CN107932489A - A kind of robot cycling device and control method - Google Patents
A kind of robot cycling device and control method Download PDFInfo
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- CN107932489A CN107932489A CN201810037262.3A CN201810037262A CN107932489A CN 107932489 A CN107932489 A CN 107932489A CN 201810037262 A CN201810037262 A CN 201810037262A CN 107932489 A CN107932489 A CN 107932489A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention discloses a kind of robot cycling device and control method, comprise the following steps：Relation between car body roll angle and driving balance turbin generator output quantity is determined by Dynamic Modeling and analysis；Control car body to carry out curvilinear motion, observe the control response of car body balance when carrying out curvilinear motion under different driving speed, different handle angles, and therefore formulate controlled device target；Introductory path planning or tracking traveling scheme are formulated according to the situation of above-mentioned debugging；System is optimized and improved using intelligent control algorithm according to actual debugging situation.The compact simple and cost of bicycle machines people that the present invention is studied is relatively low, with stronger anti-interference, balance control for other related under-actuated systems such as the bicycle machines people of following other forms, wheelbarrow robot, scooter robot and lay certain basis.
Description
Technical field
The present invention relates to a kind of robot cycling device and control method.
Background technology
In recent years, with the high speed development of Robot industry, it is based particularly on the big of emerging sensor and control algolithm
Power develops, and various types of mobile robots can be perfectly suitable among various industrial production links and save big
Measure manpower.Mobile robot with navigation system can be in some special working environments, such as underground, infectious hospital
And nuclear facilities nearby waits with insecurity, does not allow in the case that the mankind are directly entered, to perform all kinds of monitoring, patrol even
Simple interactive task.What most mobile-robot system chassis used is all four-wheel, more wheels even track structure.Four
The mobile-robot system of wheel and more wheel constructions can have static stability when static, but have due to its radius of turn
It is larger so need larger working space, action underaction, it is complicated, power consumption is larger the shortcomings of.
When running into some long and narrow and long range working spaces, more wheel robots will no longer can lightly, readily through.
At this time, the mobile robot that standard bicycle structure is longitudinally arranged before and after two-wheeled attracts attention again.With general
The mobile robot of logical four-wheel or more wheel constructions is compared, although bicycle machines people system has drive lacking unstability（Need
The moment is wanted to aid in keeping dynamic equilibrium by program）, but its once to behave action flexible, and simple in structure, car body compared with
It is narrow, therefore lighter weight, energy consumption are small, meet the energy-saving and emission-reduction of current Chinese economy transition period, reduce the long-range need of energy consumption
Ask.Bicycle machines people system also adapts to all kinds of complex road conditions after control algolithm maturation, in security protection inspection, resource exploration
Even logistic industry has potential application prospect.At the same time, if that class is installed from vehicle frame is human-like for bicycle machines people's system
Robot follows " pedal " servo-actuated or driving, will also have entertainment presentation and science popularization, equally also has certain potential
Market value.
At present, the bicycle machines people that is done both at home and abroad is basic most mainly based on bicycle body, that is,
Goal systems is the bicycle of a robotic, and the frame by being similar to bicycle to one carries out relevant design can be real
The balance of existing machine person bicycle is advanced, based on wherein type of drive is mainly driven with motor.This kind of bicycle is in operational process
Middle system no longer has other dynamic disturbances in addition to the adjustment of car body handle or internal balance structure.The designed system of the application
Unite to strengthen ornamental value, promote the further development of human emulated robot, while " can for this closer to " bicycle machines people "
With the robot of cycling " concept, will use human emulated robot active drive bicycle body advance, its leg Duo Guan
Steering engine design is saved, and the assist auxiliary that total system is installed by car body maintains balance.Bicycle machines people is as one
A incomplete and under-actuated systems with Typical symmetrical feature, are longitudinally arranged before and after bicycle body's two-wheeled, and laterally incline
How angle, by second-order dynamic coupling constraint, passes through handlebar or the whole system of other mechanical assistance structures realization without directly driving
The nonlinear Control of system balance is the problem that an academia generally acknowledges.
