CN104808495A - Robot steering gear control system based on gyroscope feedback - Google Patents
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Abstract
The invention relates to a robot steering gear control system based on gyroscope feedback. The robot steering gear control system comprises a sensor module, a controller module, a steering gear module and a power supply module, wherein the sensor module is connected with the steering gear module, the output end of the sensor module is connected with an AD interface of the controller module, and the sensor module is connected to the input end of a PID (Proportion Integration Differentiation) controller module of the controller module through the AD interface; the output end of the PID controller module is connected with the input end of a PWM (Pulse-Width Modulation) signal generation module, and the output end of the PWM signal generation module is connected with the steering gear module through a GPIO (General Purpose Input/Output) port of the controller module. Angular velocity and angular displacement information is collected by the sensor module and is converted into voltage signals which is sent to the controller module, so as to obtain input signals of the PID controller module, a control signaling or preset track of an upper computer is combined, and PWM signals which are used for driving a steering gear are generated through analysis processing of the controller module for real-time position calibration. The robot steering gear control system has the advantages of simple structure and excellent performance, and the problems of lacking of feedback adjustment of traditional robot steering gear control and negation on a nonlinear system are solved.
Description
Technical field
The invention belongs to robot servos control field, relate to a kind of steering gear control system based on gyroscope feedback, be applied to the driving PWM waveform of the pid control algorithm generation steering wheel calibration based on fuzzy hybrid logic especially, carry out real-time position correction.
Background technology
Along with constantly improving and development of computer science and technology, human being's production working strength is increasing, labour demand constantly increases, and individual labor power resource-constrained, for alleviating this contradiction, the mankind start to launch research robot field, it is desirable to promote the progress of society by the high efficiency of robot, implementation capacity and yield-power improves.Robot is subordinate to Based Intelligent Control category, and motion planning and robot control to be robot can march toward practical key, environmental parameter collection, control algolithm generate and controlled motion trend is the starting point that intelligent robot moves, and effective control of steering wheel directly affects the dirigibility of robot motion, ageing core.Based on gyroscope feedback steering gear control system with Special d. c. electric motor (steering wheel) for driving arrangement; perform on control basis at steering wheel to robot motion; gyroscope is utilized to carry out the movement locus calibration of robot; realize its feedback compensation control; ensure that robot has more independences; possess and environmentally change oneself behavior of spontaneous adjustment, realize self-configuring, self-optimizing, self-healing, self-shield to greatest extent.
Steering gear control system traditional at present mainly contains: (1), based on pot servos control, generally not as novel robot servos control, it only can calculate steering wheel rotating speed, lacks feedback adjusting, and therefore control system lacks target lock-on controlling mechanism; Positioning precision is also lower simultaneously; (2) based on the steering gear control system of traditional PID control, it adopts accurate mathematical model, possess the advantages such as control structure is simple, control design case is convenient, controllability is strong, but for nonlinear system, high-order and the system that there is time delay, its application is had difficulty in taking a step; (3) based on the steering gear control system of fuzzy control, design major part only derives from deviser's experience, lacks accurate, tight mathematical derivation, and therefore, the reliability of fuzzy control, controllability and stability are also deeply concerned.
Summary of the invention
The technical problem to be solved in the present invention is, in nonlinear Control, there is complex structure for traditional steering gear control system, above-mentioned deficiency that controllability is had a greatly reduced quality, a kind of robot steering gear control system based on gyroscope feedback is provided, realize the feedback compensation control to steering wheel, ensure that robot has more independence.
The present invention for solving the problems of the technologies described above adopted technical scheme is:
Based on a robot steering gear control system for gyroscope feedback, at least comprise as lower module:
Sensor assembly, for angular velocity, the angular displacement information of Real-time Collection robot steering wheel in robot kinematics, and the analog voltage signal angular velocity of collection, angular displacement information being converted to conditioning exports;
Controller module, comprise PID controller module and pwm signal generation module, described PID controller module is used for the sample parameter of sensor assembly collection to process, and being transformed into pid control parameter, PID controller module adopts the pid control algorithm based on fuzzy hybrid logic control to regulate pwm signal; Pwm signal generation module, for generation of the pwm signal of servo driving, pwm signal is exported by the GPIO mouth of controller module;
PC control signaling load module, for realizing the input of top level control signaling;
Steering wheel module;
Power module, for providing power supply for system;
Described sensor assembly and steering wheel model calling, the output terminal of sensor assembly is connected with the AD interface of controller module, and sensor assembly is connected by the input end of the PID controller module of AD Interface and Controler module; The output terminal of PID controller module is connected with the input end of pwm signal generation module, the GPIO mouth of the output terminal via controller module of pwm signal generation module and steering wheel model calling; PC control signaling load module is connected with controller module by serial communication.
