CN108673513B - A kind of control method and device of electric inspection process robot operation posture - Google Patents
A kind of control method and device of electric inspection process robot operation posture Download PDFInfo
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- CN108673513B CN108673513B CN201810904118.5A CN201810904118A CN108673513B CN 108673513 B CN108673513 B CN 108673513B CN 201810904118 A CN201810904118 A CN 201810904118A CN 108673513 B CN108673513 B CN 108673513B
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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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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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
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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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
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1646—Programme controls characterised by the control loop variable structure system, sliding mode control
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Abstract
A kind of control method and device of electric inspection process robot operation posture, comprising: establish the inearized model of electric inspection process robot operation posture, and be according to calculating sliding-mode surface equation with inearized model；Using sliding-mode surface equation, default liapunov function and default exponential approach rate as foundation, basic sliding formwork control ratio is calculated, and the two type fuzzy sliding mode tracking control model of broad sense by pre-establishing handles sliding-mode surface equation, exports preliminary processing results；Preliminary processing results are substituting in the expression formula of basic sliding formwork control ratio, obtain final sliding formwork control ratio, and then complete the control to electric inspection process robot operation posture according to final sliding formwork control ratio.It can be seen that, the control method and device for implementing electric inspection process robot operation posture, can effectively enhance anti-interference ability of the electric inspection process robot in inspection motion process, skid resistance is good, avoidance performance is good, and then effectively promotes security performance of the electric inspection process robot in inspection motion process.
Description
Technical field
The present invention relates to technical field of data processing, in particular to a kind of electric inspection process robot operation posture
Control method and device.
Background technique
With the continuous development of society, electricity is indispensable.For ensure substation safety in production and safe operation, because
This needs to carry out Daily Round Check and Maintain to substation, generallys use electric inspection process robot assisted now or replaces staff
Walkaround inspection is carried out to the equipment of substation, by acquiring the running state information of power equipment, so that detecting power equipment is
No there are the abnormal phenomenon such as thermal defect, foreign matter suspension, to guarantee the safety of power generation.Now frequently with gain scheduling dynamic surface control
System or the method for back stepping control carry out the control of electric inspection process robot motion's posture.However in practice, it has been found that using
The electric inspection process robot that above-mentioned existing control method is controlled, during inspection be easy by wind-force, weather and other one
The interference of a little uncertain external factor, while above-mentioned control method skid resistance is poor, avoidance performance is poor, and then is easy to cause electric power
On inspection route safety accident occurs for crusing robot.
Summary of the invention
In view of the above problems, the present invention provides a kind of electric inspection process robot operation posture control method and device,
It is controlled by two type fuzzy sliding mode tracking control model of broad sense to run posture to electric inspection process robot, can effectively enhance electricity
Anti-interference ability of the power crusing robot in inspection motion process, skid resistance is good, and avoidance performance is good, and then effectively promotes electric power
Security performance of the crusing robot in inspection motion process.
To achieve the goals above, the present invention adopts the following technical scheme that:
First aspect present invention discloses a kind of control method of electric inspection process robot operation posture, comprising:
The inearized model of the electric inspection process robot operation posture is established, and is according in terms of by the inearized model
Calculate sliding-mode surface equation；
The sliding-mode surface equation is handled by the two type fuzzy sliding mode tracking control model of broad sense pre-established, output is just
Walk processing result；
Using the sliding-mode surface equation, preset liapunov function and default exponential approach rate as foundation, calculate basic
Sliding formwork control ratio；
The preliminary processing results are substituting in the expression formula of the basic sliding formwork control ratio, obtain final sliding formwork control
Rule, and then the control to electric inspection process robot operation posture is completed according to the final sliding formwork control ratio.
As an alternative embodiment, in first aspect present invention, two type of broad sense by pre-establishing
Fuzzy sliding mode tracking control model handles the sliding-mode surface equation, and output preliminary processing results include:
Multiple alpha cross sections are chosen, and the sliding-mode surface equation is handled using alpha cross section method, calculate each alpha cross section
Corresponding degree of membership；
It is that foundation calculates the corresponding activation interval of each alpha cross section with the degree of membership；
Drop type processing is carried out to the corresponding activation interval of each alpha cross section, it is corresponding to obtain each alpha cross section
Terminating point；
The terminating point corresponding to all alpha cross sections carries out defuzzification processing, obtains an ambiguity solution value, as
The preliminary processing results of two type fuzzy sliding mode tracking control model of broad sense.
