CN104898720B - A kind of method for control speed of frog board robot - Google Patents
A kind of method for control speed of frog board robot Download PDFInfo
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Abstract
The present invention provides a kind of method for control speed of frog board robot, and detailed process is：The stabilization of pace of the frog board robot when ground is advanced is controlled using fuzzy PID algorithm, velocity-stabilization of the robot during descending art skating is realized by controlling brake on the larger road surface of the gradient.The present invention for the non-linear of frog board robot system, hysteresis quality and time variation characteristic strip come speed control hardly possible the problem of, utilize the algorithm and the control realization speed control smoothly of frog board robot of brake gear of fuzzy, avoid robot the shake during advance, be short of power the problems such as, also solve robot causes very much the problem of dangerous situation occurs soon in the speed during descending.
Description
Technical field
The present invention relates to a kind of method for control speed of frog board robot, belong to robotics.
Background technology
Robot technology is to be related to mechanics, sensor technology, actuation techniques, control technology, the communication technology and computer
One comprehensive new and high technology of technology, with the transition in epoch, expanding economy and the progress of science and technology are increasingly notable.Such as
The present, robot technology has obtained swift and violent development, widely should have been obtained in fields such as military affairs, social production, medical treatment, services
With.Robot is typically all made up of executing agency, drive device, detection means, control system and complicated machinery etc..
With the development of robot technology, robot system also becomes to become increasingly complex, and this brings to the control of robot
Difficulty.Especially when robot system possesses the features such as non-linear, close coupling, hysteresis quality and time variation, conventional control
Algorithm is difficult the control effect obtained, therefore occurs in that a lot of intelligent control algorithms at present, such as fuzzy control, optimum control,
Robust control and Neural Network Control Algorithm etc..The motion mode of frog board robot double-pendulum arms makes robot system have non-thread
Property, hysteresis quality and the characteristics of time variation, when motor speed is constant, the pace of robot often fluctuates larger, influence
The measurement of airborne sensor, is unfavorable for later application, therefore how to find suitable control algolithm to the progress of its pace
Stability contorting turns into the problem of must solving.
The content of the invention
In view of this, the invention provides a kind of method for control speed of frog board robot, machine can effectively be solved
The problem of fluctuation of people's pace is larger and is difficult to control to.
The method for control speed of the frog board robot of the present invention, it includes herein below：
Frog board robot alternately realizes advance by pendulum, outer pendulum in two leg arms, and respectively including two leg arms of control
Relative to the angular speed of frog board robot so as to controlling the forward acceleration of frog board robot when pendulum, outer pendulum；Two leg arms are to the frog
The close state of plate robot symmetry axis is interior pendulum, and the state that two leg arms leave frog board robot symmetry axis is outer pendulum；
(1) frog board robot is in the motion conditions of descending：
Step 1, the pivot angle between the two leg arms and frog board robot symmetry axis of measurement frog board robot, by two leg arms
Pivot angle turn to after maximum and keep constant；
Step 2, the front-drive speed of measurement frog board robot, frog board robot is obtained according to the front-drive speed
Pace, when the pace is more than or equal to given threshold, is stopped by controlling the brake steering wheel of frog board robot to drive
Car piece is rubbed to realize deceleration with front-wheel, until the pace of frog board robot is less than given threshold, control brake rudder
Machine unclamps；
(2) frog board robot is in other motion conditions in addition to descending：
When being put outside two leg arms, it is outer pendulum speed omega relative to the angular speed of frog board robot to keep two leg armsoutIt is permanent
It is fixed, and ωout=0.78rad/s；
When being put in two leg arms, given pace is obtained in real time and the difference of actual pace is missed as pace
Difference, real-time controlled quentity controlled variable is obtained according to the error rate of pace error and pace error；According to the real-time controlled quentity controlled variable
The interior slew rate degree of frog board robot is controlled in real time.
Further, the interior pendulum pivot angle of frog board robot swinging arm and the scope of outer pendulum pivot angle be taken as [π of 3 pi/2 0,11/
40], the amplitude of oscillation is taken as Amp=π/8.
Further, it is characterised in that stop 150ms when regulation minimum position is swung to including frog board robot.
Further, the acquisition methods of real-time controlled quentity controlled variable are：
Using the error rate of pace error and pace error as the input quantity of fuzzy controller, enter
Row Fuzzy processing and membership function obtain corresponding pid parameter in fuzzy reasoning table after calculating；Mould is carried out to the pid parameter
Real-time controlled quentity controlled variable is obtained after paste reasoning.