By such scheme, described sensor assembly adopts the gyroscope ADXL335 accelerometer chip of the small size of Analog Device company, slim, low-power consumption, inside comprises polysilicon surface micromachined transducer, signal conditioning circuit, sensor is for gathering kinematic robot angular velocity, angular displacement information, and signal conditioning circuit is used for analog voltage signal proportional to angular velocity, angular displacement information process output X, Y, Z triple channel and acceleration.
By such scheme, described controller module adopts 32 ARM Cortex-M4 processor STM32F415 chips of technical grade.
By such scheme, described PID controller module comprises PID controller, fuzzy controller, PID controller will be sent to the differential interface of fuzzy controller after deviation signal process, fuzzy controller is injected into PID controller for generation of ratio, integration, differential weighting parameter, PID controller, after receiving above-mentioned parameter, produces the control ratio function of pwm signal.
By such scheme, described pwm signal generation module utilizes the timer sum counter of controller module chip internal, corresponding timer interruption number of times is designed by the reference period of timer, to be added up the pulse width of signal that interruption times controls to export by counter, produce the pwm signal (i.e. control PWM waveform effective width) of enough driving steering wheel predetermined values.
By such scheme, described steering wheel module chooses Futuba S300 steering wheel.
Principle of work of the present invention: process control technology is applied in steering gear control system, in real time voltage signal is converted to the information process such as Schemes of Angular Velocity Estimation for Robots, angular displacement in motion by gyroscope, obtain PID controller module input signal, in conjunction with PC control signaling or desired guiding trajectory, through controller module analysis and treament (pid control algorithm based on fuzzy hybrid logic control), controller module produces the drive singal PWM waveform of servos control, achieves the real time position calibration of robot.
Beneficial effect of the present invention is:
1, under the present invention is directed to nonlinear system, process control structure is simple, it is convenient to control, the large heavy discount of superior performance characteristic, algorithmic stability deficiency of time problem, use gyroscope Real-time Data Acquisition Technology, fuzzy logic control technology, software PWM waveform generation technique, by going deep into the dirigibility of systematic research kinematic robot, ageing assessment criteria, realize the feedback compensation control to steering wheel, ensure that robot has more independence, possess and environmentally change oneself behavior of spontaneous adjustment, realize self-configuring to greatest extent, self-optimizing, self-healing, self-shield, very important meaning is had to robot practicality of can marching toward,
2, gyroscope is to the Real-time Collection of robot three-dimensional (X, Y, Z) motion state, and feeds back to slave computer by Signal transmissions.Slave computer judges robot real time kinematics state.By slave computer, robot motion's state is compared with predetermined value, and the real-Time Compensation correction of steering wheel motion control is carried out to comparison difference, thus significantly improve the kinematic accuracy of steering wheel;
3, PID controller module uses based on the pid control algorithm of fuzzy hybrid logic control, and structure is simple, superior performance characteristic has a greatly reduced quality problem in nonlinear system possessing to overcome legacy system; The algorithmic stability time also significantly promotes.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of the robot steering gear control system that the present invention is based on gyroscope feedback;
Fig. 2 is workflow diagram of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, the robot steering gear control system based on gyroscope feedback of the present invention, at least comprises as lower module:
Sensor assembly, for angular velocity, the angular displacement information of Real-time Collection robot steering wheel in robot kinematics, and the analog voltage signal angular velocity of collection, angular displacement information being converted to conditioning exports; Sensor assembly adopts the gyroscope ADXL335 accelerometer chip of the small size of Analog Device company, slim, low-power consumption, inside comprises polysilicon surface micromachined transducer, signal conditioning circuit, sensor is for gathering kinematic robot angular velocity, angular displacement information, and signal conditioning circuit is used for analog voltage signal proportional to angular velocity, angular displacement information process output X, Y, Z triple channel and acceleration;
Controller module, comprise PID controller module and pwm signal generation module, described PID controller module is used for the sample parameter of sensor assembly collection to process, and being transformed into pid control parameter, PID controller module adopts the pid control algorithm based on fuzzy hybrid logic control to regulate pwm signal; Pwm signal generation module, for generation of the control signal of servo driving; Controller module adopts 32 ARM Cortex-M4 processor STM32F415 chips of technical grade; PID controller module comprises PID controller, fuzzy controller, PID controller will be sent to the differential interface of fuzzy controller after deviation signal process, fuzzy controller is injected into PID controller for generation of ratio, integration, differential weighting parameter, PID controller, after receiving above-mentioned parameter, produces the control ratio function of pwm signal; Pwm signal generation module adopts the timer sum counter of controller module chip internal, corresponding timer interruption number of times is designed by the reference period of timer, to be added up the pulse width of signal that interruption times controls to export by counter, thus producing the pwm signal (i.e. control PWM waveform effective width) enough driving steering wheel predetermined value, pwm signal is exported by the GPIO mouth of controller module;
PC control signaling load module, for realizing the input of top level control signaling;
Steering wheel module;
Power module, for providing power supply for system, power module adds overload protection and to have the hiccups pattern, can automatically recover after load abnormal condition removes; Overvoltage protection mode also adopts the pattern of having the hiccups, and can automatically recover after electric voltage exception condition removes.Safety standard is by ANSI/AAMI ES60601-1, TUV EN60601-1, and IEC60601-1 certification is passed through, electromagnetic compatibility transmitting meets EN55011 (CISPR11) Class B, EN61000-3-2 ,-3, electromagnetic compatibility immunity meets EN61000-4-2, and 3,4,5,6,8,11, EN606011-1-2, A level industrial standard;
Described sensor assembly and steering wheel model calling, the output terminal of sensor assembly is connected with the AD interface of controller module, and sensor assembly is connected by the input end of the PID controller module of AD Interface and Controler module; The output terminal of PID controller module is connected with the input end of pwm signal generation module, the GPIO mouth of the output terminal via controller module of pwm signal generation module and steering wheel model calling, and steering wheel module chooses Futuba S300 steering wheel; PC control signaling load module is connected with controller module by serial communication.