As an alternative embodiment, the electric inspection process robot runs posture in first aspect present invention
Inearized model are as follows:
Wherein,
Wherein, x=[x1,x2,x3,x4]TFor the state vector of the electric inspection process robot, a21、a41、a23、b4It is described
The coefficient of inearized model, m1For the main quality of the electric inspection process robot, m2To be arranged in the electric inspection process robot
Ballast box quality, l is the length of moving lever being arranged in the electric inspection process robot, and d is the electric inspection process machine
The height for the T-type frame being arranged on people, h1The level between cable hung by the T-type frame and the electric inspection process robot
Distance, h20For the horizontal distance between the ballast box and the cable, g is acceleration of gravity, and u is to control the electric inspection process
The controlling value inputted when robot；
Another inearized model of the electric inspection process robot operation posture are as follows:
Wherein,U (t) is sliding formwork control ratio.
As an alternative embodiment, in first aspect present invention, the sliding-mode surface equation are as follows:
S=CTX=c1x1+c2x2+c3x3+c4x4；
Wherein,
CT=rTP(λ)；
rT=[0,0,0,1] [B, AB, A2B,A3B]-1；
P (λ)=(λ-λ1)(λ-λ2)(λ-λ3)(λ-λ4)；
Wherein, λ1, λ2, λ3, λ4For the ideal extreme point of the inearized model.
As an alternative embodiment, in first aspect present invention, the default exponential approach rate are as follows:
The default liapunov function are as follows:
The basic sliding formwork control ratio are as follows:
Wherein, ε and k is preset constant.
As an alternative embodiment, each alpha cross section of calculating is corresponding to be subordinate in first aspect present invention
Degree, comprising:
The corresponding degree of membership of each alpha cross section is calculated using triangle time membership function；
Wherein, the calculation formula of the corresponding degree of membership of each alpha cross section is calculated are as follows:
Wherein, αkSection indicates an alpha cross section in multiple alpha cross sections,For each αkSection is corresponding
Degree of membership, the degree of membership includes upper degree of membership and lower degree of membership,For the αkThe corresponding upper degree of membership in section,For the αkThe corresponding lower degree of membership in section；For the corresponding upper degree of membership of alpha cross section as α=0,For the corresponding lower degree of membership of alpha cross section as α=0, ω is constant, indicates the vertex of the triangle time membership function
Position.
As an alternative embodiment, in first aspect present invention, it is described to be calculated with the degree of membership for foundation
The calculation formula of the corresponding activation interval of each alpha cross section are as follows:
Wherein,For the corresponding activation interval of each alpha cross section, the activation interval include upper activation interval and
Lower activation interval,For the corresponding upper activation interval of each alpha cross section,For each alpha cross section pair
The lower activation interval answered.
As an alternative embodiment, in first aspect present invention, the corresponding termination of each alpha cross section
Point includes left terminating point and right terminating point；
It is described that drop type processing is carried out to the corresponding activation interval of each alpha cross section, obtain each alpha cross section pair
The terminating point answered includes:
Drop type processing is carried out to the corresponding upper activation interval of each alpha cross section, each alpha cross section is calculated
Corresponding left terminating point, wherein calculate the formula of the corresponding left terminating point of each alpha cross section are as follows:
Drop type processing is carried out to the corresponding lower activation interval of each alpha cross section, each alpha cross section is calculated
Corresponding right terminating point, wherein calculate the formula of the corresponding right terminating point of each alpha cross section are as follows:
Wherein, ylαFor the corresponding left terminating point of the alpha cross section, yrαFor the corresponding right termination of the alpha cross section
Point, whereinIt is the right terminating point of j-th of consequent,It is the left terminating point of j-th of consequent.
As an alternative embodiment, in first aspect present invention, the corresponding institute of described pair of all alpha cross sections
It states terminating point and carries out defuzzification processing, an ambiguity solution value is obtained, as the preliminary of two type fuzzy sliding mode tracking control model of broad sense
The calculation formula of processing result are as follows:
Wherein, a shared k alpha cross section, αpSection is an alpha cross section in the k alpha cross section, αpFor the αpSection pair
The section value answered.
