CN103147577A - Control method, equipment, system and construction machinery for multi-joint mechanical arm support - Google Patents
Control method, equipment, system and construction machinery for multi-joint mechanical arm support Download PDFInfo
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Abstract
The invention discloses a control method, equipment, a system, and construction machinery for a multi-joint mechanical arm support. The control method mainly comprises the steps that a moving track path of the tail end of the mechanical arm support is divided into a plurality of sub track paths; aiming at each sub track path, the length value that the tail end of the mechanical arm support can move within a set duration, and current position information of each joint of the mechanical arm support is collected to calculate the required moving angle information of each joint of the mechanical arm support under the position information of subgoals capable of being reached by the tail end of the mechanical arm support; the obtained angle information of each joint in converted into control instructions, so that each joint of the mechanical arm support is controlled to move; the track path of the tail end of the mechanical arm support is subjected to discrete programming; and aiming at the sub track paths after programming, the moving angle information of each other joint of the mechanical arm support are determined according to the inverse kinematic principle. Therefore, the operation stability of the tail end of the arm support is guaranteed sufficiently, and the control precision for the tail end of the multi-joint mechanical arm support is improved.
Description
Technical field
The present invention relates to engineering machinery field, relate in particular to a kind of control method, equipment, system and engineering machinery of multi-joint class machinery jib.
Background technology
In existing construction machinery product, as: concrete mixer, concrete sprayer, automobile crane and hydraulic crawler excavator etc., the groundwork device of big machinery is multi-joint hydraulic machinery arm.This class hydraulic machinery arm system has that the degree of freedom number is many, quality is large, flexibility is large and the feature such as inertia is large, have in use that the complicated operation degree is high, the security requirement high, and work long hours under the engineering construction environment of complexity, carry out high-intensity operation, therefore, when the multi-joint hydraulic machinery jib of this class big machinery is controlled, the stationarity of operator's harmony, accuracy and control is had relatively high expectations.
At present, to the control mode of multi-joint hydraulic machinery arm generally in the following ways:
As shown in Figure 1, be the structural representation of the control system of multi-joint hydraulic machinery arm in prior art, described control system has comprised: wireless remotely-controlled device, receiving equipment, PLC control appliance and single banked direction control valves.Wherein: Digiplex is used for generating according to operator's operational order the control instruction of controlling jib, and sends to receiving equipment;
Receiving equipment is used for receiving the control instruction of Digiplex by wireless mode, and this control instruction is sent to the PLC control appliance;
The PLC control appliance sends to single banked direction control valves for the control signal that the control instruction that receives is converted into the hydraulic circuit valve.
The operating principle that this control system is concrete is:
The operator of big machinery is according to the movement locus that visually observes or determine by micro-judgment the end of multi-joint hydraulic machinery arm of self;
According to the movement locus formation control instruction of determining, and input control signal to arm support tail end by wireless remote control device, by the control appliance of arm support tail end when receiving this control instruction, the control instruction that receives is converted into the flow of PWM Current Control hydraulic multitandem valve, realization is to the motion control to each joint such as hydraulic motor corresponding to multi-joint hydraulic machinery arm, hydraulic jack, and then realization is to the control of arm support tail end.
Because this multi-joint arm frame system is many redundant degree of freedom mechanism, completing same task can realize with different attitudes and motion path, but the sending fully of control instruction relies on operation to visually observe or experience is determined, therefore, the operating experience that the control of multi-joint jib is depended on fully the operator, be difficult to the soften requirement of assurance to operating machine, easily occur rocking more greatly in operating process, the infringement jib structure, make the end of multi-joint jib accurately not arrive the target location, the low problem of operating efficiency occurs.
Summary of the invention
The embodiment of the present invention provides control method, equipment, system and the engineering machinery of a kind of multi-joint class machinery jib, and the end that is used for solving the multi-joint jib that prior art occurs when the multi-joint jib is controlled can not accurately arrive the low problem of operating efficiency that the target location causes.
A kind of control method of multi-joint class machinery jib comprises:
The method that the analog mechanical arm support tail end that utilization is set moves, the trajectory path that mechanical arm support tail end is moved is divided into into N strip trajectory path, and wherein, N is not less than 1 positive integer;
For other each the strip trajectory paths except article one sub-trajectory path that obtains, carry out respectively following operation:
Displacement of targets distance, actual displacement distance, displacement line speed and displacement line acceleration according to mechanical jib motion on a upper strip trajectory path, calculate mechanical jib motion at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move;
The current location information in each joint of collection machinery jib, utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive, wherein, the described current mechanical arm support tail end sub-goal positional information that can arrive is to determine according to the length value that the current mechanical arm support tail end of determining can move;
The angle information in each joint of obtaining is converted into control instruction, controls electro-hydraulic proportional valve corresponding to each joint of mechanical jib and move.
A kind of control appliance of multi-joint class machinery jib comprises:
Divide module, for the method that the analog mechanical arm support tail end that utilizes setting moves, the trajectory path that mechanical arm support tail end is moved is divided into into N strip trajectory path, and wherein, N is not less than 1 positive integer;
Control module is used for carrying out respectively following operation for other each the strip trajectory paths except article one sub-trajectory path that obtains:
Displacement of targets distance, actual displacement distance, displacement line speed and displacement line acceleration according to mechanical jib motion on a upper strip trajectory path, calculate mechanical jib motion at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move;
The current location information in each joint of collection machinery jib, utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive, wherein, the described current mechanical arm support tail end sub-goal positional information that can arrive is to determine according to the length value that the current mechanical arm support tail end of determining can move;
The angle information in each joint of obtaining is converted into control instruction, controls electro-hydraulic proportional valve corresponding to each joint of mechanical jib and move.
