CN108303887A - A method of the inhibition actual robot system vibration based on EI reshapers - Google Patents
A method of the inhibition actual robot system vibration based on EI reshapers Download PDFInfo
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- CN108303887A CN108303887A CN201810097824.3A CN201810097824A CN108303887A CN 108303887 A CN108303887 A CN 108303887A CN 201810097824 A CN201810097824 A CN 201810097824A CN 108303887 A CN108303887 A CN 108303887A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B13/042—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 in which a parameter or coefficient is automatically adjusted to optimise the performance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
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Abstract
The present invention proposes a kind of method of the inhibition actual robot system vibration based on EI reshapers, includes the following steps：Design EI reshapers；If EI reshapers act on the Sequence Response equation in second-order system；The EI reshapers are filtered processing using three pulse trains to pumping signal, to filter out the frequency content for causing system vibration.The present invention can effectively reduce the vibration amplitude of system and shorten die-away time, and have certain robustness to systematic parameter, simply and be easy to be engineered.
Description
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of inhibition actual robot based on EI reshapers
The method of system vibration.
Background technology
The basic handling mode of the jitter problem of handling machine people is as follows at present：
1, the pid parameter of driver is adjusted.Which is the mainstream stabilization way of current robot, but adjustment parameter mistake
Journey rely on experience, it is cumbersome repeatedly, take it is longer；
2, extend Acceleration and deceleration time.Which makes the Acceleration and deceleration time of robot elongated, and robot operation is more steady,
But reduce its runnability and working efficiency；
3, the joint trajectories smoothing processing of robot.This method makes acceleration in robot operational process, accelerates
The exercise parameters continuously smooth such as degree, speed, eliminates the mutability of exercise parameter, reduces the generation of vibration, but algorithm is complicated and counts
Calculation amount is big.
The major defect of the above technology is with deficiency：Anti-shaking method is single, adjusts parameter to rely on experience and time-consuming, calculation
Method is complicated and computationally intensive.
Invention content
The purpose of the present invention aims to solve at least one of described technological deficiency.
For this purpose, it is an object of the invention to propose a kind of side of the inhibition actual robot system vibration based on EI reshapers
Method.
To achieve the goals above, the embodiment of the present invention provides a kind of inhibition actual robot system based on EI reshapers
The method of system vibration, includes the following steps：
Step S1 designs EI reshapers, including：
There are a nonzero value Vtol, and higher than ωnFrequencies omegahLocate V (ξ, ωh)=0, less than ωnFrequencies omegal
Locate V (ξ, ωi)=0, while in ωnPlaceTherefore in [ωl, ωh] between, it is ensured that EI reshapers make the residual of system
Vibration staying moves expression formula and is less than or equal to Vtol, constraint equation and the key parameter for obtaining three-pulse sequence be as follows：
Constraint equation：
V (ξ, ωh)=0
V (ξ, ωi)=0
V(ωn)=Vtol
Key parameter：
A1=0.2479+0.2496Vtol+0.8001ξ+1.233ξVtol+0.496ξ2+3.173Vtolξ2
A3=0.2515+0.2147Vtol-0.8325ξ+1.415ξVtol+0.8515ξ2+4.9Vtolξ2
A2=1- (A1+A3)
t1=0
t2=(0.5+0.4616 ξ Vtol+4.262Vtolξ2+1.756Vtolξ3+8.578Vtol 2ξ-1086Vtol 2ξ2+337Vtol 2
ξ3)td
Step S2, if the Sequence Response equation that EI reshapers act in second-order system is：
Wherein, ωnIt is the intrinsic frequency of system, ξ is the damping ratio of system,
Step S3, the EI reshapers are filtered processing to pumping signal using three pulse trains, are drawn with filtering out
Play the frequency content of system vibration.
Further, the amplitude versus frequency characte of the EI reshapers is designed, including：
Introduce the definition of damping pulse amplitude, pulse amplitude AiSignal in tiMoment acts on, then the damping of pulse signal
Pulse amplitudeIt is defined as
Amplitude versus frequency characte is expressed as：
By the parameter of two pulse input reshapersAbove formula is substituted into, andArrangement obtains amplitude-frequency damping
Characteristic：
Further, for there is damped natural frequency ωdSinusoidal decay signal or ωdThe sinusoidal decay signal of odd-multiple
Response amplitude be zero, then filter out the attenuated sinusoidal signal of this frequency content, eliminate the residual vibration of system.