Second aspect of the present invention discloses a kind of control device of electric inspection process robot operation posture, comprising:
Sliding-mode surface equation calculation module, for establishing the inearized model of the electric inspection process robot operation posture, and
It is according to calculating sliding-mode surface equation with the inearized model；
Basic sliding formwork control ratio computing module is used for the sliding-mode surface equation, default liapunov function and presets
Exponential approach rate is foundation, calculates basic sliding formwork control ratio；
Two type fuzzy sliding mode tracking control module of broad sense, for the two type fuzzy sliding mode tracking control model pair of broad sense by pre-establishing
The sliding-mode surface equation is handled, and preliminary processing results are exported；
Final sliding formwork control ratio computing module, for the preliminary processing results to be substituting to the basic sliding formwork control ratio
Expression formula in, obtain final sliding formwork control ratio, and then complete to the electric inspection process machine according to the final sliding formwork control ratio
The control of device people operation posture.
Third aspect present invention discloses a kind of computer equipment, including memory and processor, and the memory is used for
Computer program is stored, the processor runs the computer program so that the computer equipment executes first aspect and discloses
The some or all of electric inspection process robot operation posture control method.
Fourth aspect present invention discloses a kind of computer readable storage medium, is stored with computer described in the third aspect
The computer program used in equipment.
The control method and device of the electric inspection process robot operation posture provided according to the present invention, first pass through electric inspection process
Robot runs the inearized model of posture, calculates sliding-mode surface equation；Then again with sliding-mode surface equation, default Liapunov letter
Several and default exponential approach rate is foundation, calculates basic sliding formwork control ratio, can effectively avoid transporting the electric inspection process robot
Jitter problem during row gesture stability, while the two type fuzzy sliding mode tracking control model of broad sense by pre-establishing is to sliding-mode surface
Equation is handled, and preliminary processing results are exported；The preliminary processing results are finally substituting to the expression of basic sliding formwork control ratio
In formula, final sliding formwork control ratio is obtained, and then complete to run posture to electric inspection process robot according to the final sliding formwork control ratio
Control, by calculating final sliding formwork control ratio in conjunction with two type fuzzy sliding mode tracking control model of broad sense, and according to final sliding formwork control
System is restrained to complete to control electric inspection process robot operation posture, can effectively enhance electric inspection process robot and transport in inspection
Anti-interference ability during dynamic, skid resistance is good, and avoidance performance is good, and then effectively promotes electric inspection process robot in inspection campaign
Security performance in the process.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of the scope of the invention.
Fig. 1 is that a kind of process of the control method for electric inspection process robot operation posture that the embodiment of the present invention one provides is shown
It is intended to；
Fig. 2 is that a kind of process of the control method of electric inspection process robot operation posture provided by Embodiment 2 of the present invention is shown
It is intended to；
Fig. 3 is that a kind of structure of the control device for electric inspection process robot operation posture that the embodiment of the present invention three provides is shown
It is intended to；
Fig. 4 is the structure of the control device for another electric inspection process robot operation posture that the embodiment of the present invention three provides
Schematic diagram；
Fig. 5 is that a kind of line of electric inspection process robot provided by Embodiment 2 of the present invention carries model schematic.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
For the problems of the prior art, the present invention provides a kind of control methods of electric inspection process robot operation posture
And device；The technology first passes through the inearized model of electric inspection process robot operation posture, calculates sliding-mode surface equation；Then again with
Sliding-mode surface equation, default liapunov function and default exponential approach rate are foundation, calculate basic sliding formwork control ratio, Neng Gouyou
Effect avoids running the electric inspection process robot jitter problem during gesture stability, while the broad sense two by pre-establishing
Type fuzzy sliding mode tracking control model handles sliding-mode surface equation, exports preliminary processing results；Finally by the preliminary processing results
It is substituting in the expression formula of basic sliding formwork control ratio, obtains final sliding formwork control ratio, and then complete according to the final sliding formwork control ratio
The control of pairs of electric inspection process robot operation posture, by calculating final cunning in conjunction with two type fuzzy sliding mode tracking control model of broad sense
Mould control law, and according to final sliding formwork control ratio come complete to electric inspection process robot run posture control, can be effective
Enhance anti-interference ability of the electric inspection process robot in inspection motion process, skid resistance is good, and avoidance performance is good, and then effectively mentions
Rise security performance of the electric inspection process robot in inspection motion process.Also, the technology can use relevant software or hard
Part is realized, is described below by embodiment.