A kind of control system of multi-joint class machinery jib comprises:
Collecting device is for the positional information in current each joint of collection machinery jib;
Control appliance, for the method that the analog mechanical arm support tail end that utilizes setting moves, the trajectory path that mechanical arm support tail end is moved is divided into into N strip trajectory path, and wherein, N is not less than 1 positive integer;
For other each the strip trajectory paths except article one sub-trajectory path that obtains, carry out respectively following operation: displacement of targets distance, actual displacement distance, displacement line speed and displacement line acceleration according to mechanical jib motion on a upper strip trajectory path, calculate mechanical jib motion at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move;
Utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive, the angle information in each joint of obtaining is converted into control instruction, triggers electro-hydraulic proportional valve;
Electro-hydraulic proportional valve is used for the control instruction of receiving control apparatus, and controls each joint motions of mechanical jib.
A kind of engineering machinery with multi-joint class machinery jib comprises the control system of above-mentioned multi-joint class machinery jib.
Beneficial effect of the present invention is as follows:
the embodiment of the present invention is divided by the trajectory path that mechanical arm support tail end is moved, obtain many strips trajectory path, for each strip trajectory path, carry out following operation: according to the displacement of targets distance of mechanical jib motion on a upper strip trajectory path, the actual displacement distance, displacement line speed and displacement line acceleration, calculate mechanical jib motion in the displacement line speed in current sub-trajectory path, the displacement line acceleration, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move, and the current location information in collection machinery jib each joint, utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive, the angle information in each joint of obtaining is converted into control instruction, controlling electro-hydraulic proportional valve corresponding to each joint of mechanical jib moves, compared with prior art, the trajectory path of arm support tail end is carried out discrete programming, and determine according to the inverse kinematics principle angle information that move in other each joints for the sub-trajectory path after planning, fully realized the flexibility of arm support tail end motion with each joint motions, guarantee the arm support tail end traveling comfort, reduced the impact to mechanical jib that speed is undergone mutation and brought, improved the control accuracy to multi-joint mechanical arm frame end.
Description of drawings
Fig. 1 is the structural representation of the control system of multi-joint hydraulic machinery arm in prior art;
Fig. 2 is the flow chart of control method of a kind of multi-joint class machinery jib of the embodiment of the present invention one;
Fig. 3 is the structural representation of control appliance of a kind of multi-joint class machinery jib of the embodiment of the present invention two;
Fig. 4 is the structural representation of control system of a kind of multi-joint class machinery jib of the embodiment of the present invention three.
The specific embodiment
in order to realize purpose of the present invention, the embodiment of the present invention provides a kind of control method of multi-joint class machinery jib, equipment, system and engineering machinery, divide by the trajectory path that mechanical arm support tail end is moved, obtain many strips trajectory path, for each strip trajectory path, carry out following operation: according to the displacement of targets distance of mechanical jib motion on a upper strip trajectory path, the actual displacement distance, displacement line speed and displacement line acceleration, calculate mechanical jib motion in the displacement line speed in current sub-trajectory path, the displacement line acceleration, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move, and the current location information in collection machinery jib each joint, utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive, the angle information in each joint of obtaining is converted into control instruction, controlling electro-hydraulic proportional valve corresponding to each joint of mechanical jib moves.
Compared with prior art, the trajectory path of arm support tail end is carried out discrete programming, and determine according to the inverse kinematics principle angle information that move in other each joints for the sub-trajectory path after planning, fully realized the flexibility of arm support tail end motion with each joint motions, guarantee the arm support tail end traveling comfort, reduce the impact to mechanical jib that speed is undergone mutation and brought, improved the control accuracy to multi-joint mechanical arm frame end.
Below in conjunction with Figure of description, each embodiment of the present invention is described in detail.
Embodiment one:
As shown in Figure 2, be the flow chart of the control method of a kind of multi-joint class machinery jib of the embodiment of the present invention one, described method comprises:
Step 101: the method that the analog mechanical arm support tail end that utilization is set moves, the trajectory path that mechanical arm support tail end is moved is divided into into N strip trajectory path.
Wherein, N is not less than 1 positive integer.
In step 101, before the trajectory path that mechanical arm support tail end moves carried out discrete operations, described method also comprised: determine the trajectory path that mechanical arm support tail end moves.
Particularly, the method for determining the trajectory path that mechanical arm support tail end moves includes but not limited to: determine according to the positional information at mechanical arm support tail end current place and the target location that moves to.
After determining the trajectory path that mechanical arm support tail end moves, the trajectory path that can move the mechanical arm support tail end of determining is in the following manner simulated control, and wherein, the method that the analog mechanical arm support tail end of described setting moves specifically includes but not limited to:
First kind of way: crawl triggering mode.Spatialization is carried out in the position at mechanical arm support tail end place, determine X-axis, Y-axis and the Z axis at mechanical arm support tail end place, respectively from the positive and negative direction of X-axis, the positive and negative direction of Y-axis and the positive and negative direction of Z axis provide arbitrary signal, make mechanical arm support tail end move towards the track of either direction with straight line, until this blackout, can obtain the trajectory path of this machinery arm support tail end.
