CN107831661A - A kind of high-precision Industrial robots Mechanical's vibration signal tracking - Google Patents
A kind of high-precision Industrial robots Mechanical's vibration signal tracking Download PDFInfo
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- CN107831661A CN107831661A CN201711112754.6A CN201711112754A CN107831661A CN 107831661 A CN107831661 A CN 107831661A CN 201711112754 A CN201711112754 A CN 201711112754A CN 107831661 A CN107831661 A CN 107831661A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
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Abstract
The invention discloses a kind of high-precision Industrial robots Mechanical's vibration signal tracking, can solve the vibrating sensor linearity is low, signal to noise ratio is low, poor anti jamming capability, more vibration signal close couplings the problems such as, pass through FLL（AFLL）Algorithm and system angular frequency adaptive algorithm（adaptive algorithm）Mutually coordinated effect carries out feature extraction to the sophisticated signal of vibrating sensor sampling, obtains the amplitude and initial phase and angular frequency of original vibration signal, finally recombines original vibration signal.
Description
Technical field
The present invention relates to industrial robot servo-control system technical field of measurement and test, specifically a kind of high-precision industrial machine
People's mechanical oscillation signal tracking.
Background technology
In industrial robot servo-control system, improve the given transient response of open loop input of robot rapidity and
Precision and the given steady-state response precision of open loop input are that to improve robot control accuracy be most effective by way of currently improving machine
The approach overwhelming majority of people's precision is all the processed essence of most of industrial robots by improving in mechanical processing technique precision
Degree in most of 0.002mm, industrial robot servomotor precision is also 0.002mm, therefore in most ideally industrial ring
(zero load, ignore deadweight under border, ignore vibration, control error less than 0.00001mm etc.), industrial robot operating accuracy is namely
0.004mm.Experiment shows：The industrial robot that brachium is 2 meters is under the industrial environment of dragging load and deadweight, industrial robot
Caused vibration strains also reach 0.002mm.Whole industrial robot error is accumulated as 0.006mm, that is, industrial machine
The precision of people is 0.006mm, it can be seen that mechanical oscillation are 33.33% to loss of significance accounting, if large scale industry robot is such as
Fruit will improve mechanical precision, for machinery vibration signal tested and to Setting signal do compensation it is essential.At present
Most of industrial robot is not acquired to mechanical oscillation signal, main reason is that vibration signal is difficult to extract, it is difficult
Point is that 1. vibrating sensors have the low problem of resolution ratio, and 2. vibrating sensors have serious delayed phase, 3. vibrating sensings
Device signal to noise ratio is low；What traditional vibrating sensor was all is mostly that high-order digit low pass filter coordinates bandstop filter to be subject to
Compensation way.
The algorithm carries out discretization, again by high-order digit low pass filter to discretization to the continuous shaking signal of input
Rear input signal carries out intensive treatment, and last bandstop filter is carried out doing phase and compensated to the input signal after processing.
This algorithm is advantageous in that the convergence of higher order digital filter algorithm rapid decay coordinates bandstop filter to use, and reduces delay effect
Should.If in the presence of a huge problem be exactly in vibration signal with helpless in the case of DC quantity and low-frequency disturbance, and
When different response speeds and the lower vibration frequency of load change in industrial robot, larger amplitude error be present and phase is missed
Difference.
Therefore it provides a kind of flexibility is high, easy to control, inexpensive, the good strong antijamming capability of effect and small delay effect
Vibration signal extraction algorithm be urgent problem to be solved.
The content of the invention
The present invention provides a kind of high-precision Industrial robots Mechanical's vibration signal tracking, can solve industrial robot
Mechanical oscillation signal extraction vibrating sensor has that resolution ratio is low, serious delay effect, signal to noise ratio are low etc..Pass through numeral
Wave filter is assessed vibration signal, tracked, adaptively adjusting ginseng, is most locked finally and is exported vibration signal.