The content of the invention
It is an object of the invention to provide a kind of robot cycling device and control method, to solve above-mentioned background skill
The problem of being proposed in art.
To achieve the above object, the present invention provides following technical solution：
A kind of robot rides a bicycle control method, comprises the following steps：
S1, the relation between car body roll angle and driving balance turbin generator output quantity is determined by Dynamic Modeling and analysis；
S2, control car body carry out curvilinear motion, observe car when carrying out curvilinear motion under different driving speed, different handle angles
The control response of body balance, and therefore formulate controlled device target；
S3, situation about being debugged according to S1 and S2 formulates introductory path planning or tracking travels scheme；
S4, is optimized and improved to system using intelligent control algorithm according to actual debugging situation.
Further, in S1, whole bicycle body is reduced to geometrical model first, front truck be fixed to middle position,
" robot " system, is considered as a fixed load for being fixed on vehicle seat position by the position that 0 degree of corner；By to car body each several part
Quality, the linear superposition of geometrical relationship, are inferred to the position of car body entirety center of gravity；According to the fixed position of flying wheel, rotate and be used to
Amount and quality derive that when flying wheel rotates the cross force that flying wheel accelerates or reversely underdrive produces is laterally horizontal with car body
Rolling is when toppling over, the torque equation that the component that gravity is laterally toppled on car body offsets, so as to establish its kinetic model；
According to correlation function, controller is designed using traditional PID control algorithm at first, controller is inclined according to car body roll
Angle, either other detection limits are in real time or output motor controlled quentity controlled variable in advance for the acceleration at roll inclination angle.
Further, in S2, turning is derived by the correlative such as distance, handlebar corner between earth point before and after wheel
Radius size；System centripetal force size is calculated according to actuating speed, radius of turn and the system total quality when turning, then
It is secondary according to the equal inclination angle number of degrees that draws car body and should keep of torque；The angle and driving speed of roll angle should be kept according to car body
Degree, the relation of handlebar corner, reuse traditional PID control algorithm design curve moving equilibrium controller, make controller can be with
In real time or carried according to car body roll inclination angle, the acceleration at roll inclination angle, actuating speed and handlebar corner and other detection limits
Preceding output motor controlled quentity controlled variable, makes car body keep certain inclination angle, and guarantee steadily can rapidly realize curvilinear motion.
Further, in S3, if car body running and comparing is stable and is shaken, by mistake when normal straight advances, turns and advance
Poor very little, current location is calculated using vehicle-mounted high-precision encoder and gyroscope real-time operation；If actual debugging result error compared with
Greatly or to realize tracking, then using line array CCD, be laid on by detection and distinguish larger color color with background ground color
Bar, time correction car body are travelled along vitta.
Further, in S4, intelligent control algorithm includes Fuzzy-Adjustable-PID Control algorithm and parameter adaptive
Algorithm, at the same by with bluetooth either WIFI module communication using computer or write Android control APP pass through mobile phone, tablet
Deng terminal control.
A kind of robot rides a bicycle device, using 32 road servos control plates, by with STM32 microcontroller communications work side
Formula, STM32 microcontrollers send control instruction, and 3 steering engine " leg is pedaled " foot pedals of every " leg " are divided into 20 positions for one week
Point, sends each location point by periodic sequence and realizes to being controlled while more steering engines.
Compared with prior art, the beneficial effects of the invention are as follows：For bicycle machines people, this has typical case to the application
Symmetry drive lacking Nonholonomic Constraints Systems be difficult to the balance control problem realized, closed according to car body quality itself and its geometry
System, by the way that the stress of its kinetic model is decomposed and analyzed, using traditional PID controller to inertia turbin generator and handle rudder
Machine carries out feedback control, realizes avoidance using infrared, ultrasonic or linear CCD sensor and advances along desired trajectory, while by root
According to the actual conditions of debugging system using advanced intelligent algorithm controllers such as fuzzies, and system is passed through into WIFI or bluetooth mould
Conveniently control and use in block access wireless network.At the same time " leg is pedaled " action drives are realized using multi-joint steering engine class humanoid robot
Bicycle, makes bicycle machines people effectively realize the self-balancing of system in common straight-line travelling.At the same time, control voluntarily
Car robot direction of advance is a steering engine being installed on handlebar.When bicycle is with a fast speed straight ahead,
To carry out fast steering, realize car body neatly curvilinear motion, it is necessary to car body produce certain inclination angle with during curvilinear motion to
Mental and physical efforts offset.Need to extrapolate flying wheel again according to kinetic model, the car body advance speed of service and steering angle at this time
Motor output valve keeps body construction, and certain inclination angle is steady, rapidly carries out curvilinear motion.Finally it can also realize to being
The real-time control of system is travelled along desired trajectory.