Embodiment 1
Referring to Fig. 1, Fig. 1 is a kind of controlling party for electric inspection process robot operation posture that the embodiment of the present invention one provides
The flow diagram of method.Wherein, as shown in Figure 1, the control method of electric inspection process robot operation posture may include following
Step:
S101, the inearized model for establishing electric inspection process robot operation posture, and be according to calculating with inearized model
Sliding-mode surface equation.
In the present embodiment, the state variable for defining electric inspection process robot is as follows:
Wherein, θ1It is the rotation angle of electric inspection process robot, θ2It is the angle of rotation of the turning joint of electric inspection process robot
Degree,WithIt is θ respectively1And θ2Angular speed.
The then state equation of electric inspection process robot are as follows:
Wherein, m1For the main quality of electric inspection process robot, m2Matter for the ballast box being arranged in electric inspection process robot
Amount, l are the length for the moving lever being arranged in electric inspection process robot, and d is the height for the T-type frame being arranged in electric inspection process robot
Degree, h1The horizontal distance between cable hung by T-type frame and electric inspection process robot, h20Between ballast box and cable
Horizontal distance, Δ are the amplitude of electric inspection process robot motion.
In the present embodiment, sliding-mode surface equation can be calculated using alpha cross section.
S102, sliding-mode surface equation is handled by the two type fuzzy sliding mode tracking control model of broad sense pre-established, is exported
Preliminary processing results.
S103, using sliding-mode surface equation, default liapunov function and default exponential approach rate as foundation, calculate substantially sliding
Mould control law.
In the present embodiment, when calculating basic sliding formwork control ratio, increasing default exponential approach rate can effectively avoid controlling
Occur buffeting problem in electric inspection process robotic process processed, and then promotes control performance.
In the present embodiment, step S103 can be executed before step S102, can also be executed after step s 102, this
Embodiment is not construed as limiting.
S104, preliminary processing results are substituting in the expression formula of basic sliding formwork control ratio, obtain final sliding formwork control ratio,
And then the control to electric inspection process robot operation posture is completed according to final sliding formwork control ratio.
In the present embodiment, it can be seen that from the state equation of above-mentioned electric inspection process robot due to electric inspection process robot
Motion state there is non-linear property and strong coupling, be difficult to directly obtain suitably according to the state equation of electric inspection process robot
Control the electric inspection process robot control law.The present embodiment first according to the inearized model of electric inspection process robot, uses
Ackermann's formula method calculates sliding-mode surface equation, then is become by the sliding-mode surface equation, default liapunov function and default index
Nearly rate is sliding to calculate basic sliding formwork control ratio, and further, calculating one kind in conjunction with two type fuzzy sliding mode tracking control model of broad sense can
To control the final sliding formwork control ratio that non-linear electric inspection process robot is safely operated on cable, and then promote electric inspection process machine
Security performance of the device people in inspection motion process.
As it can be seen that implementing the control method of the operation posture of electric inspection process robot described in Fig. 1, by combining two type of broad sense
Fuzzy sliding mode tracking control model calculates final sliding formwork control ratio, and completes according to final sliding formwork control ratio to electric inspection process machine
People runs posture and controls, and can effectively enhance anti-interference ability of the electric inspection process robot in inspection motion process, prevents
Slip is good, and avoidance performance is good, and then effectively promotes security performance of the electric inspection process robot in inspection motion process.
Embodiment 2
Referring to Fig. 2, Fig. 2 is a kind of controlling party of electric inspection process robot operation posture provided by Embodiment 2 of the present invention
The flow diagram of method.Wherein, as shown in Fig. 2, the control method of electric inspection process robot operation posture may include following
Step:
S201, the inearized model for establishing electric inspection process robot operation posture, and be according to calculating with inearized model
Sliding-mode surface equation.
In the present embodiment, electric inspection process robot runs the inearized model of posture are as follows:
Wherein,
Wherein, x=[x1,x2,x3,x4]TFor the state vector of electric inspection process robot, a21、a41、a23、b4For the linearisation
The coefficient of model.
