CN107255922A - A kind of fast turn of speed method of estimation of remote control system based on adaptive double-deck sliding formwork - Google Patents
A kind of fast turn of speed method of estimation of remote control system based on adaptive double-deck sliding formwork Download PDFInfo
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Abstract
The invention discloses a kind of fast turn of speed method of estimation of the remote control system based on adaptive double-deck sliding formwork, the Teleoperation Systems being made up of Liang Ge 3DOFs robot, the quality and length information of robot measurement connecting rod under immunization with gD DNA vaccine are chosen；Second order Lagrange system model under the task space of remote control system is set up according to energy-balance equation；Using the position signalling of the position coder robot measurement of robot in itself, adaptive double-deck supercoil sliding formwork full micr oprocessorism is designed according to positional information, and show that by the information observed the power of estimation seeks method；Situation is changed according to external force size different under different working environments and external force, the observer parameter sufficiently large by choosing is to ensure that observer system is stable.The inventive method has the advantages that cost is low, interference is insensitive, the robust performance of enhancing closed-loop system.
Description
Technical field
It is especially a kind of based on adaptive double-deck sliding formwork the present invention relates to teleoperation robot external force observation technology field
The fast turn of speed method of estimation of remote control system.
Background technology
Remote control system operates a playscript with stage directions floor-washing robot to control tele-robotic to complete to refer to by network by an operator
Determine task.Teleoperation has been widely used in space technology, deep-sea exploration, in tele-medicine and extreme environment.
If tele-robotic can feed back to the tactile data of external environment at main robot end in remote control system application, operation
The telepresenc of person will be greatly improved.Telepresenc technology is the core of man-machine interaction remote operating.Distant behaviour with telepresenc
It is that principal and subordinate is that a kind of of remote-controlled robot is developed as robot system, lays particular emphasis on reproduction of the remote ground environment around operator, this
Force snesor is needed to realize.On the one hand, in actual applications, force snesor exist inertia force influence is serious, dynamic frequency
Low, static couple is larger and the problems such as big volume, and do not allow under some adverse circumstances the use of sensor.It is another
Aspect, it is considered to save sensor in itself expensive cost the problem of.Therefore in the urgent need to proposing new fast and accurately power
Method of estimation, so that instead of demand of the Teleoperation Systems to force snesor.
For the uncertain and external interference of system, sliding formwork control provides good control effect.Utilize adaptive pair
The method design omnidirectional vision of layer supercoil finite time sliding formwork can observe that the state of system and the external world are dry well
Disturb.The method of adaptive sliding mould parameter can adjust sliding formwork parameter with the size of external interference.But based on traditional sliding formwork
State observer larger sliding formwork parameter can be set because of unknown external interference, the degree of accuracy of its observation signal can be by
To very big influence.And existing most of Design of Observer scheme is dependent on the rate signal of remote control system robot
Assuming that system speed is, it is known that add the cost of equipment.In practice, often position signalling is easily measured under normal circumstances, and
The signal of speed and external force is difficult to measure.
The content of the invention
Present invention aims at provide it is a kind of result in correct velocity and external power signal based on adaptive double-deck sliding formwork
The fast turn of speed method of estimation of remote control system.
To achieve the above object, following technical scheme is employed：The method of the invention step is as follows：
The Teleoperation Systems that S1, selection one are made up of Liang Ge 3DOFs robot, under immunization with gD DNA vaccine
The quality and length information of robot measurement connecting rod；Set up according to energy-balance equation two under the task space of remote control system
Rank Lagrange system model；
S2, position coder robot measurement using robot in itself position signalling, according to positional information design from
Double-deck supercoil sliding formwork full micr oprocessorism is adapted to, and show that by the information observed the power of estimation seeks method；
S3, situation changed according to external force size different under different working environments and external force, it is sufficiently large by choosing
Observer parameter is to ensure that observer system is stable.
Further, in the step S1, the quality and length information of the connecting rod of robot can be in machines under immunization with gD DNA vaccine
Obtained in the shop instructions of device people；The main robot that is calculated respectively according to the length and quality information of bar and from robot
Inertial matrix, coriolis force, centrifugal force matrix, Jacobian matrix and gravity.