Beneficial effects of the present invention：
1st, to frog board robot system carried out modeling, emulation and test, obtained influence robot speed decision because
Element.
2nd, the stability contorting of robot pace is realized using fuzzy PID algorithm, is that the later application of robot is established
Basis is determined.
The problem of speed is uncontrolled when the 3rd, solving robot descending, allow that robot speed in descending keeps
In the range of a certain given speed.
Brief description of the drawings
Fig. 1 is frog board robot overall structure figure；
Fig. 2 is the Overall Analysis figure of frog board robot；
Fig. 3 is speed control system entire block diagram；
Fig. 4 is fuzzy controller theory diagram；
Fig. 5 is Fuzzy PID emulation and experimental result picture；
Fig. 6 is Velocity Step Technique response and steady state speed variation diagram.
Wherein, 1- is reverse-biased to wheel, 2- angular transducers, 3- motors, 4- steering-engines, 5- brake steering wheel, 6- brake blocks, 7-
Code-disc, 8- legs arm, 9- front-wheels, 10- central supporting platforms.
Embodiment
Present disclosure is illustrated below in conjunction with the accompanying drawings.
The barycenter acceleration of robot is only relevant with the anti-deviation angle with leg arm pivot angle, therefore passes through the swing of control machine people
Amplitude and swing speed can realize the control of acceleration, and then the pace of control machine people.The frog board machine of the present invention
The method for control speed of people takes constant outer pendulum speed omega in controlout, effect preferably ωout=0.78rad/s, inside
The speed of fuzzy-adaptation PID control robot is utilized during pendulum.Reason is as follows：
As shown in figure 1, be the overall structure figure of frog board robot, mainly from it is reverse-biased to wheel 1, angular transducer 2, motor 3,
Steering-engine 4, brake steering wheel 5, brake block 6, code-disc 7, leg arm 8, front-wheel 9 and central supporting platform 10 are constituted.It is reverse-biased to wheel 1
Effect is that thrust is produced under the swing of leg arm 8, and the swing of leg arm 8 is driven by the rotating of motor 3, angular transducer 2
Real-time swing position for detecting leg arm, steering-engine is used to drive front-wheel 9 to be turned, and brake steering wheel 5 is stopped for drive
Car piece 6, which is realized, to be braked, and central supporting platform 10 is used to supporting and connecting each component.
The motor shaft of two motors 3 is connected with the leg arm 8 of one end two respectively, two it is reverse-biased to wheel 1 respectively with two leg arms 8
The other end is connected, and is set angular transducer 2 with the junction of leg arm 8 in the central supporting platform 10 of frog board robot, is turned to rudder
The front end of machine 4 through central supporting platform 10 is connected with front-wheel 9, and brake steering wheel 5 is arranged on the side of front-wheel 9, code-disc 7 and brake block
6 are arranged at the end of front-wheel 9, and brake block 6 is flexibly connected with brake steering wheel 5.
As shown in Fig. 2 for the Overall Analysis figure of frog board robot, the implication representated by each parameter is as follows：Nfront- preceding
Take turns holding power by ground, Nl,NrHolding power of the leg arm of-left and right two by ground, GpThe weight of-robot support platform,
Gl,GrThe weight of-robot or so leg arm, Fl,FrThe anti-angular force of-left and right leg arm universal wheel by ground, ffront- front-wheel with
Force of rolling friction, f between groundl,frThe reverse-biased force of rolling friction between wheel and ground in-left and right, ωl,ωr- two leg arms are relative
Angular speed, β in support platforml,βr- universal wheel deviates leg arm equilbrium position angle, λ-universal wheel sloping shaft and vertical direction
Angle, θ1l,θ1rThe relevant angle variables of-robot, φl,φrThe angle of the overall direction of advance of-two leg arms and robot, Ψ1- in
Entreat support platform dimensional parameters, Ψ2- central supporting platform size parameter, L1- central supporting platform size parameter, L2- leg brachium
Degree, LG- central supporting platform center of gravity and the distance of front-wheel, ll,lr- front-wheel application point is straight to two leg arm universal wheel application point levels
Linear distance, the height of h- legs arm and central supporting platform centroidal distance ground, VpSpeed of-central supporting the platform with respect to ground.