Please refer to fig. 5, the line that Fig. 5 is a kind of electric inspection process robot provided in this embodiment carries model schematic.
As shown in figure 5, being provided with insulating block 403, ballast box 402, moving lever 404 and T-type frame in the electric inspection process robot
405.In addition, d marked in figure is the height of T-type frame 405, l is the length of moving lever 404.Wherein, electric inspection process robot
It is hung on cable 401 by insulating block 403.Then m1For the main quality of electric inspection process robot, m2For ballast box 402
Quality, l are the length of moving lever 404, and d is the height of T-type frame 405, h1Between T-type frame 405 and cable 401 it is horizontal away from
From h20For the horizontal distance between ballast box 402 and cable 401, g is acceleration of gravity, when u is control electric inspection process robot
The controlling value of input.
In the present embodiment, m1=63kg, m2=27kg, h1=0.18m, h20=0.42m, l=d=0.5m, the present embodiment is not
It limits.
Another inearized model of electric inspection process robot operation posture are as follows:
Wherein,U (t) is sliding formwork control ratio.
In the present embodiment, after step S207 calculates final sliding formwork control ratio, with the final sliding formwork control ratio and it is somebody's turn to do
Another inearized model that electric inspection process robot runs posture is foundation, can be completed and runs posture to electric inspection process robot
Control, while the interference free performance of control can be enhanced.
In the present embodiment, the sliding-mode surface equation are as follows:
S=CTX=c1x1+c2x2+c3x3+c4x4；
Wherein,
CT=rTP(λ)；
rT=[0,0,0,1] [B, AB, A2B,A3B]-1；
P (λ)=(λ-λ1)(λ-λ2)(λ-λ3)(λ-λ4)；
Wherein, λ1, λ2, λ3, λ4For the ideal extreme point of inearized model.
S202, using sliding-mode surface equation, default liapunov function and default exponential approach rate as foundation, calculate substantially sliding
Mould control law.
In the present embodiment, exponential approach rate is preset are as follows:
Default liapunov function are as follows:
Basic sliding formwork control ratio are as follows:
Wherein, ε and k is preset constant, c1、c2、c3、c4It is the coefficient of the basic sliding formwork control ratio.
S203, multiple alpha cross sections are chosen, and sliding-mode surface equation is handled using alpha cross section method, calculate each alpha cross section pair
The degree of membership answered.
In the present embodiment, two type fuzzy sliding mode tracking control model of broad sense be can be defined as follows:
Wherein,For secondary membership function, fxIt (z) is time membership function degree, JXIt is the region of time membership function, z mono-
A fuzzy set being defined in [0,1].When upper membership function is equal to lower membership function, two type fuzzy control model of section is
One type fuzzy control model.As secondary membership function fx(z)=1 when, two type fuzzy sliding mode tracking control model of broad sense is two type of section
Fuzzy control model, therefore two type fuzzy sliding mode tracking control model of broad sense is capable of handling more uncertainties, interference free performance is more
It is good.
It,, can be by entire two pattern of broad sense by using alpha cross section method when calculating time membership function is spent in the present embodiment
Paste sliding formwork control model is divided into multiple two type fuzzy control models of section, and two type fuzzy control model of each section can be with
Data processing is carried out respectively, and then greatly reduces calculation amount, improves control corresponding speed.
In the present embodiment, the corresponding degree of membership of each alpha cross section is calculated, comprising:
The corresponding degree of membership of each alpha cross section is calculated using triangle time membership function；
Wherein, the calculation formula of the corresponding degree of membership of each alpha cross section is calculated are as follows:
Wherein, αkSection indicates an alpha cross section in multiple alpha cross sections,For each αkThe corresponding degree of membership in section,
Degree of membership includes upper degree of membership and lower degree of membership,For αkThe corresponding upper degree of membership in section,For αkSection pair
The lower degree of membership answered；For the corresponding upper degree of membership of alpha cross section as α=0,For the alpha cross section pair as α=0
The lower degree of membership answered, ω are constant, indicate the vertex position of triangle time membership function.
It S204, is that foundation calculates the corresponding activation interval of each alpha cross section with degree of membership.
