CN105301959B - A kind of robot for space control method of independent of model parameter - Google Patents
A kind of robot for space control method of independent of model parameter Download PDFInfo
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Abstract
The invention discloses a kind of robot for space control methods of independent of model parameter, comprise the steps of：According to the number of degrees of freedom, of robot for space, determine that control channel number, control channel number are identical as number of degrees of freedom,；According to the joint angle and joint angular speed of the platform attitude angle of robot for space and each armed lever of angular speed and mechanical arm, the adaptive sliding mode controller of each control channel is determined；According to the high state observer of robot for space, the estimator of platform angular speed and each armed lever angular speed of mechanical arm and the estimator of the inside and outside disturbance of robot for space are obtained；The measurement amount of platform angular speed and each armed lever angular speed of mechanical arm is replaced using the estimator of platform angular speed and each armed lever angular speed of mechanical arm, and updates adaptive sliding mode controller.The present invention can not depend on systematic parameter, improve accurately controlling for robot for space.
Description
Technical field
The present invention relates to a kind of robot for space control method, more particularly to a kind of independent of model parameter, with height
The strong robustness Adaptive variable control of Order Observers designs, and belongs to robot for space field.
Background technology
Space Robot System is typical strong nonlinearity, a strongly coupled system, and in applying there are Parameter uncertainties,
The problems such as outer interference and Unmarried pregnancy, thus its control problem is complex.Currently, many control methods are applied to machinery
People's system, such as Adaptive PID Control (Kuc T Y, Han W G.An Adaptive PID Learning Control of
Robot Manipulators.Automatica,2000,36(5):717-725.), Sliding mode variable structure control (Man Z H,
Palaniswami M.Robust Tracking Control for Rigid Robotic Manipulators.IEEE
Transactions on Automatic Control,1994,39(1):154-159.), self adaptive control (Xu Y, Shum
H-Y,Lee J-J,Kanade T.Adaptive Control of Space Robot System With an Attitude
Controlled Base.Proceedings of the 1992 IEEE International Conference on
Robotics and Automation, Nice, France, 1992.), Robust Adaptive Control (Spong M W.On the
Robust Control of Robot Manipulators.IEEE Transactions on Automatic Control,
1992,37(11):1782-1786.) etc..But the information for needing systematic parameter of current existing control law more or less,
Such as quality, inertia, the installation parameter etc. in joint.Therefore it results in for different Space Robot Systems, needs for every
A system specially designs a controller to realize task object.This considerably increases the workloads of system design, and make to set
The controller part of meter relies on systematic parameter.Accordingly, it is desirable to devise not depending on the controller of robot for space parameter completely, make list
A controller is suitable for all Space Robot Systems.To the work of simplify control design.
For from control program, the control system of robot for space can be divided into centerized fusion and distributing control two
Class.From reduction controller design for the dependence of model, controller design flexibility and application range, it is clear that distributing control
Controller of the scheme processed more suitable for design completely independent system parameter；Also that is, each joint of mechanical arm is independently controlled
The design of device processed, in this way, designed controller can be completely independent of system dynamics model, and control method can be applied
In the mechanical arm system of all kinds of various configurations.
But distributing control program also has the technical difficulty that it is designed.Firstly, since each joint is independently set
The influence of meter, other joints and platform movement is outer disturbance for controller；Also, due to joint angular acceleration, very
It is difficult to measure to angular speed, these disturbances can not survey, it is also difficult to estimate the upper limit, this proposes the robustness of controller very high
It is required that.Secondly, in distributing control program, the mass property parameter (inertia) in each joint is a wide range of time-varying, this is to control
The Parameter uncertainties adaptability of device proposes challenge；Again, it since engineering upper joint angular speed is difficult to accurately measure, thus needs
Design only needs to measure the controller of joint angle.
Invention content
The technology of the present invention solves the problems, such as：A kind of independent of model parameter is overcome the deficiencies of the prior art and provide
Robot for space control method, the present invention are combined by high state observer and adaptive sliding-mode observer, effective bucking-out system
Internal and external interference, only measure joint of mechanical arm angle position information under the premise of, realize mechanical arm high-precision control.
Technical solution of the invention is：
A kind of robot for space control method of independent of model parameter, comprises the steps of：
(1) according to the number of degrees of freedom, of robot for space, control channel number, control channel number and number of degrees of freedom, phase are determined
Together；
(2) according to the joint angle and joint angle of the platform attitude angle of robot for space and each armed lever of angular speed and mechanical arm
Speed determines the adaptive sliding mode controller of each control channel in step (1)；
(3) according to the high state observer of robot for space, platform angular speed and each armed lever angle speed of mechanical arm are obtained
The estimator of degree and the estimator of the inside and outside disturbance of robot for space；
(4) estimator of platform angular speed and each armed lever angular speed of mechanical arm in (3) is utilized to replace the platform in (2)
The measurement amount of angular speed and each armed lever angular speed of mechanical arm, and repeat step (2) more row adaptive sliding mode controller.