Further, in the step S1, set up under the task space of remote control system second order Lagrangian model by with
Lower condition is obtained：
According to the lagrangian dynamics model of the robot system generally used provide master-slave robotic system based on
The kinetic model of joint space：
Wherein, m represents main robot, and s is represented from robot；qm(t),qs(t)∈RnFor joint displacements matrix；For joint velocity matrix；Mm(qm),Ms(qs)∈Rn×nFor the inertial matrix of positive definite；For coriolis force and centrifugal force matrix；Gm(qm),Gs(qs)∈RnFor gravity torque；Fh
∈RnAnd Fe∈RnThe torque that the torque and environment that respectively human operator applies apply；Fm∈RnAnd Fs∈RnFor offer
Control mode；
Displacement and speed main robot joint are write as following form
It can obtain
Corresponding, displacement and speed of the definition from robot are as follows
It can obtain
Further, in the step S2, the encoder carried using robot obtains joint position information, and design is complete
State observer is tieed up, observer form is as follows
Wherein, WithIn i-th of element have following form
Wherein,It is respectively vectorialI-th of element；Definition
Form it is as follows
Gain alpham(t),βm(t) i-th of element has following form
Wherein,For normal number, and it is vector αm0,βm0I-th of element；
Based on formula (3), (6) obtain error system as follows
Wherein,
Because error system (10) is finite time stability；So can be obtained by Li Puxizi conditions
fm(t)=- Mm -1(qm1)Fh (11)
Due to error termFinite time levels off to zero point, so can obtain For vector fm(t) i-th of element；
The method of double-deck quick regulation is set up on the basis of " equivalent control " method；Because the signal that high frequency switches is difficult
It is utilized, equivalent output eliminates the part of high frequency switching as a kind of means of filtering；Using following filtered version
Wherein, it is vectorialIt is wherein vectorEquivalent output, variableFor vectorI-th of element,
VariableForDerivative, variableFor vectorI-th of element,For a minimum normal number
And be vector τmI-th of element；
The method of double-deck quick regulation：
A variable δ is defined firstm(t)∈Rn, the form of δ (t) i-th of element is as follows
Wherein,For vectorial am,βm0I-th of element,For constant and satisfaction For a minimum normal number and be vectorial εmI-th of element；Vectorial am,εmRepresent safe range and add
Stable conservative；Defined variableIt is as follows
Wherein, variableFor vectorial lm(t)∈RnI-th of element；For normal number and be vectorial lm0I-th
Individual element；Derivative meet following formula
Wherein, variableFor vectorial ρm(t) i-th of element；VariableIt is defined as follows
Wherein,For normal number and be vectorial rm0I-th of element；VariableFor vectorial rm(t)∈RnI-th
Individual element；VariableDerivative meet
Wherein, normal numberFor vectorial γmI-th of element；
Formula (13)-(17) are the method for double-deck quick regulation；First, first layer ensures the adjustment of main robot observer
ParameterI.e.This is the condition that differential system (10) convergence must is fulfilled for；Its
Secondary, the second layer causes variableThe speed of change is decided by time-varying parameterChange, improve adjustment speed；
Accordingly, provide as follows from state observer
Wherein,
Variable implication therein from robot is corresponding with main robot variable implication above；
Based on formula (5), (19) obtain error system as follows
Wherein,
From end robot equivalent output form be
Corresponding, from end robot, the double-deck quickly regulating method of observer provides as follows
Wherein from the double-deck quickly regulating method of definition and above-mentioned main side for the variable for holding the double-deck quickly regulating method of observer
Variable implication it is corresponding.
Compared with prior art, the invention has the advantages that：
1st, quick to system speed and the finite time of external force, accurate estimation can not only be realized, moreover it is possible to effectively solve to tremble
Dynamic problem.
2nd, the introducing of sliding formwork thought causes observer is disturbed to external world insensitive, enhances the robust performance of closed-loop system.
3rd, using adaptive thought, the estimation to external force can more accurately be completed；And double-deck thought, then can be faster
Estimation of the completion to external force.The stability of observer is proved by choosing suitable liapunov function.
Brief description of the drawings
Fig. 1 is the structured flowchart of Teleoperation Systems.
Fig. 2 is control system architecture figure of the present invention.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings：
As shown in figure 1, remote control system it is main by operator, main robot, network transmission channels, from robot and outer
Boundary's environment composition.Operator is locally being operated to main robot, and its associated motion information is transmitted through the network to from machine
People, motion is synchronized from robot according to the movable information of main robot, and by the obtained feedback of the information that is in contact with environment
Return main robot.Master and slave robot is observed using observer, operator and external environment is respectively obtained to host and slave processors
The outer force information that device people applies.
As shown in Fig. 2 the inventive method comprises the following steps：
S1. the Teleoperation Systems being made up of Liang Ge 3DOFs robot are chosen, under immunization with gD DNA vaccine
The quality and length information of robot measurement connecting rod.The task sky of remote control system is further set up according to energy-balance equation
Between lower second order Lagrange system model.
S2. the position signalling of the position coder robot measurement of robot in itself is utilized, according to positional information design certainly
Double-deck supercoil sliding formwork full micr oprocessorism is adapted to, and show that by the information observed the power of estimation seeks method；
S3. situation is changed according to external force size different under different working environments and external force, it is determined that specific observer
Parameter.