The second way: read the skimulated motion trail file.Mechanical arm support tail end is treated that the routing information in mobile context processes, and the routing information after adopting curve-fitting method to process changes into the movement locus file of mechanical arm support tail end, the trajectory path that the movement locus file that obtains is moved as mechanical arm support tail end.
The third mode: sampling generates mobile trajectory path.Adopt the some trigger-type to obtain the desired motion track of mechanical arm support tail end, utilize existing software equipment to gather the positional information of mechanical arm support tail end on fixed time period in the process that obtains the desired motion track, will collect the motion track information of positional information as mechanical arm support tail end.
The 4th kind of mode: automatic orbit key point mode.With mechanical arm support tail end manually to original position, open software control equipment, select shape and the parameter of crucial line segment, again mechanical arm support tail end is moved on the key point of expectation, determine the routing information of record from original position to this key point, move in circles, a plurality of routing informations that obtain are integrated obtained the trajectory path of mechanical arm support tail end from the original position to the final position.
More preferably, calibrate some key points at the trajectory path of determining, and by the simulated operation of mechanical arm support tail end from a key point to another key point, judge the shape in the sub-trajectory path between two key points, and determine the origin coordinates information in this sub-trajectory path and stop coordinate information, the traveling time of calculating machine arm support tail end on each strip trajectory path.
When the shape of group trajectory path is straight line, utilize discrete mode, origin coordinates information and termination coordinate information, portable cord speed, linear acceleration according to this space line, obtain sub-trajectory line segment mobile in moving period of every setting unit, obtain the coordinate figure of sub-trajectory straightway impact point mobile in moving period of every setting unit by coordinate Calculation.
For example: be straight line from the A1 point to the sub-trajectory path the A2 point, the co-ordinate position information that the co-ordinate position information that so definite A1 is ordered and A2 are ordered, and the discrete mode of employing mathematics, calculate sub-trajectory path from A1 to A2 mobile sub-trajectory line segment in setting moving period of unit: A1 to A11, A11 to A12 etc., and obtain in moving period of every setting unit the coordinate information of mobile sub-trajectory straightway impact point by coordinate Calculation, i.e. the coordinate information of the coordinate information of A11, A12 etc.
When the shape of group trajectory path is circular arc, utilize discrete mode, origin coordinates information and termination coordinate information according to this space circular arc, obtain normal direction information, the space circular arc radius information of centre coordinate information, space circular arc, utilize portable cord speed, linear acceleration, calculate sub-trajectory arc section mobile in moving period of every setting unit, calculate the coordinate information of sub-trajectory circular arc line segment impact point mobile in moving period of every setting unit by Coordinate Conversion.
for example: be circular arc from the A1 point to the sub-trajectory path the A2 point, the co-ordinate position information that the co-ordinate position information that so definite A1 is ordered and A2 are ordered, and obtain the centre coordinate information of circular arc A1A2, the normal direction information of space circular arc, the space circular arc radius information, adopt the discrete mode of mathematics, utilize portable cord speed, linear acceleration, calculate the sub-trajectory arc section of the sub-trajectory path movement in setting moving period of unit from A1 to A2: A1 is to A11, A11 is to A12 etc., and obtain in moving period of every setting unit the coordinate information of mobile sub-trajectory arc section impact point by coordinate Calculation, it is the coordinate information of A11, the coordinate information of A12 etc.
More preferably, after each strip trajectory path is carried out discrete processes, continuous sub-trajectory line segment or the sub-trajectory circular arc that obtains after discrete is stored in the track formation as a strip trajectory path information.
Need to prove, the trajectory path that moves for the mechanical arm support tail end of determining, also can utilize the antithetical phrase trajectory path to carry out discrete mode, obtain for trajectory path line segment and/or the trajectory path circular arc of trajectory path, trajectory path line segment and/or trajectory path circular arc by determining, improved and controlled the precision that mechanical arm support tail end moves like this.
Step 102: for other each the strip trajectory paths except article one sub-trajectory path that obtains, following operation is carried out in circulation:
Step 1021: displacement of targets distance, actual displacement distance, displacement line speed and displacement line acceleration according to mechanical jib motion on a upper strip trajectory path, calculate mechanical jib motion at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move.
Particularly, in step 1021, obtain in the following manner the motion of mechanical jib at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move:
a
Acceleration=(V
Linear velocity-V
A upper linear velocity)/t;
Δ s=(V
Linear velocity+ V
A upper linear velocity) * 0.5*t;
Wherein:
L
TargetBe displacement of targets distance, L
ProgressBe the range difference between actual displacement distance and displacement of targets distance, V
A upper linear velocityFor mechanical jib moves at a upper strip trajectory path top offset linear velocity, L
Linear velocityFor the motion of mechanical jib at current sub-trajectory path top offset linear velocity, a
maxBe the peak acceleration that mechanical arm support tail end moves, the t traveling time that is mechanical jib end movement on current sub-trajectory path, Δ s is the length value that current mechanical arm support tail end need to move.
more preferably, obtaining the displacement line speed of mechanical jib end movement in current sub-trajectory path, after the displacement line acceleration, the displacement line speed that obtains and the maximum line velocity of setting are compared, and the displacement line acceleration that obtains and the max line acceleration of setting are compared, when the maximum line velocity of the little linear velocity of the displacement that obtains greater than setting, and/or the displacement line acceleration that obtains is during greater than the max line acceleration set, utilize maximum linear velocity and linear acceleration to recomputate mechanical jib motion at displacement line speed and the displacement line acceleration in current sub-trajectory path.