Steps are as follows for the realization of adaptive sliding mode controller in step (2)：
(2.1) adaptive sliding mode controller of each control channel is determined：
Wherein, u indicates the controlled quentity controlled variable of adaptive sliding mode controller output；X indicates robot platform posture
The joint angle of angle or each armed lever of mechanical arm,Indicate the angular speed of platform or the angular speed of each armed lever of mechanical arm；λ ＞ 0；It indicates
Adaptive handoff gain；KD, λ and ε0It is constant, wherein KD＞ 0；κ ＞ 0, κ indicate that the adaptive gain variation of handoff gain is quick
Feel coefficient；Sat () is saturation function, definitionR is boundary layer thickness；
(2.2) by the movement of robot for space platform stance, that mechanical arm each armed lever rotation is considered as each degree of freedom is independent
One-dimensional second-order system, the one-dimensional second order model are：
Wherein, x indicates the joint angle of robot platform attitude angle or each armed lever of mechanical arm；Indicate platform angular speed or
The angular speed of each armed lever of mechanical arm；Indicate the angular acceleration of platform or the angular acceleration of each armed lever of mechanical arm；m0Representation space
The generalized mass of each freedom of motion of robot；The indeterminate of each freedom of motion generalized mass of Δ m representation spaces robot；
fc=um0；fdExpression system unknown disturbances power；
(2.3) it by the independent one-dimensional second order model of each degree of freedom in step (2.2), is arranged to obtain such as lower die
Type：
Wherein, the inside and outside disturbance of Δ u representation spaces robot；
(2.4) it is found out in judgment step (2.3)Whether the angular acceleration or mechanical arm each arm of desired platform are met
The angular acceleration of bar, if satisfied, illustrating that adaptive sliding mode controller is met the requirements in step (2.1), if not satisfied, adjusting parameter
The design of step (2.1) is re-started, until meeting the requirements；
(2.5) controlled quentity controlled variable exported according to adaptive sliding mode controller, determines the true control force f of robot for spacec1：
fc1=Kdynamicsu (5)
Wherein, KdynamicsIndicate (m0The estimated value of+Δ m).
High state Design of Observer step is in step (3)：
(3.1) willIt is organized into following form：
Wherein x1=x,
(3.2) High-Order Sliding Mode observer is designed：
Wherein, x1The measurement amount of the joint angle of each armed lever of platform attitude angle or mechanical arm of representation space robot, for
The amount of knowing；Indicate the estimator of the joint angle of platform attitude angle or each armed lever of mechanical arm,It indicatesDerivative；Indicate platform
The estimator of the joint angular speed of angular speed or each armed lever of mechanical arm,It indicatesDerivative；It indicates to become among observer
Amount,It indicatesDerivative；χ1Indicate intermediate variable；Indicate the estimated value to being disturbed inside and outside robot for space；γ1＞ 0,
γ2＞ 0 and γ3＞ 0 indicates observer parameter；
(3.3) by selecting suitable parameter γ1,γ2,γ3, can make estimated valueAnd disturbance estimated valueIn Finite-time convergence to its actual value.
The present invention having the beneficial effect that compared with prior art：
(1) present invention is combined adaptive sliding mode controller with High-Order Sliding Mode observer, is not only not necessarily to known polymerization and is disturbed
The upper bound, and polymerization disturbance can be compensated, further increase control accuracy, while without the speed amount of measuring system,
Solve the problems, such as that joint angular speed is not easy accurately to measure, versatility greatly enhances, and is easily achieved.
(2) present invention is suitable for having uncertain structural parameters, outer interference and nonlinear system, and is not necessarily to known polymerization
The upper bound of disturbance, present invention can ensure that systems compliant bounded stability, steady state controling precision can be by adjusting adaptive sliding mode
The parameter of controller is adjusted, controllable flexible, while High-Order Sliding Mode observer is wherein added in control, is inputted with control and is
Displacement of uniting is input, can accurately be estimated system speed amount and polymerization disturbance.
(3) present invention can be to each identical control of channel design structure of multivariant Space Robot System
Device processed, when controlled device changes, it is only necessary to be directed to the number of degrees of freedom, of controlled device, increase or decrease the channel of controller
Number can realize control targe, therefore practicability of the present invention and versatility are all very strong.