In conclusion the compact simple and cost of bicycle machines people that the application is studied is relatively low, have stronger anti-dry
Immunity, for other related drive lacking systems such as the bicycle machines people of following other forms, wheelbarrow robot, scooter robot
Certain basis is laid in system balance control.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention.
In figure：1- handle motors, 2- stabilizers, control box of the 3- with lithium battery, 4- steering engines.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
The application the object to be studied is " robot cycling system ", wherein merely by multi-joint steering engine machine
People performs " leg is pedaled " driving bicycle this periodic reverse action very simple, using in the market servos control plate by with
The communication of master control borad is controlled using the direct output multi-channel PWM square waves of microcontroller, as long as and leg pedal speed by adjusting
The interval of more steering engine action executing single actions required times or multi-channel PWM square-wave output signal, if but wanting to realize
Whole system can maintain the control of balance but very always in the case of the multi-motions such as static, straight line, curve, acceleration-deceleration
Difficulty, simultaneously because bicycle frame structure is simple, for front and rear elongated, horizontal thin narrow car body, system might have uncertain
Property roll rock, load capacity is limited, therefore selection for tracking or path planning sensor and data processor, installation
Challenge is equally filled with realizing.
Therefore, the main goal in research of the application acts week to one to realize at " humanoid robotic leg stepping bicycle "
Under the dynamic disturbances that phase property performs, the control of the balance of total system.Probe into car body and curvilinear motion is carried out in the case of speed
When car body inclination angle and handle angle relation, so as to fulfill system it is steady, rapidly realize curvilinear motion.In addition, this Shen
Please also path planning will be carried out to " robot cycling " system or tracking controls, made it possible in unmanned situation about intervening
Lower realization travels along desired trajectory, returns to the functions such as starting point.
Specific experiment method, research method and content are broadly divided into three steps.
The first step：Main approaches are to seek car body roll angle and driving stabilizer electricity by Dynamic Modeling and analysis
Relation between machine output quantity.Whole bicycle body is reduced to geometrical model first, front truck handle is fixed to middle position, corner 0
" robot " system, is considered as a fixed load for being fixed on vehicle seat position by the position of degree.By to car body each several part quality,
The linear superposition of geometrical relationship, is inferred to the position of car body entirety center of gravity.According to the fixed position of flying wheel（Stabilizer barycenter）、
Rotary inertia and quality derive that when flying wheel rotates flying wheel accelerates or the same car body of cross force of reverse underdrive generation
When lateral roll is toppled over, torque equation that component that gravity is laterally toppled on car body offsets, so as to establish its power
Learn model.According to correlation function, controller is designed using traditional PID control algorithm at first, allows controller according to car
Body roll inclination angle, either other detection limits are in real time or output motor controlled quentity controlled variable in advance for the acceleration at roll inclination angle.Inertia rotates
Movable property life lateral force is toppled over power together and is offseted, and realizes the posture correction that cross-car is toppled over.
Above research process can streamline any further in fact for a Single Inverted Pendulum the problem of.Therefore " machine is being had not determined
People rides a bicycle system " concrete structure or when its concept feasible, can according to " robot cycling " system
Geometrical relationship determined by the quality and design of corresponding each position estimation, leading one Single Inverted Pendulum system of design of Simulation
System.