The method of inhibition actual robot system vibration according to the ... of the embodiment of the present invention based on EI reshapers, believes excitation
Number it is filtered processing, filters out the frequency content that can cause system vibration.Using the present invention, EI reshapers can effectively drop
The vibration amplitude of low system and shortening die-away time, and there is certain robustness to systematic parameter.Also, for system of robot
System, this method is simple and is easy to be engineered.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the stream according to the method for the inhibition actual robot system vibration based on EI reshapers of the embodiment of the present invention
Cheng Tu；
Fig. 2 be according to the amplitude-versus-frequency curves of the EI reshapers of the embodiment of the present invention (as A_1^ ζ=A_2^ ζ, can be complete
The full sinusoidal decay signal for being filled into ω _ d odd-multiples) schematic diagram；
Fig. 3 be according to the amplitude-versus-frequency curves of the EI reshapers of the embodiment of the present invention (as A_1^ ζ ≠ A_2^ ζ, can only portion
Point be filled into the sinusoidal decay signal of ω _ d odd-multiples) schematic diagram；
Fig. 4 is oscillating curve figure (the blue dotted line expression excitation according to the unused EI shaping techniques of the embodiment of the present invention
Step signal)；
Fig. 5 is oscillating curve figure (the blue dotted line expression shaping for having used EI shaping techniques according to the embodiment of the present invention
Pumping signal afterwards)；
Fig. 6 is according to the unused of the embodiment of the present invention and with the oscillating curve comparison diagram of method in the patent；
Fig. 7 is the MATLAB control flow charts according to the robot system of the embodiment of the present invention；
Fig. 8 is the one oscillating curve comparison diagram of joint according to the embodiment of the present invention；
Fig. 9 is the two oscillating curve comparison diagram of joint according to the embodiment of the present invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
As shown in Figure 1, the embodiment of the present invention of the embodiment of the present invention based on EI (Extra-Insensitive) reshaper
Inhibition actual robot system vibration method, include the following steps：
Step S1 designs EI reshapers, including：
There are a nonzero value Vtol, and higher than ωnFrequencies omegahLocate V (ξ, ωh)=0, less than ωnFrequencies omegal
Locate V (ξ, ωl)=0, while in ωnPlaceTherefore in [ωl, ωh] between, it is ensured that EI reshapers make the residual of system
Vibration staying moves expression formula and is less than or equal to Vtol, constraint equation and the key parameter for obtaining three-pulse sequence be as follows：
Constraint equation：
V (ξ, ωh)=0 (1)
V (ξ, ωl)=0 (2)
V(ωn)=Vtol (3)
Key parameter：
A1=0.2479+0.2496Vtol+0.8001ξ+1.233ξVtol+0.496ξ2+3.173Vtolξ2 (5)
A3=0.2515+0.2147Vtol-0.8325ξ+1.415ξVtol+0.8515ξ2+4.9Vtolξ2 (6)
A2=1- (A1+A3) (7)
t1=0 (8)
t2=(0.5+0.4616 ξ Vtol+4.262Vtolξ2+1.756Vtolξ3+8.578Vtol 2ξ-1086Vtol 2ξ2+337Vtol 2
ξ3)td (9)
Then, the amplitude versus frequency characte of EI reshapers is designed, including：
Introduce the definition of damping pulse amplitude, pulse amplitude AiSignal in tiMoment acts on, then the damping of pulse signal
Pulse amplitudeIt is defined as
Amplitude versus frequency characte is expressed as：
By the parameter of two pulse input reshapersAbove formula is substituted into, andArrangement obtains amplitude-frequency damping
Characteristic：
Step S2, if the Sequence Response equation that EI reshapers act in second-order system is：
Wherein, ωnIt is the intrinsic frequency of system, ξ is the damping ratio of system,
Step S3, EI reshaper is filtered processing using three pulse trains to pumping signal, with filter out cause be
The frequency content of system vibration.
Specifically, EI reshapers are filtered processing using three pulse trains to pumping signal, and allow components of system as directed
The residual of vibration exists, and has certain robustness to the Parameters variation of system.
For there is damped natural frequency ωdSinusoidal decay signal or ωdThe response of the sinusoidal decay signal of odd-multiple
Amplitude can be zero, can be adequately filtered out the attenuated sinusoidal signal of this frequency content, to effectively eliminate the residual of system
Vibration, refers to Fig. 2.WhenWhen, then it cannot all filter attenuated sinusoidal signal, and larger residual is presented in system at this time
Oscillation phenomenon refers to Fig. 3.
The inhibition actual robot system vibration based on EI reshapers illustrated the present invention below with reference to Fig. 4 to Fig. 9
Method.
1) selecting system equation is following formula (15), parameter ωn=31.4159Hz, ξ=0.06, vtol=0.05, the system
The response condition of equation refers to fig. 4 to fig. 6, it is known that, which can significantly reduce vibration amplitude and be significantly shorter
Vibrate die-away time.
2) it chooses actual robot system to be emulated, robot system is by two flexible joints, two rigid links
It constitutes, while applying pumping signal, the pumping signal (shaping and non-shaping) in pumping signal and example 1 in two joint parts
It is consistent.The control flow chart of robot system refers to Fig. 7.It, should from Fig. 8 to Fig. 9 it is found that for actual robot system
EI reshapers have the function of good reduction vibration amplitude and shorten die-away time.There is the original of unusual fluctuations in two curve of joint
Cause is the influence that the inertia of connecting rod one during exercise generates connecting rod two.