For the ease of the simplification of robot model, in the research of advance model, following several presupposition and consideration are mainly done：
It is reverse-biased to anti-angular force F, holding power N and force of sliding friction f of the wheel by ground and two gravity of leg arm and making for holding power
It is located at point on same point, the contact point for being all located at universal wheel and ground；Due to force of rolling friction flAnd frFar smaller than front-wheel
Force of rolling friction ffront, so ignoring f hereinlAnd frMoment loading；Robot is when carrying out leg arm swing commutation, extroversion wheel
Deviation angle β value moment converts and reaches predetermined value；Advance model only considers the motion conditions of robot in the horizontal plane.
Modeling method process is as follows：
1. carry out dynamic analysis
Force analysis is carried out to robot with reference to sine and cosine theorem, power and torque equilibrium equation formula is set up, can obtain:
llNl·cos(Ψ2+θ2l)+lrNr·cos(Ψ2+θ2r)=
GpLG+Glll·cos(Ψ2+θ2l)+Grlr·cos(Ψ2+θ2r) (1)
+Flh·sin(φl+βl)+Frh·sin(φr+βr)
During robot straight ahead, leg arm mainly does open and close movement, and in order to ensure its exercise performance stability and
The reasonability of motion, the leg arm of robot makees symmetric motion.Therefore the unification of variable is carried out here：
Nl=Nr=N, Gl=Gr=G, θ2l=θ2r=θ2
θ1l=θ1r=θ1, ll=lr=l, ωl=ωr=ω
φl=φr=φ, βl=βr=β, Fl=Fr=F, fl=fr=fleg
The thrust during 2. pair robot advances is analyzed
Robot thrust suffered when advancing：
Fforward=2Fsin (φ+β)=2Ntan λ sin β sin (φ+β) (2)
Here set, β deviates equilbrium position inwardly, is negative value；Deviate equilbrium position outwards, be on the occasion of.
Composite type (1) and formula (2) can be obtained：
3. the resistance that pair robot is subject to is analyzed
Robot is when advancing, the force of rolling friction f mainly produced by front and back wheel and groundrollAnd robot and sky
The resistance f that gas friction is producedair, robot is by total resistance：
F=froll+fair=(Gp+2G-2N)μroll+2Nμroll·cos(φ+β)+KairVp (4)
Here coefficient of rolling friction μ is givenroll=0.02, coefficient of air resistance Kair=0.1.
4. carry out the calculating of barycenter acceleration
Assuming that the barycenter acceleration in robot kinematics is ao, then can be obtained by theorem of impulse：
Simultaneous formula (4) and formula (5) can be obtained:
Simultaneous formula (3) and formula (6) can be obtained：
5. obtain the influence factor of barycenter acceleration
It can be seen from formula (7) only leg arm pivot angle φ and it is reverse-biased to angle beta be what two variable quantities, i.e. robot advanced
Acceleration reverse-biased can be determined from pivot angle φ and to angle beta.And pivot angle φ is relevant with leg arm slew rate ω, it is reverse-biased to angle beta mainly with it is universal
Take turns related to the frictional force that ground is produced, therefore the control of acceleration can be realized by controlling slew rate ω during control, so that
The speed that control machine people advances.The formula provides feasibility for the control of robot, is that the control of robot specifies direction.
6. the situation for the frictional force that pair robot is subject to is analyzed：
Anti- angular force when robot advances：
F=Ntan λ sin β (8)
And this power is mainly derived from the frictional force that universal wheel is produced with ground, this frictional force and universal wheel rotating direction are just
Hand over, i.e., it is vertical with rolling friction force direction.According to the different situations of leg arm swing, frictional force has static friction and sliding friction
Two kinds of different existence forms, during sliding friction, have：
F=N μslide=Ntan λ sin β (9)
Wherein μslideFor the coefficient of sliding friction.
Then
μslide=tan λ sin β (10)
Take μslide=0.25, λ=19.5 °, β=π/4 can be obtained.
Because maximum static friction force is more slightly larger than force of sliding friction, and ground is more smooth, it is big must be more.Robot of the present invention is real
Mainly walked when testing on ceramic tile, by testing 1.225 times that maximum static friction is about sliding friction, then obtain βmax=
π/3, this is the maximum that β can reach.