More preferably, determine according to the length value that the current mechanical arm support tail end that calculates can move the sub-goal positional information that current mechanical arm support tail end can arrive, specifically comprise:
At first, after the operation when mechanical arm support tail end on a upper strip trajectory path is carried out and finished, gather the positional information at the place of current mechanical arm support tail end;
Secondly, according to described positional information with calculate the length value that current mechanical arm support tail end can move, obtain the mechanical jib sub-goal positional information that movement can arrive on current sub-trajectory path.
Step 1022: the current location information in collection machinery jib each joint, utilize the computation of inverse-kinematics method of setting, calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive is current need to mobile angle information.
In step 1022, when utilizing the sub-goal positional information that following mode determines can to arrive at current mechanical arm support tail end, each joint of machinery jib is current needs mobile angle information:
At first, the current location information according to mechanical jib each joint that collects utilizes the Jacobian matrix algorithm, obtains the matrix about each joint position information.
Particularly, concerning one degree of freedom is the mechanical jib of n, analyze from the kinematics angle, can obtain its kinematical equation is X=JQ, wherein: X be arm support tail end at the position coordinates of cartesian space, Q is the angle/motion vector in each joint;
And Jacobian matrix is 6*n rank matrixes, and it can convert the joint variable in joint variable space to the joint variable of cartesian space;
Then to the differentiate of kinematical equation differential, and resolve and obtain inverse kinetics solution
Wherein: J
+Be pseudo inverse matrix, be the n*6 matrix, and
The gradient vector of optimization aim function H (θ),
Finally by calculating the optimal motion velocity amplitude that can access each joint of mechanical arm frame.
Secondly, utilize Arithmetic of inverse kinematics, calculate the current angle information that need to move in each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive.
More preferably, for each strip trajectory path, determining when needing mobile angle information for mechanical jib each joint in this sub-trajectory path is current, can revise the current angle information that needs to move in each joint of mechanical jib of determining, like this, by the current control instruction that needs mobile angle information to determine in each joint of revised tool jib, the precision of mechanical arm support tail end arrival target location will be improved.
After calculating that mechanical jib each joint is current and needing mobile angle information, before the angle information in each joint of obtaining was converted into control instruction, described method also comprised:
For each joint, carry out following operation:
At first, utilize three smooth track function # (t)=a
0+ a
1t+a
2t
2+ a
3t
3, the curve of the movement locus in this joint is satisfied in calculating, wherein, and a
0, a
1, a
2And a
3The coefficient of three smooth track functions of expression, t represents the traveling time that mechanical jib is current.
Particularly, the smooth track function in each joint need satisfy following constraints when calculating:
I.e. the position coordinates constraints of the geometric locus two-end-point in this joint and movement velocity constraints,
Wherein, θ
0Be this joint maximal angle value movably, θ
fBe this joint minimum angles value movably, V
0Be this joint maximum speed value movably, V
fBe this joint minimum speed value movably.
According to constraints, find the solution and obtain each coefficient in three smooth track functions:
Secondly, the path curves with this joint of calculating converts the angle information that this joint need to be moved to.
More preferably, according to each parameter identification this joint angle information that needs move in current trajectory path that obtains.
Step 1023: the angle information in each joint that will obtain is converted into control instruction, controls electro-hydraulic proportional valve corresponding to each joint of mechanical jib and moves.
More preferably, after mobile end, when beginning is moved, carry out following operation at mechanical arm support tail end in next strip trajectory path in a strip trajectory path:
The first step: judge that whether the difference of mechanical arm support tail end actual displacement distance and displacement of targets distance in a upper strip trajectory path is greater than setting numerical value.
Second step: when the difference of mechanical arm support tail end actual displacement distance and displacement of targets distance in a upper strip trajectory path greater than setting numerical value, calculate the range difference between in upper strip trajectory path actual displacement distance and displacement of targets distance, and according to the range difference that calculates, mechanical arm support tail end linear velocity and linear acceleration in a upper strip trajectory path, update stored in the length value in the current sub-trajectory path in the track formation, and operating for the current sub-trajectory path after upgrading after renewal.
When the difference of mechanical arm support tail end actual displacement distance and displacement of targets distance in a upper strip trajectory path is not more than setting numerical value, trigger for the current sub-trajectory path in the track formation operating.
Need to prove, different from mode of operation except article one sub-trajectory path for the mode of operation in article one sub-trajectory path of this trajectory path when mechanical arm support tail end is started working, be specially:
Described for article one sub-trajectory path, carry out following operation:
First: the first sub-goal positional information of determining article one sub-trajectory path.
Second: the current location information in collection machinery jib each joint, and according to initial circuit degree and the linear acceleration setting mechanical arm support tail end and move, calculate when mechanical arm support tail end arrives position corresponding to the first sub-goal positional information that each joint is current needs mobile angle information.