During use, steering gear control system of the present invention is arranged on kinematic robot inside, for ease of the input of PC control signaling, PC control signaling load module is arranged on can touch position, and the position of sensor assembly is any.
See Fig. 2, the workflow in the actual use procedure of the present invention is as follows:
Kinematic robot starts mobile, and power module is powered, and steering gear control system loads, and initialization completes, and each module is started working.Whether first system detects host computer transmitting signaling downwards, if had, then initial state information is configured to issue signaling status; Otherwise use desired guiding trajectory.Sensor assembly gathers kinematic robot initial angular velocity, angular displacement information, and the voltage signal angular velocity of collection, angular displacement information being converted to conditioning exports, and is sent to the AD interface of controller module in real time; PID controller module processes the data received, pass through and issue signaling status or the comparison of desired guiding trajectory state, and according to the pid control algorithm based on fuzzy hybrid logic control, determine pid control parameter, the pid control parameter of acquisition is combined with pwm signal generation module, produces the pwm signal (servo driving signal) carrying out feeding back drived control.
Steering gear control system centered by controller module, Real-time Collection and process, specific as follows:
1, after system power supply, embedded program loads, system initialization;
2, system initialization completes and enters system call process, and first system judges whether host computer has transmitting signaling downwards, as then do not used desired guiding trajectory as mobile logo; Otherwise, use the corresponding track of lower signaling as mobile logo;
3, gyroscope ADXL335 uses the inner polysilicon surface micromachined transducer comprised to gather kinematic robot angular velocity, angular displacement information, exports X, Y, Z triple channel and the proportional analog voltage signal of acceleration through signal conditioning circuit process;
4, the analog voltage signal digitizing will collected, and compare with the initial value stored, judge the movement locus of kinematic robot;
5, the top level control signaling that inputs in conjunction with PC control signaling load module of PID controller module or pre-set track and the movement locus that collects are compared, calculate deviation signal, subsequently PID controller is directly sent in deviation signal one tunnel, one tunnel is directly sent to fuzzy controller and after internal storage location process, is sent to the differential interface of fuzzy controller simultaneously, after fuzzy control process, generation ratio, integration, differential weighting parameter are injected into PID controller, PID controller, after receiving above-mentioned parameter, produces the control ratio function of pwm signal;
6, the ratio that exports according to PID controller module of pwm signal generation module and dutycycle, produce corresponding PWM waveform in order to driving steering wheel, control steering wheel and turn to, reach control steering wheel movement locus object;
7, system possesses self-detection mechanism, and when after device power, system initialization completes self-inspection, if self-inspection goes wrong, by reading error data mode, error data process will be carried out, if process successfully, then enter step 3), otherwise enter default configuration, finally enter step 2;
When utilizing native system can realize robot motion; analysis robot movement locus; and compare with desired guiding trajectory or the corresponding track of host computer signaling and process; robot movement tendency is adjusted in real time by feedback system; for robot realizes self poisoning and detection surrounding environment, find effective destination track that arrives and establish solid theoretical foundation.
Should be understood that above-described embodiment is only not used in for illustration of the present invention to limit the scope of the invention.In addition should be understood that those skilled in the art can make various changes or modifications the present invention, and do not depart from the spirit and scope of technical solution of the present invention, and it all should be encompassed in right of the present invention after the content of having read the present invention's instruction.