In summary, the major influence factors of influence robot pace have：
(1) swing arm pivot angle scope
With reference to robot mechanostructural property itself, when robot pivot angle φ is too small or excessive, it can all cause robot
Because the imbalance problem of center of gravity is fallen down, and excessive pivot angle can also hinder the motion of robot.Selected by test, we
Robot pivot angle φ scope is taken as [π/40 of 3 pi/2 0,11], its swing arm amplitude of oscillation Amp=π/8, now robot operation is more
It is stable, this amplitude of oscillation is all used when hereafter being analyzed, is repeated no more.
(2) swing arm slew rate
Swing arm slew rate is to influence the major influence factors of the robot speed of service, and swing arm slew rate has interior slew rate and outer slew rate two
The situation of kind.
(3) dwell time
Skill during human body breaststroke is used for reference, when pendulum reaches defined minimum position in robot leg arm, it is necessary to pause one
The fixed time.Certain dead time can make it that the motion of robot is more reliable and more stable, leg arm conversion it is more smooth, no longer that
It is stiff.By test, the dwell time is chosen to be that StopTime150m is more suitable, now the operation conditions of robot compared with
It is good.
Influence of the interior slew rate degree of robot leg arm from outer slew rate degree to robot pace is different, in order to understand two
Influence relation of the person to robot speed, has carried out a series of emulation and experiment, has been obtained finally by Function Fitting such as ShiShimonoseki
System：
RobotSpeedsimulation=0.4017 ωin-0.01561ωin 2+0.01339ωout+0.004193ωout 2 (11)
RobotSpeedexperiment=0.3645 ωin-0.01908ωin 2+0.06387ωout-0.016930ωout 2 (12)
It is real from formula (11) and formula (12) it can be found that outer influence of the slew rate to itself speed of robot leg arm is more faint
Test and can seriously slow down the speed of service of robot when slew rate is smaller outside middle discovery；And the outer slew rate of excessive leg arm can cause universal wheel
Frictional force between ground is changed into sliding friction from static friction, and this will make it that the swing of leg arm becomes shake, leg arm pivot angle
Change procedure becomes extremely unstable, is unfavorable for the operation of robot, and some problems are also increased to control.And suitable leg arm
Outer slew rate, the frictional force is then that the swing process of leg arm in the case of static friction, static friction is then smooth, at this time robot
Motion is stablized relatively, and control is relatively easy, largely also protects mechanical structure and the executing agency of robot, therefore,
Certain outer pendulum speed omega is taken in controlout=0.78rad/s.
The method for control speed of the frog board robot of the invention of the present invention includes herein below：
(1) method for control speed is as follows during robot descending：
When robot descending, if without control of braking, the speed of robot will infinitely increase, and cause certain danger
Danger.During descending, motor 3 need not be rotated to drive leg arm 8 to be swung, can be with by angular transducer 2
The pivot angle of frog board robot leg arm 8 is measured, during descending, larger pivot angle and then guarantor can be turned to by motor 3
Hold motionless, be so beneficial to the stability for keeping descending.During downhill running, turn of the rotational band activity code disk 7 of front-wheel 9
It is dynamic, the velocity of rotation of front-wheel 9 can be measured, and then know the pace of robot, when the pace of robot is more than certain
During the threshold value of individual setting, now by the controller control brake steering wheel 5 of robot brake block 6 can be driven to be carried out with front-wheel 9
Friction is to realize deceleration, when the speed of frog board robot is reduced under this threshold value, then control brake steering wheel 5 unclamps, so
The speed of robot will be stablized in this threshold range set in advance, and the speed of robot will not cause because of too big
The generation of dangerous situation.
(2) speed control smoothly of robot：
As shown in Figure 3, it is the structured flowchart of speed control system, whereinFor given speed, V (t) is robot
Actual motion speed,For the rotating speed of target of robot, n (t) is the actual speed of robot.The speed control of robot
It is controlled using two closed loops, inner ring realizes the control to robot motor's rotating speed using traditional PID controller, outside
Ring realizes control to robot bulk velocity using fuzzy PID algorithm, wherein due to outside robot leg arm slew rate degree to machine
The bulk velocity influence of people is smaller, therefore outer slew rate degree keeps constant in the process of running for robot, is realized by bottom PID, only
Fuzzy PID is just used during being put in robot.As shown in Figure 4, it is the controller chassis of fuzzy controller
Figure, fuzzy-adaptation PID control is exactly the concept that fuzzy control is introduced in traditional PID control theory.Controller is by velocity error e
With error rate ecAs input quantity, then velocity error e and error rate ecSize carry out Fuzzy processing, then pass through
The calculating for crossing membership function searches out the corresponding k of fuzzy reasoning table set in advancep,ki,kdParameter, is then pushed away by fuzzy
Reason and anti fuzzy method calculate the amount of being accurately controlled and carry out controlled motor, to realize the control to robot speed, make robot
Speed is stablized in given speed alwaysIn certain scope.