(4) application extension space of the present invention is larger, can be applied to different controlled devices, such as the space of various configuration
Robot, industrial robot, the even fields such as automobile are not necessarily to configuration speed sensor in the system that the present invention uses, it is only necessary to
Measuring system displacement simplifies Control system architecture, reduces cost.It is versatile due to this method, it is simple in structure, it compares
In other self-adaptation control methods, there is the prodigious market competitiveness.
(5) present invention's has universality, can be promoted, i.e., it is this kind of mostly freely to be applicable not only to robot for this method
Second order nonlinear time-varying systems are spent, and suitable for the control of general linear multi degrees of freedom kinematic system.
Description of the drawings
Fig. 1 is the method for the present invention flow chart；
Fig. 2 is autonomous configuration robot arm schematic diagram in the present embodiment；
Fig. 3 is that mechanical arm deforms schematic diagram in the present embodiment.
Specific implementation mode
The course of work and operation principle of the present invention are further explained below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of robot for space control method of independent of model parameter of the present invention comprises the steps of：
(1) according to the number of degrees of freedom, of robot for space, control channel number, control channel number and number of degrees of freedom, phase are determined
Together；
(2) according to the joint angle and joint angle of the platform attitude angle of robot for space and each armed lever of angular speed and mechanical arm
Speed determines the adaptive sliding mode controller of each control channel in step (1)；
(3) according to the high state observer of robot for space, platform angular speed and each armed lever angle speed of mechanical arm are obtained
The estimator of degree and the estimator of the inside and outside disturbance of robot for space；
The joint angle and angular speed of platform attitude angle and angular speed and each armed lever of mechanical arm in step 2 are by angular speed
What sensor obtained, since there are certain errors for sensor, so increasing the progress of high state observer in step (3)
The estimation of angular speed and interference improves control accuracy
(4) the estimator replacement step (2) of the platform angular speed and each armed lever angular speed of mechanical arm in step (3) is utilized
In each armed lever angular speed of platform angular speed and mechanical arm measurement amount, and repeat step (2) update adaptive sliding-mode observer
Device.
Steps are as follows for the realization of adaptive sliding mode controller：
The effect of adaptive sliding mode controller is according to system motion state and to obtain control moment to the estimation of disturbance, is
System motion reaches sliding-mode surface and tends to zero, which can adjust adaptive according to the degree of system state departure sliding-mode surface
Parameter size is answered, controller's effect is improved.
Steps are as follows for the realization of adaptive sliding mode controller：
(2.1) adaptive sliding mode controller of each control channel is determined：
Wherein, u indicates the controlled quentity controlled variable of adaptive sliding mode controller output；X indicates robot platform posture
The joint angle of angle or each armed lever of mechanical arm,Indicate the angular speed of platform or the angular speed of each armed lever of mechanical arm；λ ＞ 0；It indicates
Adaptive handoff gain；KD, λ and ε0It is constant, wherein KD＞ 0；κ ＞ 0, κ indicate that the adaptive gain variation of handoff gain is quick
Feel coefficient；Its value is smaller, and adaptive gain variation is faster；Sat () is saturation function, definitionR is boundary layer thickness；R values are smaller, and the characteristic of saturation function is closer to symbol
Number function, it is corresponding to control that error is also smaller, but the possibility for generating flutter is bigger.Its value is bigger, and the possibility of flutter is smaller, but controls
Error processed will increase.Therefore boundary layer thickness needs to compromise and choose.
The adaptive law principle of formula 1 and 2 can underdraw for：Using the size of S as the variation of adaptive handoff gain
Speed foundation, as long as S ≠ 0, handoff gain just continues to increase；It is bigger (| S | bigger) that sliding-mode surface is deviateed in system motion track, adaptive
It answers handoff gain to increase faster, to enhance the interference rejection capability of system, system mode is driven to move to sliding-mode surface S=0.ε0＞
0 is the constant value part in handoff gain, to further enhance robustness of the system to interference.
(2.2) by the movement of robot for space platform stance, that mechanical arm each armed lever rotation is considered as each degree of freedom is independent
Coupling terms between each degree of freedom are considered as outer interference by one-dimensional second-order system, which is：
Wherein, x indicates the joint angle of robot platform attitude angle or each armed lever of mechanical arm；Indicate platform angular speed or
The angular speed of each armed lever of mechanical arm；Indicate the angular acceleration of platform or the angular acceleration of each armed lever of mechanical arm；m0Representation space machine
The generalized mass of each freedom of motion of device people；The indeterminate of each freedom of motion generalized mass of Δ m representation spaces robot；fc
=um0；fdExpression system unknown disturbances power (such as friction and damping and environmental disturbances factor etc. of joint)；
The non-linear partial of expression system；Formula (1) has fully considered the Parameter uncertainties of system, non-linear and outer interference, is one
With extensive representative Kind of Nonlinear Dynamical System model.Different systemsFunctional form is different, is basis
What specific system obtained.