Claims (6)
1., based on a robot steering gear control system for gyroscope feedback, it is characterized in that, at least comprise as lower module:
Sensor assembly, for angular velocity, the angular displacement information of Real-time Collection robot steering wheel in robot kinematics, and the analog voltage signal angular velocity of collection, angular displacement information being converted to conditioning exports;
Controller module, comprise PID controller module and pwm signal generation module, described PID controller module is used for the sample parameter of sensor assembly collection to process, and being transformed into pid control parameter, PID controller module adopts the pid control algorithm based on fuzzy hybrid logic control to regulate pwm signal; Pwm signal generation module, for generation of the pwm signal of servo driving, pwm signal is exported by the GPIO mouth of controller module;
PC control signaling load module, for realizing the input of top level control signaling;
Steering wheel module;
Power module, for providing power supply for system;
Described sensor assembly and steering wheel model calling, the output terminal of sensor assembly is connected with the AD interface of controller module, and sensor assembly is connected by the input end of the PID controller module of AD Interface and Controler module; The output terminal of PID controller module is connected with the input end of pwm signal generation module, the GPIO mouth of the output terminal via controller module of pwm signal generation module and steering wheel model calling; PC control signaling load module is connected with controller module by serial communication.
2. the robot steering gear control system based on gyroscope feedback according to claim 1, its feature is: described sensor assembly adopts the gyroscope ADXL335 accelerometer chip of the small size of Analog Device company, slim, low-power consumption, inside comprises polysilicon surface micromachined transducer, signal conditioning circuit, sensor is for gathering kinematic robot angular velocity, angular displacement information, and signal conditioning circuit is used for analog voltage signal proportional to angular velocity, angular displacement information process output X, Y, Z triple channel and acceleration.
3. the robot steering gear control system based on gyroscope feedback according to claim 1, its feature is: described controller module adopts 32 ARM Cortex-M4 processor STM32F415 chips of technical grade.
4. the robot steering gear control system based on gyroscope feedback according to claim 1, its feature is: described PID controller module comprises PID controller, fuzzy controller, PID controller will be sent to the differential interface of fuzzy controller after deviation signal process, fuzzy controller is injected into PID controller for generation of ratio, integration, differential weighting parameter, PID controller, after receiving above-mentioned parameter, produces the control ratio function of pwm signal.
5. the robot steering gear control system based on gyroscope feedback according to claim 1, its feature is: described pwm signal generation module utilizes the timer sum counter of controller module chip internal, corresponding timer interruption number of times is designed by the reference period of timer, to be added up the pulse width of signal that interruption times controls to export by counter, produce the pwm signal of enough driving steering wheel predetermined values.
6. the robot steering gear control system based on gyroscope feedback according to claim 1, its feature is: described steering wheel module chooses Futuba S300 steering wheel.
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| CN105945994A (en) * | 2016-05-10 | 2016-09-21 | 华讯方舟科技有限公司 | Calibrating method and device for robot head joint steering engine positions and robot |
| CN106610582A (en) * | 2015-10-27 | 2017-05-03 | 哈尔滨建成集团有限公司 | Compensation method for performance change, caused by ambient temperature change, of electric steering engine |
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| CN105945994A (en) * | 2016-05-10 | 2016-09-21 | 华讯方舟科技有限公司 | Calibrating method and device for robot head joint steering engine positions and robot |
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| CN107336239A (en) * | 2017-07-05 | 2017-11-10 | 广东工业大学 | A kind of robot end's Electronic Actuator Control System |
| CN108196442A (en) * | 2018-03-02 | 2018-06-22 | 广州大学 | Steering gear control system and method based on fuzzy neural PID control and absolute encoder |
| CN108196488A (en) * | 2018-03-06 | 2018-06-22 | 上海木爷机器人技术有限公司 | The kinetic control system and method for a kind of robot |
| CN109141390A (en) * | 2018-06-13 | 2019-01-04 | 东南大学 | A kind of hemispherical resonant gyro fuzzy PID control method and control circuit based on genetic algorithm and clone algorithm optimization |
| CN109141390B (en) * | 2018-06-13 | 2020-06-30 | 东南大学 | Fuzzy PID control method and control circuit of hemispherical resonator gyroscope |
| CN109557816A (en) * | 2018-12-28 | 2019-04-02 | 武汉工程大学 | A kind of suppressing method, system and the medium of piezoelectric ceramic actuator lagging characteristics |
| CN109557816B (en) * | 2018-12-28 | 2021-06-29 | 武汉工程大学 | Method, system and medium for inhibiting hysteresis characteristic of piezoelectric ceramic actuator |
| CN115431272A (en) * | 2022-09-23 | 2022-12-06 | 上海合时智能科技有限公司 | Robot control system, control method, control device and robot |
| CN117656101A (en) * | 2024-02-01 | 2024-03-08 | 南京信息工程大学 | STM 32-based self-balancing desktop robot system |
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