After controlling the algorithm of inverted pendulum balance to tend towards stability, algorithm can be migrated to robot riding bicycle body
On.After no matter bicycle machines people system stops or moves forward and backward and can keep balance upon actuation, that is, complete " ride from
The design of driving robot " balance controller.After system balancing controller design is completed, realize bicycle body " imitative
Humanoid robot's leg pedals driving " take the air line under this dynamic disturbances, balance controller, which remains to stable operation, makes car body certain past
Balance is kept in the roll inclination angle moved again.
Second step：Trial makes car body carry out curvilinear motion, observes the march under different driving speed difference handle angle
The control response of car body balance when line moves, and therefore formulate controlled device target.Reuse the kinetic simulation established before
Type, by front truck the position for being fixed to a fixed angle, " robot " system is considered as be fixed on vehicle seat position one fix it is negative
Carry.Radius of turn size is derived again by the correlative such as distance, handlebar corner between earth point before and after wheel.According to turning
When actuating speed, radius of turn and system total quality be calculated system centripetal force size, it is equal again according to torque
Go out the inclination angle number of degrees that car body should be kept.Angle and actuating speed, the pass of handlebar corner of roll angle should be kept according to car body
System, reuses traditional PID control algorithm design curve moving equilibrium controller, controller is inclined according to car body roll
Output motor controls in real time or in advance for angle, the acceleration at roll inclination angle, actuating speed and handlebar corner and other detection limits
Amount, makes car body keep certain inclination angle, and guarantee steadily can rapidly realize curvilinear motion.
3rd step：Situation about being debugged according to first two steps formulates introductory path planning or tracking traveling scheme.If car body is transported
Row is more stable and is shaken when normal straight advances, turns and advance, error very little, and vehicle-mounted high-precision encoder and top can be used
The real-time operation of spiral shell instrument calculates current location.It is also contemplated that coordinate correction input solid using communication module and photoelectricity infrared sensor
Determine the robot cycling system of running orbit.If actual debugging result error is larger or to realize tracking, can also
Using using line array CCD, it is laid on by detection and distinguishes larger color vitta, time correction car body edge with background ground color
Vitta travels.Except tracking can use line array CCD, it can also equally use and be passed through by embedded produced by the conducting wire of alternating current
Magnetic field navigation.
Finally according to actual debugging situation attempt that system is optimized and improved using intelligent control algorithm, for example, it is fuzzy
Parameter self-tuning PID control, parameter adaptive scheduling algorithm.At the same time by being communicated with bluetooth or WIFI module, using computer or
Person writes Android control APP and passes through the terminal controls such as mobile phone, tablet, Optimization Debugging link, lifting control, usage experience.
Since " human emulated robot " is that hunting gear can be considered a fixed load, pass through handlebar rotation control to reduce
The difficulty of car body balance, first carries out debugging using the bicycle body's system for not installing " human emulated robot " and system is realized,
Initially be directed to controller design be referred from two-wheeled or so arrangement balancing trolley in, detected using existing sensor and
Kalman filtering algorithm, two-wheeled balance car uses polycyclic pid algorithm to control, but the balance car of the left back arrangement of two-wheeled is not
It is under-actuated systems, its balance control in the front-back direction can drive wheel to directly control by motor, stand upside down for common single order
Oscillation control system.Therefore bicycle machines people only cannot just immediately arrive at car body roll angle and handlebar using only a pid algorithm
The relation of corner.Therefore, a multiple input single output reduced mechanism is established using Lagrangian method, according to part
Feedback linearization principle, the drive lacking subsystem that will contain car body roll angle and handle torque carries out linearization process, and obtains
To a complex relationship, Expected Results is tentatively finally realized by emulation using pid algorithm.