The 3rd: the angle information in each joint that will obtain is converted into control instruction, controls electro-hydraulic proportional valve corresponding to each joint of mechanical jib and moves.
scheme by the embodiment of the present invention one, utilize the algorithm of setting, the trajectory path that mechanical arm support tail end is moved carries out discrete processes, obtain many strips trajectory path, for each strip trajectory path, carry out following operation: according to the displacement of targets distance of mechanical jib motion on a upper strip trajectory path, the actual displacement distance, displacement line speed and displacement line acceleration, calculate mechanical jib motion in the displacement line speed in current sub-trajectory path, the displacement line acceleration, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move, and the current location information in collection machinery jib each joint, utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive, the angle information in each joint of obtaining is converted into control instruction, controlling electro-hydraulic proportional valve corresponding to each joint of mechanical jib moves, compared with prior art, the trajectory path of arm support tail end is carried out discrete programming, and determine according to the inverse kinematics principle angle information that move in other each joints for the sub-trajectory path after planning, fully realized the flexibility of arm support tail end motion with each joint motions, guarantee the arm support tail end traveling comfort, reduced the impact to mechanical jib that speed is undergone mutation and brought, improved the control accuracy to multi-joint mechanical arm frame end.
Embodiment two:
As shown in Figure 3, be the structural representation of the control appliance of a kind of multi-joint class machinery jib of the embodiment of the present invention two, described equipment comprises: discrete processes module 11 and control module 12, wherein:
Displacement of targets distance, actual displacement distance, displacement line speed and displacement line acceleration according to mechanical jib motion on a upper strip trajectory path, calculate mechanical jib motion at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move;
The current location information in each joint of collection machinery jib, utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive, wherein, the described current mechanical arm support tail end sub-goal positional information that can arrive is to determine according to the length value that the current mechanical arm support tail end of determining can move;
The angle information in each joint of obtaining is converted into control instruction, controls electro-hydraulic proportional valve corresponding to each joint of mechanical jib and move.
More preferably, the trajectory path that moves of described mechanical arm support tail end is to determine according to the positional information at mechanical jib current place and the target position information that moves to.
Particularly, described discrete processes module 11 specifically comprises:
Divide submodule 21, be used for described trajectory path is divided into N strip trajectory path, and determine the origin coordinates information in this sub-trajectory path and stop coordinate information, the traveling time of calculating machine arm support tail end on each strip trajectory path;
Judgement submodule 22, being used for judgement M strip trajectory path is straight line or circular arc;
Calculating sub module 23, if being used for judged result is straight line, utilize discrete mode, origin coordinates information and termination coordinate information, portable cord speed, linear acceleration according to this space line, obtain sub-trajectory line segment mobile in moving period of every setting unit, obtain the coordinate figure of sub-trajectory straightway impact point mobile in moving period of every setting unit by coordinate Calculation;
If judged result is circular arc, utilize discrete mode, origin coordinates information and termination coordinate information according to this space circular arc, obtain normal direction information, the space circular arc radius information of centre coordinate information, space circular arc, utilize portable cord speed, linear acceleration, calculate sub-trajectory arc section mobile in moving period of every setting unit, calculate the coordinate information of sub-trajectory circular arc line segment impact point mobile in moving period of every setting unit by Coordinate Conversion;
Sub module stored 24 is used for continuous sub-trajectory line segment or the sub-trajectory circular arc that obtains after discrete is stored in the track formation as a strip trajectory path information.
Particularly, described control module 12, concrete the first sub-goal positional information that is used for determining article one sub-trajectory path, the current location information in each joint of collection machinery jib, and according to initial circuit degree and the linear acceleration setting mechanical arm support tail end and move, when calculating arrives position corresponding to the first sub-goal positional information at mechanical arm support tail end, each joint is current needs mobile angle information, and the angle information in each joint that will obtain is converted into control instruction, controls electro-hydraulic proportional valve corresponding to each joint of mechanical jib and moves.
Described control module 12, concrete being used for calculates mechanical jib end movement in the following manner at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end need to move:
a
Acceleration=(V
Linear velocity-V
A upper linear velocity)/t;
Δ s=(V
Linear velocity+ V
A upper linear velocity) * 0.5*t;
Wherein:
L
TargetBe displacement of targets distance, L
ProgressBe the range difference between actual displacement distance and displacement of targets distance, V
A upper linear velocityFor mechanical jib moves at a upper strip trajectory path top offset linear velocity, V
Linear velocityFor the motion of mechanical jib at current sub-trajectory path top offset linear velocity, a
maxBe the peak acceleration that mechanical arm support tail end moves, t is mechanical jib motion moving period on a upper strip trajectory path, and Δ s is the length value that current mechanical arm support tail end need to move.
Described control module 12, concrete for after end is carried out in the operation on a upper strip trajectory path when mechanical arm support tail end, gather the positional information at the place of current mechanical arm support tail end, and according to described positional information and calculate the length value that current mechanical arm support tail end can move, obtain the mechanical jib sub-goal positional information that movement can arrive on current sub-trajectory path.
Described control module 12, the concrete current location information that is used for according to mechanical jib each joint that collects, utilize the Jacobian matrix algorithm, obtain the matrix about each joint position information, and utilize Arithmetic of inverse kinematics, calculate the current angle information that need to move in each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive.
More preferably, described equipment also comprises: interpolation module 13, wherein:
Utilize three smooth track function # (t)=a
0+ a
1t+a
2t
2+ a
3t
3, the curve of the movement locus in this joint is satisfied in calculating, wherein, and a
0, a
1, a
2And a
3The coefficient of three smooth track functions of expression, t represents the traveling time that mechanical jib is current, converts the path curves in this joint of calculating to angle information that this joint need to be moved.
