mechanical arm.
Fig. 5 is refer to, it is that the control method of the embodiment of the present invention is shown with the first effect of the control method of prior art
It is intended to, as illustrated, by taking joint angle as an example, the accumulated error using the control method joint angle of the embodiment of the present invention is (real in Fig. 5
Accumulated error shown in line), accumulated error (accumulated error that dotted line shows in Fig. 5) phase with the joint angle of traditional control method
Than, the closer coordinate origin in interval of accumulated error, therefore, implementing result more conforms to Expected Results, performs the essence of task
Du Genggao.
Fig. 6 is refer to, it is that the control method of the embodiment of the present invention is shown with the second effect of the control method of prior art
It is intended to, by taking abrasion as an example, the control method using the embodiment of the present invention is identical with the execution for a long time using traditional control method
Task, the wear extent (wear extent shown in solid in Fig. 6) of mechanical arm of the control method control of the embodiment of the present invention is less than
The wear extent (wear extent shown in dotted lines in Figure 6) of the mechanical arm of traditional control method control, therefore, the embodiment of the present invention
Control method control machinery arm, by the service phase of prolonged mechanical arm.
In sum, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
All any modification, equivalent substitution and improvements within the spirit and principles in the present invention, made etc., should be included in of the invention
Within protection domain.
Claims (9)
1. a kind of space mechanism uses the system control method of reliability, it is characterised in that concretely comprise the following steps：
Step 101, after a controlling cycle of task terminates, detect space mechanism use reliability effect parameter, obtain
The detected value of the use reliability effect parameter；
Step 102, the detected value according to the use reliability effect parameter, obtain adjustable strategies；
Step 103, according to the adjustable strategies, obtain the control parameter of next controlling cycle；
Step 104, task next controlling cycle arrive when, according to next controlling cycle control parameter control space
Mechanism performs task；
The use reliability effect parameter includes task dependencies energy parameter and cost correlation performance parameters；
The task dependencies energy parameter at least includes one in following information：Terminal position, tip speed and impact force；
The cost correlation performance parameters at least include one in following information：Speed, load, temperature, frequency of use and work(
Consumption.
2. system control method according to claim 1, it is characterised in that described to join according to the use reliability effect
Several detected values, obtains adjustable strategies, including：
According to the detected value of the task dependencies energy parameter, the implementing result of task is obtained；
According to the detected value of the cost correlation performance parameters, the running status of task is obtained；
According to the implementing result and the running status, adjustable strategies are obtained.
3. system control method according to claim 2, it is characterised in that
The adjustable strategies are the control parameter for not adjusting next controlling cycle or the control parameter for adjusting next controlling cycle；
The control parameter includes following information：Mission planning constraint, path planning constraint and motion control parameter.
4. system control method according to claim 3, it is characterised in that according to the implementing result and the operation shape
State, obtains adjustable strategies, including：Judge whether implementing result meets default first condition and whether running status meets default
Second condition；
If the implementing result meets default first condition, and the running status meets default second condition, adjusts plan
The control parameter of next controlling cycle is not adjusted slightly；
If the implementing result meets default first condition, and the running status is unsatisfactory for default second condition, adjustment
Strategy is the path planning constraint in the control parameter of the next controlling cycle of adjustment；
If the implementing result is unsatisfactory for default first condition, and the running status meets default second condition, adjustment
Strategy is the motion control parameter in the control parameter of the next controlling cycle of adjustment；
If the implementing result is unsatisfactory for default first condition, and the running status is unsatisfactory for default second condition, adjusts
Whole strategy is：First, it is determined that whether space mechanism breaks down, if it is judged that space mechanism breaks down, then further really
Determine the source of trouble, according to the source of trouble for determining, failture evacuation, then the control parameter for adjusting next controlling cycle are carried out to space mechanism
In mission planning constraint；
If it is judged that space mechanism does not break down, then the mission planning in the control parameter of next controlling cycle is directly adjusted
Constraint.