(2.3) it by the independent one-dimensional second order model of each degree of freedom in step (2.2), is arranged to obtain such as lower die
Type：
Wherein, (interior disturbance includes the uncertainty of mass inertia installation site for the inside and outside disturbance of Δ u representation spaces robot
And friction and damping, the outer disturbance in joint include unknown environmental disturbances power, it is assumed that internal and external interference is bounded, specific to solve
When Δ u can be replaced with sufficiently large constant, the range of constant is different and different according to the configuration of robot for space)；
(2.4) it is found out in judgment step (2.3)Whether the angular acceleration or mechanical arm each arm of desired platform are met
The angular acceleration of bar, if satisfied, illustrating that adaptive sliding mode controller is met the requirements in step (2.1), if not satisfied, adjusting parameter
The design of step (2.1) is re-started, until meeting the requirements；
(2.5) controlled quentity controlled variable exported according to adaptive sliding mode controller, determines the true control force f of robot for spacec1：
fc1=Kdynamicsu (5)
Wherein, KdynamicsIndicate (m0The estimated value of+Δ m).
High state observer
High state observer can estimate system disturbance, and be compensated in the controller；It can also estimate
The speed (platform stance angular speed, joint of mechanical arm angular speed) of system, and for controlling feedback, this makes the control program of system
In only need measure displacement (platform attitude angle, joint of mechanical arm angle), without measuring speed amount, enormously simplify system
Configuration.
High state Design of Observer step is：
(3.1) willIt is organized into following form：
Wherein x1=x,
(3.2) High-Order Sliding Mode observer is designed：
Wherein, x1The measurement amount of the joint angle of each armed lever of platform attitude angle or mechanical arm of representation space robot, for
The amount of knowing；Indicate the estimator of the joint angle of platform attitude angle or each armed lever of mechanical arm,It indicatesDerivative；Indicate flat
The estimator of the joint angular speed of corner of table speed or each armed lever of mechanical arm,It indicatesDerivative；It indicates to become among observer
Amount,It indicatesDerivative；χ1Indicate intermediate variable；Indicate the estimated value to being disturbed inside and outside robot for space；γ1＞ 0,
γ2＞ 0 and γ3＞ 0 indicates observer parameter (being set according to system)；
(3.3) by selecting suitable parameter γ1,γ2,γ3, can make estimated valueAnd disturbance estimated valueIn Finite-time convergence to its actual value.
Below to the course of work and work of the present invention by taking the armed lever length change stage by space allosteric humanoid robot as an example
It is further explained as principle：
The present invention can be applied to the robot of a variety of different roles, various configuration.Below with space allosteric humanoid robot
The armed lever length change stage for, illustrate that the method that is carried of the present invention is used for the specific step of closed loop configuration robot for space control
Suddenly.
As shown in Fig. 2, closed loop configuration robot for space include armed lever 1, armed lever 3, armed lever 4, armed lever 7, armed lever 8, armed lever 9,
Armed lever 10, armed lever 11, armed lever 12, each armed lever cut with scissors by passive cylinder or column hinge be connected.
As shown in figure 3, it is the relative translational movement displacement changed between armed lever 3 and armed lever 4, armed lever that this, which implements exemplary control purpose,
By 5 connection of passive cylinder hinge, (passive 5 inside of cylinder hinge does not have active actuator, needs at remaining hinge between 3 and armed lever 4
Apply control moment, control the relative motion of armed lever 3 and armed lever 4).First mechanical arm 14 (armed lever 3, armed lever 4, passive cylinder hinge 5
Constitute first mechanical arm 14 with armed lever 16) and first mechanical arm 15 (being made of armed lever 17 and other armed levers) capture is formed mutually
Closed loop configuration, unlocks passive cylinder hinge 5, applies control moment in remaining joint, makes the relative position between armed lever 3 and armed lever 4
Increase, realizes and change armed lever length.It is posture that the stabilization of maintenance robot platform posture, amount to be designed are needed during control
The control moment of control moment and each joint.
Step 1：(include 3 degree of freedom of robot platform posture, Yi Jiji according to robot for space number of degrees of freedom
Tool arm freedom of motion, 12), determine that control channel number is 15.