More preferably, described equipment also comprises: update module 14, wherein:
When the difference of mechanical arm support tail end actual displacement distance and displacement of targets distance in a upper strip trajectory path greater than setting numerical value, calculate the range difference between in upper strip trajectory path actual displacement distance and displacement of targets distance, and according to the range difference that calculates, mechanical arm support tail end linear velocity and linear acceleration in a upper strip trajectory path, update stored in the length value in the current sub-trajectory path in the track formation;
When the difference of mechanical arm support tail end actual displacement distance and displacement of targets distance in a upper strip trajectory path is not more than setting numerical value, trigger control module.
Embodiment three:
As shown in Figure 4, be the structural representation of the control system of a kind of multi-joint class machinery jib of the embodiment of the present invention three, described system comprises: collecting device 31, control appliance 32 and electro-hydraulic proportional valve 33, wherein:
Collecting device 31 is for the positional information in current each joint of collection machinery jib.
Control appliance 32, for the method that the analog mechanical arm support tail end that utilizes setting moves, the trajectory path that mechanical arm support tail end is moved is divided into into N strip trajectory path, and wherein, N is not less than 1 positive integer;
For other each the strip trajectory paths except article one sub-trajectory path that obtains, carry out respectively following operation: displacement of targets distance, actual displacement distance, displacement line speed and displacement line acceleration according to mechanical jib motion on a upper strip trajectory path, calculate mechanical jib motion at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move;
Utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive, the angle information in each joint of obtaining is converted into control instruction, triggers electro-hydraulic proportional valve;
Electro-hydraulic proportional valve 33 is used for the control instruction of receiving control apparatus, and controls each joint motions of mechanical jib.
Particularly, receive control instruction by the CAN bus.
More preferably, described collecting device 31 can be displacement transducer 41 and rotary coding sensor 42.
Described system also comprises: I/O analog input and output card 34, wherein:
I/O analog input and output card 34, the angle value that is used for collecting device is collected mechanical jib each joint is converted into the discernible signal message of control appliance, exports control appliance to.
Described system also comprises: touch display screen 35, wherein,
Touch display screen is used for carrying out man-machine information interaction by the VGA serial ports, comprises the input of controlling parameter, the output of state parameter and the demonstration of jib threedimensional model.
Described system also comprises: wireless remote controlled receiver 36, wherein:
Wireless remote controlled receiver 36 is used for receiving the arm support tail end control signal by the CAN bus.
Need to prove, described control appliance can be the RT-Linux built-in industrial control machine.
The present invention also provides a kind of engineering machinery with multi-joint class machinery jib, comprises the control system of above-mentioned multi-joint class machinery jib.
Obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of claim of the present invention and equivalent technologies thereof, the present invention also is intended to comprise these changes and modification interior.
Claims (20)
1. the control method of a multi-joint class machinery jib, is characterized in that, comprising:
The method that the analog mechanical arm support tail end that utilization is set moves, the trajectory path that mechanical arm support tail end is moved is divided into into N strip trajectory path, and wherein, N is not less than 1 positive integer;
For other each the strip trajectory paths except article one sub-trajectory path that obtains, carry out respectively following operation:
Displacement of targets distance, actual displacement distance, displacement line speed and displacement line acceleration according to mechanical jib motion on a upper strip trajectory path, calculate mechanical jib motion at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move;
The current location information in each joint of collection machinery jib, utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive, wherein, the described current mechanical arm support tail end sub-goal positional information that can arrive is to determine according to the length value that the current mechanical arm support tail end that calculates can move;
The angle information in each joint of obtaining is converted into control instruction, controls electro-hydraulic proportional valve corresponding to each joint of mechanical jib and move.
2. the method for claim 1, is characterized in that, the trajectory path that described mechanical arm support tail end moves is to determine according to the positional information at mechanical arm support tail end current place and the target position information that moves to.
3. the method for claim 1, is characterized in that, the described trajectory path that mechanical arm support tail end is moved is divided into into N strip trajectory path, specifically comprises:
Described trajectory path is divided into N strip trajectory path, and determines the origin coordinates information in this sub-trajectory path and stop coordinate information, the traveling time of calculating machine arm support tail end on each strip trajectory path;
Judge that M strip trajectory path is straight line or circular arc;
If straight line, utilize discrete mode, origin coordinates information and termination coordinate information, portable cord speed, linear acceleration according to this space line, obtain sub-trajectory line segment mobile in moving period of every setting unit, obtain the coordinate figure of sub-trajectory straightway impact point mobile in moving period of every setting unit by coordinate Calculation;
If circular arc, utilize discrete mode, origin coordinates information and termination coordinate information according to this space circular arc, obtain normal direction information, the space circular arc radius information of centre coordinate information, space circular arc, utilize portable cord speed, linear acceleration, calculate sub-trajectory arc section mobile in moving period of every setting unit, calculate the coordinate information of sub-trajectory circular arc line segment impact point mobile in moving period of every setting unit by Coordinate Conversion;
The continuous sub-trajectory line segment or the sub-trajectory circular arc that obtain after discrete are stored in the track formation as a strip trajectory path information.
4. method as claimed in claim 3, is characterized in that, and is described for article one sub-trajectory path, carries out following operation, specifically comprises:
Determine the first sub-goal positional information in article one sub-trajectory path;
The current location information in each joint of collection machinery jib, and according to initial circuit degree and the linear acceleration setting mechanical arm support tail end and move, calculate when mechanical arm support tail end arrives position corresponding to the first sub-goal positional information that each joint is current needs mobile angle information;
The angle information in each joint of obtaining is converted into control instruction, controls electro-hydraulic proportional valve corresponding to each joint of mechanical jib and move.