For mechanical arm system, in the step S1, the quality and length information of robot links can under immunization with gD DNA vaccine
Obtained in the shop instructions of robot.The main robot that is calculated respectively according to the length and quality information of connecting rod and from
Inertial matrix, coriolis force, centrifugal force matrix, Jacobian matrix and the gravity of robot.
Second order Lagrange system model under the task space of remote control system is set up to be obtained by following condition.According to general
The power based on joint space of master-slave robotic system is provided all over the lagrangian dynamics model of the robot system used
Learn model
Wherein, m represents main robot, and s is represented from robot；qm(t),qs(t)∈RnFor joint displacements matrix； For joint velocity matrix；Mm(qm),Ms(qs)∈Rn×nFor the inertial matrix of positive definite；
For coriolis force and centrifugal force matrix；Gm(qm),Gs(qs)∈RnFor gravity torque；Fh∈RnAnd Fe∈RnRespectively human operator
The torque that the torque and environment of application apply；Fm∈RnAnd Fs∈RnFor the control mode of offer.
Displacement and speed main robot joint are write as following form
It can obtain
Corresponding, displacement and speed of the definition from robot are as follows
It can obtain
Preferably, in the step S2, the encoder carried using robot obtains joint position information, the full dimension of design
State observer, observer form is as follows
Wherein, WithIn i-th of element have following form
Wherein,It is respectively vectorialI-th of element.Definition
Form it is as follows
Gain alpham(t),βm(t) i-th of element has following form
Wherein,For normal number, and it is vector αm0,βm0I-th of element.Lm(t) form is below
Provided in content.
Based on formula (3), (6) obtain error system as follows
Wherein,
Because error system (10) is finite time stability.So can be obtained by Li Puxizi conditions
fm(t)=- Mm -1(qm1)Fh(11) due to error termFinite time levels off to zero point, so can obtain For vector fm(t) i-th of element.
The method of double-deck quick regulation is set up on the basis of " equivalent control " method.Because the signal that high frequency switches is difficult
It is utilized, equivalent output eliminates the part of high frequency switching as a kind of means of filtering.We use following filtered version
Wherein, it is vectorialFor vectorEquivalent output, variableFor vectorI-th of element, variableForDerivative, variableFor vectorI-th of element,For a minimum normal number and it is
Vectorial τmI-th of element.
The method of double-deck quick regulation is given below.A variable δ is defined firstm(t)∈Rn, δ (t) i-th of element
Form it is as follows
Wherein,For vectorial am,βm0I-th of element,For constant and satisfaction For a minimum normal number and be vectorial εmI-th of element.Vectorial am,εmRepresent safe range and add
Stable conservative.Defined variableIt is as follows
Wherein, variableFor vectorial lm(t)∈RnI-th of element；For normal number and be vectorial lm0I-th
Individual element.Derivative meet following formula
Wherein, variableFor vectorial ρm(t) i-th of element.VariableIt is defined as follows
Wherein,For normal number and be vectorial rm0I-th of element；VariableFor vectorial rm(t)∈RnI-th
Individual element.VariableDerivative meet
Wherein, normal numberFor vectorial γmI-th of element.
(13)-(17) are the method for double-deck quick regulation.First, first layer ensures main robot observer adjustment ginseng
NumberI.e.This is the condition that differential system (10) convergence must is fulfilled for.Secondly,
The second layer causes variableThe speed of change is decided by time-varying parameterChange, improve adjustment speed.
Accordingly, provide as follows from state observer
Wherein,
Variable implication therein from robot is corresponding with main robot variable implication above.
Based on formula (5), (19) obtain error system as follows
Wherein,
From end robot equivalent output form be
Corresponding, from end robot, the double-deck quickly regulating method of observer provides as follows
The wherein definition from the variable of the double-deck quickly regulating method of end observer and the double-deck quick regulation side in above main side
The variable implication of method is corresponding.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the present invention's
Scope is defined, on the premise of design spirit of the present invention is not departed from, technology of the those of ordinary skill in the art to the present invention
In various modifications and improvement that scheme is made, the protection domain that claims of the present invention determination all should be fallen into.
Claims (4)
1. the fast turn of speed method of estimation of a kind of remote control system based on adaptive double-deck sliding formwork, it is characterised in that methods described is walked
It is rapid as follows：
The Teleoperation Systems that S1, selection one are made up of Liang Ge 3DOFs robot, the measuring machine under immunization with gD DNA vaccine
The quality and length information of device people's connecting rod；Second order glug under the task space of remote control system is set up according to energy-balance equation bright
Day system model；
S2, position coder robot measurement using robot in itself position signalling, design adaptive according to positional information
Double-deck supercoil sliding formwork full micr oprocessorism, and show that by the information observed the power of estimation seeks method；
S3, situation, the sufficiently large observation by choosing changed according to external force size different under different working environments and external force
Device parameter is to ensure that observer system is stable.