Step 2：To each channel, following adaptive sliding mode controller is designed,
Wherein, 3 channel parameters of gesture stability are identical, are KD=0.1, λ=0.5, ε0=0.05,κ=
0.02, τ=0.01, r=0.001；12 channel parameters of mechanical arm control are identical, are KD=1, λ=10, ε0=0.1,κ=0.001, τ=0.01, r=0.001.
Step 4：It introduces High-Order Sliding Mode observer to estimate system disturbance, and is compensated in the controller.High-order
Observer Structure is given by, and the observer parameter in all 15 channels is identical,
Wherein γ1=2.1, γ2=4.2 and γ3=8.4.
The scope of the present invention is not only limited to the present embodiment, the present embodiment for explaining the present invention, it is all with it is of the invention
Change or modification under the conditions of same principle and design is within protection domain disclosed by the invention.
Claims (1)
1. a kind of robot for space control method of independent of model parameter, it is characterised in that comprise the steps of：
(1) according to the number of degrees of freedom, of robot for space, determine that control channel number, control channel number are identical as number of degrees of freedom,；
(2) according to the joint angle and joint angle of the platform attitude angle of robot for space and each armed lever of angular speed and mechanical arm speed
Degree, determines the adaptive sliding mode controller of each control channel in step (1)；
Realize that steps are as follows：
(2.1) adaptive sliding mode controller of each control channel is determined：
Wherein, u indicates the controlled quentity controlled variable of adaptive sliding mode controller output；X indicates robot platform attitude angle or machine
The joint angle of each armed lever of tool arm,Indicate the angular speed of platform or the angular speed of each armed lever of mechanical arm；λ>0；Expression is adaptively cut
Change gain；Indicate the derivative of adaptive handoff gain；KD, λ and ε0It is constant, wherein KD>0；κ>0, κ indicates handoff gain
Adaptive gain change sensitivity coefficient；Sat () is saturation function, definitionr
For boundary layer thickness；
(2.2) by the movement of robot for space platform stance, that mechanical arm each armed lever rotation is considered as each degree of freedom is independent one-dimensional
Second-order system, the one-dimensional second order model are：
Wherein, x indicates the joint angle of robot platform attitude angle or each armed lever of mechanical arm；Indicate the angular speed or machinery of platform
The angular speed of each armed lever of arm；Indicate the angular acceleration of platform or the angular acceleration of each armed lever of mechanical arm；m0Representation space robot
The generalized mass of each freedom of motion；The indeterminate of each freedom of motion generalized mass of Δ m representation spaces robot；fc=
um0；fdExpression system unknown disturbances power；The non-linear partial of expression system；
(2.3) it by the independent one-dimensional second order model of each degree of freedom in step (2.2), is arranged to obtain such as drag：
Wherein, the inside and outside disturbance of Δ u representation spaces robot；
(2.4) it is found out in judgment step (2.3)Whether the angular acceleration or mechanical arm each armed lever of desired platform are met
Angular acceleration, if satisfied, illustrating that adaptive sliding mode controller is met the requirements in step (2.1), if not satisfied, adjusting parameter is again
The design of step (2.1) is carried out, until meeting the requirements；
(2.5) controlled quentity controlled variable exported according to adaptive sliding mode controller, determines the true control force f of robot for spacec1：
fc1=Kdynamicsu
Wherein, KdynamicsIndicate (m0The estimated value of+Δ m)；
(3) according to the high state observer of robot for space, platform angular speed and each armed lever angular speed of mechanical arm are obtained
The estimator of the inside and outside disturbance of estimator and robot for space；
The high state Design of Observer step is：
(3.1) willIt is organized into following form：
Wherein x1=x,
(3.2) high state observer is designed：
Wherein, x1The measurement amount of the joint angle of each armed lever of platform attitude angle or mechanical arm of representation space robot is known quantity；Indicate the estimator of the joint angle of platform attitude angle or each armed lever of mechanical arm,It indicatesDerivative；Indicate platform angular speed
Or the estimator of the joint angular speed of each armed lever of mechanical arm,It indicatesDerivative；Indicate observer intermediate variable,It indicatesDerivative；χ1Indicate intermediate variable；Indicate the estimated value to being disturbed inside and outside robot for space；γ1>0、γ2>0 and γ3>0
Indicate observer parameter；
(3.3) by selecting suitable parameter γ1,γ2,γ3, can make estimated valueAnd disturbance estimated value
Finite-time convergence is to its actual value；
(4) in the estimator replacement step (2) for utilizing the platform angular speed and each armed lever angular speed of mechanical arm in step (3)
The measurement amount of platform angular speed and each armed lever angular speed of mechanical arm, and repeat step (2) and update adaptive sliding mode controller.
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