5. method as claimed in claim 4, it is characterized in that, described according to the motion of mechanical jib the displacement of targets distance on a upper strip trajectory path, actual displacement apart from, displacement line speed and displacement line acceleration, calculate mechanical jib end movement at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end need to move, specifically comprise:
a
Acceleration=(V
Linear velocity-V
A upper linear velocity)/t;
Δ s=(V
Linear velocity+ V
A upper linear velocity) * 0.5*t;
Wherein:
L
TargetBe displacement of targets distance, L
ProgressBe the range difference between actual displacement distance and displacement of targets distance, V
A upper linear velocityFor mechanical jib moves at a upper strip trajectory path top offset linear velocity, V
Linear velocityFor the motion of mechanical jib at current sub-trajectory path top offset linear velocity, a
maxBe the peak acceleration that mechanical arm support tail end moves, the t moving period that is the motion of mechanical jib on current sub-trajectory path, Δ s is the length value that current mechanical arm support tail end need to move.
6. method as claimed in claim 5, is characterized in that, the sub-goal positional information that described current mechanical arm support tail end can arrive is to determine according to the length value that the current mechanical arm support tail end that calculates can move, and specifically comprises:
After operation when mechanical arm support tail end on a upper strip trajectory path is carried out and finished, gather the positional information at the place of current mechanical arm support tail end;
According to described positional information and calculate the length value that current mechanical arm support tail end can move, obtain the mechanical jib sub-goal positional information that movement can arrive on current sub-trajectory path.
7. the method for claim 1, it is characterized in that, the current location information in each joint of described collection machinery jib, utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive specifically comprises:
Current location information according to mechanical jib each joint that collects utilizes the Jacobian matrix algorithm, obtains the matrix about each joint position information;
Utilize Arithmetic of inverse kinematics, calculate the current angle information that need to move in each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive.
8. method as claimed in claim 7, is characterized in that, after calculating that mechanical jib each joint is current and needing mobile angle information, before the angle information in each joint of obtaining was converted into control instruction, described method also comprised:
For each joint, carry out following operation:
Utilize three smooth track function # (t)=a
0+ a
1t+a
2t
2+ a
3t
3, the curve of the movement locus in this joint is satisfied in calculating, wherein, and a
0, a
1, a
2And a
3The coefficient of three smooth track functions of expression, t represents the traveling time that mechanical jib is current;
Convert the path curves in this joint of calculating to angle information that this joint need to be moved.
9. described method as arbitrary in claim 1 ~ 8, is characterized in that, described on a strip trajectory path operation carry out finish after, before carrying out beginning for current sub-trajectory path operations, described method also comprises:
Judge that whether the difference of mechanical arm support tail end actual displacement distance and displacement of targets distance in a upper strip trajectory path is greater than setting numerical value;
When the difference of mechanical arm support tail end actual displacement distance and displacement of targets distance in a upper strip trajectory path greater than setting numerical value, calculate the range difference between in upper strip trajectory path actual displacement distance and displacement of targets distance, and according to the range difference that calculates, mechanical arm support tail end linear velocity and linear acceleration in a upper strip trajectory path, update stored in the length value in the current sub-trajectory path in the track formation;
When the difference of mechanical arm support tail end actual displacement distance and displacement of targets distance in a upper strip trajectory path is not more than setting numerical value, trigger for the current sub-trajectory path in the track formation operating.
10. the control appliance of a multi-joint class machinery jib, is characterized in that, comprising:
Divide module, for the method that the analog mechanical arm support tail end that utilizes setting moves, the trajectory path that mechanical arm support tail end is moved is divided into into N strip trajectory path, and wherein, N is not less than 1 positive integer;
Control module is used for carrying out respectively following operation for other each the strip trajectory paths except article one sub-trajectory path that obtains:
Displacement of targets distance, actual displacement distance, displacement line speed and displacement line acceleration according to mechanical jib motion on a upper strip trajectory path, calculate mechanical jib motion at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move;
The current location information in each joint of collection machinery jib, utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive, wherein, the described current mechanical arm support tail end sub-goal positional information that can arrive is to determine according to the length value that the current mechanical arm support tail end of determining can move;
The angle information in each joint of obtaining is converted into control instruction, controls electro-hydraulic proportional valve corresponding to each joint of mechanical jib and move.
11. equipment as claimed in claim 10 is characterized in that, the trajectory path that described mechanical arm support tail end moves is to determine according to the positional information at mechanical jib current place and the target position information that moves to.
12. equipment as claimed in claim 10 is characterized in that, described division module specifically comprises:
Divide submodule, be used for described trajectory path is divided into N strip trajectory path, and determine the origin coordinates information in this sub-trajectory path and stop coordinate information, the traveling time of calculating machine arm support tail end on each strip trajectory path;
The judgement submodule, being used for judgement M strip trajectory path is straight line or circular arc;
Calculating sub module, if being used for judged result is straight line, utilize discrete mode, origin coordinates information and termination coordinate information, portable cord speed, linear acceleration according to this space line, obtain sub-trajectory line segment mobile in moving period of every setting unit, obtain the coordinate figure of sub-trajectory straightway impact point mobile in moving period of every setting unit by coordinate Calculation;
If judged result is circular arc, utilize discrete mode, origin coordinates information and termination coordinate information according to this space circular arc, obtain normal direction information, the space circular arc radius information of centre coordinate information, space circular arc, utilize portable cord speed, linear acceleration, calculate sub-trajectory arc section mobile in moving period of every setting unit, calculate the coordinate information of sub-trajectory circular arc line segment impact point mobile in moving period of every setting unit by Coordinate Conversion;
Sub module stored is used for continuous sub-trajectory line segment or the sub-trajectory circular arc that obtains after discrete is stored in the track formation as a strip trajectory path information.