Experimental verification：As shown in Figure 5, it is the fuzzy control in the case where given robot pace is 0.5m/s
Slew rate degree keeps outer slew rate degree constant for just, outer slew rate degree is negative in experimentation in the control effect of device processed, definition, interior
Slew rate degree is changed in real time according to the output of fuzzy controller, it can be seen that robot can be with another swing arm cycle
Given speed is reached, the actual speed of robot can be tracked to given speed.As shown in Figure 6, it is given speed
During change, the step response of robot and the velocity variations situation of stable state, it can be seen that when given speed changes, control
Device can make quick response, robot bulk velocity is quickly approached given speed, and the ripple near robot given speed
It is dynamic.
The embodiment of the present invention is described above in association with accompanying drawing, but these explanations can not be understood to limitation
The scope of the present invention, within the spirit and principles of the invention, any modifications, equivalent substitutions and improvements made etc. all should
Within protection scope of the present invention.
Claims (4)
1. a kind of method for control speed of frog board robot, before frog board robot is by the way that pendulum, outer pendulum are alternately realized in two leg arms
When entering, and controlling pendulum, outer pendulum including two leg arms respectively relative to frog board robot angular speed so as to controlling frog board robot
Forward acceleration；Two leg arms are interior pendulum to the close state of frog board robot symmetry axis, and two leg arms leave frog board machine
The state of people's symmetry axis is outer pendulum；Characterized in that, method for control speed includes herein below：
(1) frog board robot is in the motion conditions of descending：
Step 1, the pivot angle between the two leg arms and frog board robot symmetry axis of measurement frog board robot, by the pendulum of two leg arms
Angle, which is turned to after maximum, keeps constant；
Step 2, the front-drive speed of measurement frog board robot, the advance of frog board robot is obtained according to the front-drive speed
Speed, when the pace is more than or equal to given threshold, brake block is driven by controlling the brake steering wheel of frog board robot
Rubbed with front-wheel to realize deceleration, until the pace of frog board robot is less than given threshold, control brake steering wheel pine
Open；
(2) frog board robot is in other motion conditions in addition to descending：
When being put outside two leg arms, it is outer pendulum speed omega relative to the angular speed of frog board robot to keep two leg armsoutIt is constant,
And ωout=0.78rad/s；
When being put in two leg arms, the difference of given pace and actual pace is obtained in real time as pace error,
Real-time controlled quentity controlled variable is obtained according to the error rate of pace error and pace error；It is real-time according to the real-time controlled quentity controlled variable
Control the interior slew rate degree of frog board robot.
2. the method for control speed of frog board robot as claimed in claim 1, it is characterised in that frog board robot swinging arm it is interior
The scope of pendulum pivot angle and outer pendulum pivot angle is taken as [π/40 of 3 pi/2 0,11], and the amplitude of oscillation is taken as Amp=π/8.
3. the method for control speed of frog board robot as claimed in claim 1, it is characterised in that swung to including frog board robot
Stop 150ms during regulation minimum position.
4. the method for control speed of frog board robot as claimed in claim 1, it is characterised in that the acquisition side of real-time controlled quentity controlled variable
Method is：
Using the error rate of pace error and pace error as the input quantity of fuzzy controller, mould is carried out
Gelatinization processing and membership function obtain corresponding pid parameter in fuzzy reasoning table after calculating；Fuzzy push away is carried out to the pid parameter
Real-time controlled quentity controlled variable is obtained after reason.
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| CN106160620A (en) * | 2016-07-15 | 2016-11-23 | 武汉大学 | A kind of unpowered descending speed control method |
| CN106249739A (en) * | 2016-08-26 | 2016-12-21 | 广州小瓦智能科技有限公司 | Moving algorithm is hit in a kind of high-performance machine people's air defense |
| CN107242866B (en) * | 2017-05-05 | 2020-11-10 | 北京东软医疗设备有限公司 | Medical device and method for controlling movement of medical device |
| CN107272700B (en) * | 2017-07-25 | 2020-04-28 | 上海控创信息技术股份有限公司 | Suspension rail type robot motion control method and system |
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