To achieve the above object, the present invention provides following technical scheme：
A kind of high-precision Industrial robots Mechanical's vibration signal tracking, comprises the following steps：
Step S101：Vibration signal sensor carries out being converted into voltage shaking signal to mechanical oscillation signal, and ADC is to voltage fluctuation
Signal is sampled to obtain, the wherein sampling period is the T seconds, willDraw；
Step S102：The substantially angular frequency of intended vibratory signal is determined, by taking the ankle-joint of industrial robot base as an example, it vibrates
Frequency is substantiallyHz, then the angular frequency of corresponding vibration signal；
Step S103：According to the angular frequency of vibration signal, the parameter of three digital filters in AFLL algorithms is designed；
Step S104：The amplitude versus frequency characte of digital lowpass：
The phase-frequency characteristic of wave digital lowpass filter：
Because the angular frequency of inputted vibration signal is, ensureing that input signal is undistorted, it is also unattenuated with regard to amplitude
Overshoot, phase are kept linear, the cut-off frequency for ensureing low pass filter in addition is 3 to 5 times of incoming frequency；Gain is,
It is able to can be obtained according to cut-off frequency：, can calculate；
Step S105, band logical and phase-frequency characteristic and amplitude versus frequency characte with resistance can be calculated by step S104；
Step S106, the parameter calculated according to step S105 and step S104 build institute's frequency ring（AFLL）Algorithm；
Step S107, the parameter calculated according to step S105 and step S104 build frequency adaptive algorithm；
Step S108,Input formula（5）And formula（7）It is iterated, system transient modelling response 0.25s, system enters steady
State exports band logical, low pass, band resistance, vibration signal angular frequency；
Step S109, amplitude are：；
Step S201, sinusoidal vibration signal is synthesized according to step S108 and step S109：
；ObviouslyIt is or unknown；
Step S202, due toWithIt is identical；It is iterated with the incremental mode in unit slope and energy convergence；
In order to ensure phase accuracy and tracking time rapidity, then definition is usedThe s times, unit slope is from 0 degree to 360 degree；Due to
Second in sampling period T, then namely walked per the T secondsDegree；
Composite signal and original vibration signal likelihood energies：When, it is believed thatWithIt is completely the same, its
InIt is required precision, now exportsIt is exactly,It is exactly step number；
Step S203, export original vibration signal：；
Wherein,,。
As the further scheme of the present invention：The step S103 is specifically included：
The transmission function prototype of wherein second-order bandpass filter is：
The transmission function prototype of wherein second-order low-pass filter is：
The transmission function prototype of wherein three rank bandstop filters is：
Above three wave filter is described with space state variable：
,
WhereinFor input signal,、、For the state variable of whole algorithm；
Discretization is carried out to above-mentioned wave filter to Euler using preceding：
,
Wherein T is the sampling period,For the system natural angular frequency of adaptive latest update；
The state-space equation of derived system angular frequency adaptive tracking algorithm is restrained according to the energy of Liapunov：
；
Discretization is carried out to above-mentioned spatiality to Euler with preceding：
,
WhereinIt is for the adaptive gain factor.
As the further scheme of the present invention：Also include structure industrial robot vibration signal mechanical hardware test system,
Industrial robot vibration signal mechanical hardware test system includes robot and the vibrating sensor in robot.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention can solve the vibrating sensor linearity is low, signal to noise ratio is low, poor anti jamming capability, more vibration signal close couplings etc.
Problem, pass through FLL（AFLL）Algorithm and system angular frequency adaptive algorithm（adaptive algorithm）Mutually coordinated work
Carry out feature extraction with the sophisticated signal sampled to vibrating sensor, obtain original vibration signal amplitude and initial phase and
Angular frequency, finally recombine original vibration signal.
Brief description of the drawings
Fig. 1 is industrial robot vibration signal test structure figure.
Fig. 2 is the vibration signal waveforms figure with various interference.
Fig. 3 is that the vibration signal with various interference passes through digital band-pass filter oscillogram.
Fig. 4 is that the vibration signal with various interference passes through wave digital lowpass filter oscillogram.
Fig. 5 is that the vibration signal with various interference passes through digital band-reject filter oscillogram.
Fig. 6 is the system angle frequency-tracking oscillogram after overfrequency adaptive algorithm.
Fig. 7 is that the vibration signal with various interference passes through FLL（AFLL）Algorithm and adaptive algorithm（adaptive
algorithm）Afterwards, original vibration signal oscillogram is synthesized.
Fig. 8 is the compares figure of the original vibration signal after the inputted vibration signal with various interference and last processing.
Fig. 9 is a kind of FLL（AFLL）Algorithm control block diagram.
Figure 10 is a kind of system angular frequency adaptive algorithm（adaptive algorithm）Control block diagram.
Embodiment
The technical scheme of this patent is described in more detail with reference to embodiment.
Fig. 1 is refer to, builds industrial robot vibration signal mechanical hardware test system, industrial robot vibration signal machine
Tool hardware testing system includes robot and the vibrating sensor 1 in robot；Fig. 9 and Figure 10 are refer to, builds work
Industry robot vibration signal software algorithm processing system.