13. equipment as claimed in claim 12 is characterized in that,
Described control module, concrete the first sub-goal positional information that is used for determining article one sub-trajectory path, the current location information in each joint of collection machinery jib, and according to initial line speed and the linear acceleration setting mechanical arm support tail end and move, when calculating arrives position corresponding to the first sub-goal positional information at mechanical arm support tail end, each joint is current needs mobile angle information, and the angle information in each joint that will obtain is converted into control instruction, controls electro-hydraulic proportional valve corresponding to each joint of mechanical jib and moves.
14. equipment as claimed in claim 13 is characterized in that,
Described control module, concrete being used for calculates mechanical jib end movement in the following manner at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end need to move:
a
Acceleration=(V
Linear velocity-V
A upper linear velocity)/t;
Δ s=(V
Linear velocity+ V
A upper linear velocity) * 0.5*t;
Wherein:
L
TargetBe displacement of targets distance, L
ProgressBe the range difference between actual displacement distance and displacement of targets distance, V
A upper linear velocityFor mechanical jib moves at a upper strip trajectory path top offset linear velocity, V
Linear velocityFor the motion of mechanical jib at current sub-trajectory path top offset linear velocity, a
maxBe the peak acceleration that mechanical arm support tail end moves, t is mechanical jib motion moving period on a upper strip trajectory path, and Δ s is the length value that current mechanical arm support tail end need to move.
15. equipment as claimed in claim 14 is characterized in that,
Described control module, concrete for after end is carried out in the operation on a upper strip trajectory path when mechanical arm support tail end, gather the positional information at the place of current mechanical arm support tail end, and according to described positional information and calculate the length value that current mechanical arm support tail end can move, obtain the mechanical jib sub-goal positional information that movement can arrive on current sub-trajectory path.
16. equipment as claimed in claim 10 is characterized in that,
Described control module, the concrete current location information that is used for according to mechanical jib each joint that collects, utilize the Jacobian matrix algorithm, obtain the matrix about each joint position information, and utilize Arithmetic of inverse kinematics, calculate the current angle information that need to move in each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive.
17. equipment as claimed in claim 16 is characterized in that, described equipment also comprises:
Interpolation module is used for for each joint, carries out following operation:
Utilize three smooth track function # (t)=a
0+ a
1t+a
2t
2+ a
3t
3, the curve of the movement locus in this joint is satisfied in calculating, wherein, and a
0, a
1, a
2And a
3The coefficient of three smooth track functions of expression, t represents the traveling time that mechanical jib is current, converts the path curves in this joint of calculating to angle information that this joint need to be moved.
18. described equipment as arbitrary in claim 10 ~ 17 is characterized in that, described equipment also comprises:
Update module, be used for on a strip trajectory path operation carry out finish after, before carrying out beginning for current sub-trajectory path operations, judge mechanical arm support tail end in a upper strip trajectory path actual displacement distance and displacement of targets apart from difference whether greater than setting numerical value;
When the difference of mechanical arm support tail end actual displacement distance and displacement of targets distance in a upper strip trajectory path greater than setting numerical value, calculate the range difference between in upper strip trajectory path actual displacement distance and displacement of targets distance, and according to the range difference that calculates, mechanical arm support tail end linear velocity and linear acceleration in a upper strip trajectory path, update stored in the length value in the current sub-trajectory path in the track formation;
When the difference of mechanical arm support tail end actual displacement distance and displacement of targets distance in a upper strip trajectory path is not more than setting numerical value, trigger control module.
19. the control system of a multi-joint class machinery jib is characterized in that, comprising:
Collecting device is for the positional information in current each joint of collection machinery jib;
Control appliance, for the method that the analog mechanical arm support tail end that utilizes setting moves, the trajectory path that mechanical arm support tail end is moved is divided into into N strip trajectory path, and wherein, N is not less than 1 positive integer;
For other each the strip trajectory paths except article one sub-trajectory path that obtains, carry out respectively following operation: displacement of targets distance, actual displacement distance, displacement line speed and displacement line acceleration according to mechanical jib motion on a upper strip trajectory path, calculate mechanical jib motion at displacement line speed, the displacement line acceleration in current sub-trajectory path, and at the setting-up time length value that in the cycle, current mechanical arm support tail end can move;
Utilize the computation of inverse-kinematics method of setting, the current angle information that need to move in calculating each joint of machinery jib when the sub-goal positional information that current mechanical arm support tail end can arrive, the angle information in each joint of obtaining is converted into control instruction, triggers electro-hydraulic proportional valve;
Electro-hydraulic proportional valve is used for the control instruction of receiving control apparatus, and controls each joint motions of mechanical jib.
20. the engineering machinery with multi-joint class machinery jib is characterized in that, comprises the control system of multi-joint class machinery jib as claimed in claim 19.
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Application publication date: 20130612 Assignee: Hunan intellectual technology Co., Ltd of Zhong Lianchong section Assignor: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. Contract record no.: X2020430000001 Denomination of invention: Control method, equipment, system and construction machinery for multi-joint mechanical arm support Granted publication date: 20150401 License type: Common License Record date: 20200116 |