As shown in Figure 1, installing motor and stabilizer additional at " human emulated robot " back, leg is servo-actuated mechanical structure and is changed to
The multi-joint active drive structure realized using multigroup steering engine, handlebar are rotated control direction by steering engine, can drive " humanoid machine
Device people " upper limb mechanical structure is servo-actuated or deliberately embraces bosom and does " totally laissez-faire " shape, according to designed system structure, is assembled with apery
Humanoid robot foot structure, and the action algorithm of multi-joint steering engine collaboration " leg is sub to pedal " has been debugged, scheme has used a 32
Road servos control plate, by sending control instruction with STM32 microcontroller communication working methods, STM32 microcontrollers, every " leg "
3 steering engine " leg is pedaled " foot pedals are divided into 20 location points for one week, and sending each location point by periodic sequence realizes pair
Controlled while more steering engines, allow end ankle position to drive foot pedal to carry out circumference fortune centered on front vehicle wheel disk front axle
It is dynamic.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (6)
1. a kind of robot rides a bicycle control method, it is characterised in that comprises the following steps：
S1, the relation between car body roll angle and driving balance turbin generator output quantity is determined by Dynamic Modeling and analysis；
S2, control car body carry out curvilinear motion, observe car when carrying out curvilinear motion under different driving speed, different handle angles
The control response of body balance, and therefore formulate controlled device target；
S3, situation about being debugged according to S1 and S2 formulates introductory path planning or tracking travels scheme；
S4, is optimized and improved to system using intelligent control algorithm according to actual debugging situation.
2. robot according to claim 1 rides a bicycle control method, it is characterised in that, first will be whole in S1
Bicycle body is reduced to geometrical model, front truck be fixed to middle position, 0 degree of corner position, " robot " system is considered as solid
It is scheduled on a fixed load at vehicle seat position；By to car body each several part quality, the linear superposition of geometrical relationship, being inferred to car body
The position of overall center of gravity；Derived according to the fixed position of flying wheel, rotary inertia and quality when flying wheel rotates, flying wheel
When acceleration or the cross force that reversely underdrive produces are toppled over the lateral roll of car body, what gravity was laterally toppled on car body
The torque equation that component offsets, so as to establish its kinetic model；According to correlation function, controlled at first using traditional PI D
Algorithm processed designs controller, allows acceleration or other detection limits of the controller according to car body roll inclination angle, roll inclination angle
In real time or output motor controlled quentity controlled variable in advance.
3. robot according to claim 1 rides a bicycle control method, it is characterised in that in S2, before wheel
The correlative such as distance, handlebar corner derives radius of turn size between earth point afterwards；According to actuating speed when turning, turn
System centripetal force size is calculated in radius and system total quality, show that what car body should keep inclines again according to torque is equal
Angle number；The angle and actuating speed, the relation of handlebar corner of roll angle should be kept according to car body, reuses traditional PI D
Control algorithm design curvilinear motion balance controller, allow controller according to car body roll inclination angle, roll inclination angle acceleration,
Actuating speed and handlebar corner and other detection limits in real time or in advance output motor controlled quentity controlled variable, make car body keep a constant inclination
Angle, guarantee steadily can rapidly realize curvilinear motion.
4. robot according to claim 1 rides a bicycle control method, it is characterised in that in S3, if car body is run
It is more stable and normal straight advance, turn advance when shake, error very little, use vehicle-mounted high-precision encoder and gyroscope
Real-time operation calculates current location；If actual debugging result error is larger or to realize tracking, using line array CCD, pass through
Detection is laid on distinguishes larger color vitta with background ground color, and time correction car body is travelled along vitta.
5. robot cycling device according to claim 1 and control method, it is characterised in that in S4, intelligence
Control algolithm includes Fuzzy-Adjustable-PID Control algorithm and parameters adaption algorithm, at the same by with bluetooth or WIFI
Module communication, using computer or write Android control APP pass through the terminal controls such as mobile phone, tablet.
6. a kind of robot rides a bicycle device, it is characterised in that using 32 road servos control plates, by with STM32 microcontrollers
Communication work mode, STM32 microcontrollers send control instruction, and 3 steering engine " leg is pedaled " foot pedals of every " leg " are divided for one week
For 20 location points, each location point is sent by periodic sequence and is realized to being controlled while more steering engines.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112631277A (en) * | 2020-12-08 | 2021-04-09 | 中山大学 | Balance control method and system for four-legged robot standing posture conversion |
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| CN112631277A (en) * | 2020-12-08 | 2021-04-09 | 中山大学 | Balance control method and system for four-legged robot standing posture conversion |
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