Fig. 1-10 are referred to, a kind of high-precision Industrial robots Mechanical's vibration signal tracking, are comprised the following steps：
Step S101：Vibration signal sensor carries out being converted into voltage shaking signal to mechanical oscillation signal, and ADC is to voltage fluctuation
Signal is sampled to obtain, that is, the value sampled is exactly the value of current instant vibration signal；Wherein the sampling period is the T seconds, willDrawing obtains Fig. 2；Fig. 2 can be seen that the obvious band of vibration signal data for sampling to return according to current vibration sensor
There is very big interference, wherein having DC influence, random Gaussian interference and high-frequency vibration interference etc.；
Step S102：The substantially angular frequency of intended vibratory signal is determined, by taking the ankle-joint of industrial robot base as an example, it vibrates
Frequency is substantiallyHz, then the angular frequency of corresponding vibration signal；
Step S103：According to the angular frequency of vibration signal, the parameter of three digital filters in AFLL algorithms is designed；
Step S104：The amplitude versus frequency characte of digital lowpass：
The phase-frequency characteristic of wave digital lowpass filter：
Because the angular frequency of inputted vibration signal is, ensureing that input signal is undistorted, it is also unattenuated with regard to amplitude
Overshoot, phase are kept linear, the cut-off frequency for ensureing low pass filter in addition is 3 to 5 times of incoming frequency；Gain is,
Obviously be able to can be obtained according to cut-off frequency：, can calculate；
Step S105, band logical and phase-frequency characteristic and amplitude versus frequency characte with resistance can be calculated by step S104；
Step S106, the parameter calculated according to step S105 and step S104 build institute's frequency ring（AFLL）Algorithm；
Step S107, the parameter calculated according to step S105 and step S104 build frequency adaptive algorithm；
Step S108,Input formula（5）And formula（7）It is iterated, system transient modelling response 0.25s or so, system is entered
Enter stable state output band logical, low pass, band resistance, vibration signal angular frequency；
Step S109, amplitude are：；
Step S201, sinusoidal vibration signal is synthesized according to step S108 and step S109：
.ObviouslyIt is or unknown；
Step S202, due toWithIt is identical.It is iterated with the incremental mode in unit slope and energy convergence.For
Guarantee phase accuracy and tracking time rapidity, then definition are usedThe s times, unit slope is from 0 degree to 360 degree.Due to me
The second in sampling period T, then namely walk per the T secondsDegree；
Composite signal and original vibration signal likelihood energies：When, it is considered thatWithComplete one
Cause, whereinIt is required precision, now exportsIt is exactly,It is exactly step number；
Step S203, export original vibration signal：；
Wherein,,。
Embodiment 2
The vibration signal data returned is sampled according to current vibration sensor and substantially carries very big interference, wherein there is direct current
Interference, random Gaussian interference and high-frequency vibration interference etc., such as Fig. 2.
Three rank band-rejection digital filters are crossed with various interference vibration signals（Trapper）Afterwards, obtain in original vibration signal
DC component, as shown in Figure 3.
After crossing step low-pass digital filter with various interference vibration signals, obtain and original vibration signal delayed phase
90 degree of signal is as shown in Figure 4.
After crossing second order bandpass digital filter with various interference vibration signals, exchange point in original vibration signal is obtained
Amount, as shown in Figure 5.
Derived adaptive law is restrained according to the energy of Liapunov, system is tracked defeated after adaptive law
Enter the angular frequency that system natural angular frequency, 0.25s or so the transient response corresponding to signal is traceable upper signal, such as Fig. 6 institutes
Show.
It is original vibration according to being obtained with various interference vibration signals after above three digital filter integrated treatment
The amplitude of signal, initial phase, the natural angular frequency that three filter systems are obtained after adaptive law namely vibrate letter
Number angular frequency, finally recombine original vibration signal, as shown in Figure 7.
Original vibration signal after inputted vibration signal with various interference and last processing compares, as shown in Figure 8.
The step S103 specifically includes following steps：
The transmission function prototype of wherein second-order bandpass filter is：
The transmission function prototype of wherein second-order low-pass filter is：
The transmission function prototype of wherein three rank bandstop filters is：
Above three wave filter is described with space state variable：
, whereinFor input signal,、、To be whole
The state variable of individual algorithm.
Discretization is carried out to above-mentioned wave filter to Euler using preceding：
,
Wherein T is the sampling period,For the system natural angular frequency of adaptive latest update.
The spatiality side of derived system angular frequency adaptive tracking algorithm is restrained according to the energy of Liapunov
Journey：
。
Discretization is carried out to above-mentioned spatiality to Euler with preceding：
, whereinIt is to increase to be adaptive
The beneficial factor.
One of core algorithm of offer of the present invention be just to three constructed numerals of various interference vibrations processing
Wave filter namely forms FLL algorithm（AFLL）Control block diagram it is as shown in Figure 9.The present invention offer core algorithm it
When to FLL algorithmic system frequency Adaptive Identification tracking adaptive algorithm (adaptive algorithm) control
Block diagram processed is as shown in Figure 10.
The present invention can solve that the vibrating sensor linearity is low, signal to noise ratio is low, poor anti jamming capability, the strong coupling of more vibration signals
The problems such as conjunction, pass through FLL（AFLL）Algorithm and system angular frequency adaptive algorithm（adaptive algorithm）Mutually association
Tune effect carries out feature extraction to the sophisticated signal of vibrating sensor sampling, obtains the amplitude and initial phase of original vibration signal
And angular frequency, finally recombine original vibration signal.