2. the fast turn of speed method of estimation of a kind of remote control system based on adaptive double-deck sliding formwork according to claim 1, its
It is characterised by：In the step S1, the quality and length information of the connecting rod of robot can going out in robot under immunization with gD DNA vaccine
Obtained in factory's specification；The main robot calculated respectively according to the length and quality information of bar and the moment of inertia from robot
Battle array, coriolis force, centrifugal force matrix, Jacobian matrix and gravity.
3. the fast turn of speed method of estimation of a kind of remote control system based on adaptive double-deck sliding formwork according to claim 1, its
It is characterised by, in the step S1, sets up second order Lagrangian model under the task space of remote control system and obtained by following condition
Arrive：
According to the lagrangian dynamics model of the robot system generally used provide master-slave robotic system based on joint
The kinetic model in space：
Wherein, m represents main robot, and s is represented from robot；qm(t),qs(t)∈RnFor joint displacements matrix；
For joint velocity matrix；Mm(qm),Ms(qs)∈Rn×nFor the inertial matrix of positive definite；For
Coriolis force and centrifugal force matrix；Gm(qm),Gs(qs)∈RnFor gravity torque；Fh∈RnAnd Fe∈RnRespectively human operator is applied
Plus torque and environment apply torque；Fm∈RnAnd Fs∈RnFor the control mode of offer；
Displacement and speed main robot joint are write as following form
It can obtain
Corresponding, displacement and speed of the definition from robot are as follows
It can obtain
4. the fast turn of speed method of estimation of a kind of remote control system based on adaptive double-deck sliding formwork according to claim 1, its
It is characterised by：In the step S2, the encoder carried using robot obtains joint position information, the full dimension state observation of design
Device, observer form is as follows
Wherein, WithIn i-th of element have following form
Wherein,It is respectively vectorialI-th of element；Definition
Form it is as follows
Gain alpham(t),βm(t) i-th of element has following form
Wherein,For normal number, and it is vector αm0,βm0I-th of element；
Based on formula (3), (6) obtain error system as follows
Wherein,
Because error system (10) is finite time stability；So can be obtained by Li Puxizi conditions
fm(t)=- Mm -1(qm1)Fh (11)
Due to error termFinite time levels off to zero point, so can obtain
For vector fm(t) i-th of element；
The method of double-deck quick regulation is set up on the basis of " equivalent control " method；Because the signal that high frequency switches is difficult sharp
With equivalent output eliminates the part of high frequency switching as a kind of means of filtering；Using following filtered version
Wherein, it is vectorialIt is wherein vectorEquivalent output, variableFor vectorI-th of element, variableForDerivative, variableFor vectorI-th of element,For a minimum normal number and be to
Measure τmI-th of element；
The method of double-deck quick regulation：
A variable δ is defined firstm(t)∈Rn, the form of δ (t) i-th of element is as follows
Wherein,For vectorial am,βm0I-th of element,For constant and satisfaction For a minimum normal number and be vectorial εmI-th of element；Vectorial am,εmRepresent safe range and add steady
Fixed conservative；Defined variableIt is as follows
Wherein, variableFor vectorial lm(t)∈RnI-th of element；For normal number and be vectorial lm0I-th yuan
Element；Derivative meet following formula
Wherein, variableFor vectorial ρm(t) i-th of element；VariableIt is defined as follows
Wherein,For normal number and be vectorial rm0I-th of element；VariableFor vectorial rm(t)∈RnI-th yuan
Element；VariableDerivative meet
Wherein, normal numberFor vectorial γmI-th of element；
Formula (13)-(17) are the method for double-deck quick regulation；First, first layer ensures main robot observer adjusting parameterI.e.This is the condition that differential system (10) convergence must is fulfilled for；Next, the
Two layers cause variableThe speed of change is decided by time-varying parameterChange, improve adjustment speed；
Accordingly, provide as follows from state observer
Wherein,
Variable implication therein from robot is corresponding with main robot variable implication above；
Based on formula (5), (19) obtain error system as follows
Wherein,
From end robot equivalent output form be
Corresponding, from end robot, the double-deck quickly regulating method of observer provides as follows
Wherein from the definition and the change of the double-deck quickly regulating method in above-mentioned main side of the variable for holding the double-deck quickly regulating method of observer
Measure implication corresponding.
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| CN112356034B (en) * | 2020-11-11 | 2022-08-05 | 中南大学 | Variable gain-based supercoiled sliding mode control method |
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