5. system control method according to claim 4, it is characterised in that judge whether implementing result meets default
One condition is：
The detected value of i-th task dependencies energy parameter is made to be expressed as Ii, wherein, i=1,2,3 ..., n, n are task dependencies energy
The number of parameter in parameter；
In the m controlling cycle for having performed, i-th detected value of task dependencies energy parameter and corresponding desired value
Error is expressed as Δ Iij, wherein, j=1,2,3 ..., m；
K last controlling cycle is taken from m controlling cycle, i-th task dependencies energy parameter in k controlling cycle is calculated
Cumulative errors Qit：
Wherein, t is current control period；
Judge the cumulative errors Q of task dependencies energy parameteritWith the corresponding threshold value being previously setSize, if all of
The cumulative errors Q of business correlation performance parametersitRespectively less than corresponding threshold valueImplementing result meets default first condition, otherwise,
Implementing result is unsatisfactory for default first condition；
Judge whether running status meets default second condition and be：
The detected value for making the i-th ' individual cost correlation performance parameters is Ci′, wherein, i '=1,2,3 ..., n, n ' they are cost correlated performance
The number of parameter in parameter；
In the m controlling cycle for having performed, the corresponding detected value of cost correlation performance parameters is Ci′j, wherein, j=1,
2,3…,m；
K last controlling cycle is taken from m controlling cycle, the i-th ' individual cost correlated performance ginseng in k controlling cycle is calculated
The aggregate-value L of several detected valuesi′t：
Wherein, t is current control period；
Judge the aggregate-value L of the detected value of cost correlation performance parametersi′tWith the corresponding threshold value L* being previously seti′tSize,
If the aggregate-value L of the detected value of all cost correlation performance parametersi′tRespectively less than corresponding threshold value L*i′t, running status meets pre-
If second condition；Otherwise, running status is unsatisfactory for default second condition.
6. a kind of control system for control method described in perform claim requirement 1, it is characterised in that the system includes that detection is single
Unit, decision package, adjustment unit and control execution unit, wherein：
Detection unit, for after a controlling cycle of task terminates, detecting the use reliability effect parameter of space mechanism,
Obtain the detected value of the use reliability effect parameter；
Decision package, for the detected value according to the use reliability effect parameter, obtains adjustable strategies；
Adjustment unit, for according to the adjustable strategies, obtaining the control parameter of next controlling cycle；
Control execution unit, for when next controlling cycle of task arrives, the control according to next controlling cycle to be joined
Numerical control space mechanism performs task.
7. system according to claim 6, it is characterised in that the decision package, specifically for：
According to the detected value of the task dependencies energy parameter, execution knot of the task in one controlling cycle is obtained
Really；
According to the detected value of the cost correlation performance parameters, operation shape of the task in one controlling cycle is obtained
State；
According to the implementing result and the running status, the adjustable strategies are obtained.
8. system according to claim 7, it is characterised in that
The adjustable strategies are the control parameter for not adjusting next controlling cycle or the control for adjusting next controlling cycle
Parameter processed；
The control parameter of next controlling cycle includes following information：Mission planning constraint, path planning constraint and motion control
Parameter processed.
9. system according to claim 8, it is characterised in that the decision package, specifically for：If the implementing result
Meet default first condition, and the running status meets default second condition, and next controlling cycle is not adjusted
Control parameter；
If the implementing result meets default first condition, and the running status is unsatisfactory for default second condition, adjustment
The path planning constraint；
If the implementing result is unsatisfactory for default first condition, and the running status meets default second condition, adjustment
The motion control parameter；
If the implementing result is unsatisfactory for default first condition, and the running status is unsatisfactory for default second condition, sentences
Whether disconnected space mechanism breaks down, if it is judged that space mechanism breaks down, after after the failture evacuation of space mechanism, then adjusts
The whole mission planning constraint；
If it is judged that space mechanism does not break down, then the mission planning constraint is directly adjusted.
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