The method of inhibition actual robot system vibration according to the ... of the embodiment of the present invention based on EI reshapers, believes excitation
Number it is filtered processing, filters out the frequency content that can cause system vibration.Using the present invention, EI reshapers can effectively drop
The vibration amplitude of low system and shortening die-away time, and there is certain robustness to systematic parameter.Also, for system of robot
System, this method is simple and is easy to be engineered.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case of can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.The scope of the present invention
By appended claims and its equivalent limit.
Claims (3)
1. a kind of method of the inhibition actual robot system vibration based on EI reshapers, which is characterized in that include the following steps：
Step S1 designs EI reshapers, including：
There are a nonzero value Vtol, and higher than ωnFrequencies omegahLocate V (ξ, ωh)=0, less than ωnFrequencies omegalLocate V
(ξ, ωl)=0, while in ωnPlaceTherefore in [ωl, ωh] between, it is ensured that EI reshapers make the residual of system
It vibrates expression formula and is less than or equal to Vtol, constraint equation and the key parameter for obtaining three-pulse sequence be as follows：
Constraint equation：
V (ξ, ωh)=0
V (ξ, ωl)=0
V(ωn)=Vtol
Key parameter：
A1=0.2479+0.2496Vtol+0.8001ξ+1.233ξVtol+0.496ξ2+3.173Vtolξ2
A3=0.2515+0.2147Vtol-0.8325ξ+1.415ξVtol+0.8515ξ2+4.9Vtolξ2
A2=1- (A1+A3)
t1=0
t2=(0.5+0.4616 ξ Vtol+4.262Vtolξ2+1.756Vtolξ3+8.578Vtol 2ξ-1086Vtol 2ξ2+337Vtol 2ξ3)td
Step S2, if the Sequence Response equation that EI reshapers act in second-order system is：
Wherein, ωnIt is the intrinsic frequency of system, ξ is the damping ratio of system,
Step S3, the EI reshapers are filtered processing using three pulse trains to pumping signal, with filter out cause be
The frequency content of system vibration.
2. the method for the inhibition actual robot system vibration based on EI reshapers as described in claim 1, which is characterized in that
The amplitude versus frequency characte of the EI reshapers is designed, including：
Introduce the definition of damping pulse amplitude, pulse amplitude AiSignal in tiMoment acts on, then the damping pulse of pulse signal
AmplitudeIt is defined as
Amplitude versus frequency characte is expressed as：
By the parameter of two pulse input reshapersAbove formula is substituted into, andArrangement obtains amplitude-frequency damping characteristic：
3. the method for the inhibition actual robot system vibration based on EI reshapers as described in claim 1, which is characterized in that
For there is damped natural frequency ωdSinusoidal decay signal or ωdThe response amplitude of the sinusoidal decay signal of odd-multiple is zero,
The attenuated sinusoidal signal for then filtering out this frequency content eliminates the residual vibration of system.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111338216A (en) * | 2020-04-21 | 2020-06-26 | 华中科技大学 | Input shaper based on mixed pulse excitation and design method |
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| CN103885338A (en) * | 2014-03-21 | 2014-06-25 | 北京工业大学 | Input reshaper parameter self-tuning control method based on particle swarm optimization algorithm |
| CN105786037A (en) * | 2016-03-03 | 2016-07-20 | 深圳市雷赛智能控制股份有限公司 | Input shaper for suppressing residual vibration of mechanical system |
| CN107433589A (en) * | 2017-07-28 | 2017-12-05 | 珞石（山东）智能科技有限公司 | Robot vibration suppressing method based on acceleration transducer |
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- 2018-01-31 CN CN201810097824.3A patent/CN108303887A/en active Pending
Patent Citations (4)
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| JP4802838B2 (en) * | 2006-04-18 | 2011-10-26 | シンフォニアテクノロジー株式会社 | Active vibration damping device and control method of active vibration damping device |
| CN103885338A (en) * | 2014-03-21 | 2014-06-25 | 北京工业大学 | Input reshaper parameter self-tuning control method based on particle swarm optimization algorithm |
| CN105786037A (en) * | 2016-03-03 | 2016-07-20 | 深圳市雷赛智能控制股份有限公司 | Input shaper for suppressing residual vibration of mechanical system |
| CN107433589A (en) * | 2017-07-28 | 2017-12-05 | 珞石（山东）智能科技有限公司 | Robot vibration suppressing method based on acceleration transducer |
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| CN111338216A (en) * | 2020-04-21 | 2020-06-26 | 华中科技大学 | Input shaper based on mixed pulse excitation and design method |
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Application publication date: 20180720 |