, it is necessary to illustrate, unless separately in the description of this high-precision Industrial robots Mechanical's vibration signal tracking
There is clearly regulation and limit, term " setting ", " connected " and " connection " should be interpreted broadly, for example, it may be fixedly connected,
Can also be detachably connected, or be integrally connected；Can be joined directly together, can also be indirectly connected by intermediary, can
To be the connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
The better embodiment of this patent is explained in detail above, but this patent is not limited to above-mentioned embodiment party
Formula, can also be on the premise of this patent objective not be departed from one skilled in the relevant art's possessed knowledge
Make a variety of changes.
Claims (3)
1. a kind of high-precision Industrial robots Mechanical's vibration signal tracking, it is characterised in that comprise the following steps：
Step S101：Vibration signal sensor carries out being converted into voltage shaking signal to mechanical oscillation signal, and ADC is to voltage fluctuation
Signal is sampled to obtain, the wherein sampling period is the T seconds, willDraw；
Step S102：The substantially angular frequency of intended vibratory signal is determined, by taking the ankle-joint of industrial robot base as an example, it vibrates
Frequency is substantiallyHz, then the angular frequency of corresponding vibration signal；
Step S103：According to the angular frequency of vibration signal, the parameter of three digital filters in AFLL algorithms is designed；
Step S104：The amplitude versus frequency characte of digital lowpass：
The phase-frequency characteristic of wave digital lowpass filter：
Because the angular frequency of inputted vibration signal is, ensureing that input signal is undistorted, it is also unattenuated with regard to amplitude
Overshoot, phase are kept linear, the cut-off frequency for ensureing low pass filter in addition is 3 to 5 times of incoming frequency；Gain is,
It is able to can be obtained according to cut-off frequency：, can calculate；
Step S105, band logical and phase-frequency characteristic and amplitude versus frequency characte with resistance can be calculated by step S104；
Step S106, the parameter calculated according to step S105 and step S104 build institute's frequency ring（AFLL）Algorithm；
Step S107, the parameter calculated according to step S105 and step S104 build frequency adaptive algorithm；
Step S108,Input formula（5）And formula（7）It is iterated, system transient modelling response 0.25s, system enters steady
State exports band logical, low pass, band resistance, vibration signal angular frequency；
Step S109, amplitude are：；
Step S201, sinusoidal vibration signal is synthesized according to step S108 and step S109：
；ObviouslyIt is or unknown；
Step S202, due toWithIt is identical；It is iterated with the incremental mode in unit slope and energy convergence；For
Guarantee phase accuracy and tracking time rapidity, then definition are usedThe s times, unit slope is from 0 degree to 360 degree；Due to adopting
The sample cycle T second, then namely walked per the T secondsDegree；
Composite signal and original vibration signal likelihood energies：When, it is believed thatWithIt is completely the same, its
InIt is required precision, now exportsIt is exactly,It is exactly step number；
Step S203, export original vibration signal：；
Wherein,,。
2. high-precision Industrial robots Mechanical's vibration signal tracking according to claim 1, it is characterised in that described
Step S103 is specifically included：
The transmission function prototype of wherein second-order bandpass filter is：
The transmission function prototype of wherein second-order low-pass filter is：
The transmission function prototype of wherein three rank bandstop filters is：
Above three wave filter is described with space state variable：
,
WhereinFor input signal,、、For the state variable of whole algorithm；
Discretization is carried out to above-mentioned wave filter to Euler using preceding：
,
Wherein T is the sampling period,For the system natural angular frequency of adaptive latest update；
The state-space equation of derived system angular frequency adaptive tracking algorithm is restrained according to the energy of Liapunov：
；
Discretization is carried out to above-mentioned spatiality to Euler with preceding：
,
WhereinIt is for the adaptive gain factor.
3. high-precision Industrial robots Mechanical's vibration signal tracking according to claim 1, it is characterised in that also wrap
Include structure industrial robot vibration signal mechanical hardware test system, industrial robot vibration signal mechanical hardware test system bag
Include robot and the vibrating sensor in robot.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112347845A (en) * | 2020-09-22 | 2021-02-09 | 成都飞机工业（集团）有限责任公司 | Automatic identification method for industrial electric interference of vibration signal of hydraulic conduit of airplane |
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| CN112347845A (en) * | 2020-09-22 | 2021-02-09 | 成都飞机工业（集团）有限责任公司 | Automatic identification method for industrial electric interference of vibration signal of hydraulic conduit of airplane |
| CN112347845B (en) * | 2020-09-22 | 2022-10-25 | 成都飞机工业（集团）有限责任公司 | Automatic identification method for industrial electric interference of vibration signal of hydraulic conduit of airplane |
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