It is according to the calculation formula for calculating the corresponding activation interval of each alpha cross section with degree of membership in the present embodiment are as follows:
Wherein,For the corresponding activation interval of each alpha cross section, activation interval includes upper activation interval and lower activation
Section,For the corresponding upper activation interval of each alpha cross section,For the corresponding lower activation interval of each alpha cross section,For the corresponding lower degree of membership of the alpha cross section,For the αkThe corresponding upper degree of membership in section.
S205, drop type processing is carried out to the corresponding activation interval of each alpha cross section, obtains the corresponding terminating point of each alpha cross section.
In the present embodiment, drop type processing can be carried out to the corresponding activation interval of each alpha cross section using KM algorithm, obtained every
The corresponding terminating point of a alpha cross section.
In the present embodiment, the corresponding terminating point of each alpha cross section includes left terminating point and right terminating point；
Drop type processing is carried out to the corresponding activation interval of each alpha cross section, obtains the corresponding terminating point of each alpha cross section, comprising:
Upper activation interval corresponding to each alpha cross section carries out drop type processing, and the corresponding left termination of each alpha cross section is calculated
Point, wherein calculate the formula of the corresponding left terminating point of each alpha cross section are as follows:
Lower activation interval corresponding to each alpha cross section carries out drop type processing, and the corresponding right termination of each alpha cross section is calculated
Point, wherein calculate the formula of the corresponding right terminating point of each alpha cross section are as follows:
Wherein, ylαFor the corresponding left terminating point of alpha cross section, yrαFor the corresponding right terminating point of alpha cross section, whereinIt is after j-th
The right terminating point of part,It is the left terminating point of j-th of consequent.
S206, defuzzification processing is carried out to the corresponding terminating point of all alpha cross sections, an ambiguity solution value is obtained, as wide
The preliminary processing results of adopted two type fuzzy sliding mode tracking control models.
In the present embodiment, above-mentioned steps S203~step S206 is executed, can be pasted by two pattern of broad sense pre-established
Sliding formwork control model handles sliding-mode surface equation, exports preliminary processing results.
In the present embodiment, step S203~step S206 can be executed before step S202, step S203~step
S206 can also be executed after step S202, and this embodiment is not limited.
In the present embodiment, the corresponding terminating point of all alpha cross sections can be solved using terminating point average value defuzzification
Fuzzy processing obtains an ambiguity solution value, the preliminary processing results as two type fuzzy sliding mode tracking control model of broad sense.
In the present embodiment, defuzzification processing is carried out to the corresponding terminating point of all alpha cross sections, obtains an ambiguity solution value,
The calculation formula of preliminary processing results as two type fuzzy sliding mode tracking control model of broad sense are as follows:
Wherein, a shared k alpha cross section, αpSection is an alpha cross section in the k alpha cross section, αpFor the αpSection pair
The section value answered.
S207, preliminary processing results are substituting in the expression formula of basic sliding formwork control ratio, obtain final sliding formwork control ratio,
And then the control to electric inspection process robot operation posture is completed according to final sliding formwork control ratio.
In the present embodiment, the S in the expression formula of above-mentioned basic sliding formwork control ratio is replaced with preliminary processing results, is obtained
Final control law are as follows:
Wherein,
As it can be seen that implementing the control method of the operation posture of electric inspection process robot described in Fig. 2, by combining two type of broad sense
Fuzzy sliding mode tracking control model calculates final sliding formwork control ratio, and completes according to final sliding formwork control ratio to electric inspection process machine
People runs posture and controls, and can effectively enhance anti-interference ability of the electric inspection process robot in inspection motion process, prevents
Slip is good, and avoidance performance is good, and then effectively promotes security performance of the electric inspection process robot in inspection motion process.
Embodiment 3
Referring to Fig. 3, Fig. 3 is a kind of control dress for electric inspection process robot operation posture that the embodiment of the present invention three provides
The structural schematic diagram set.Wherein, as shown in figure 3, the control device of electric inspection process robot operation posture includes:
Sliding-mode surface equation calculation module 301, for establish electric inspection process robot operation posture inearized model, and with
Inearized model is according to calculating sliding-mode surface equation.
Basic sliding formwork control ratio computing module 302, for sliding-mode surface equation, default liapunov function and default finger
Number tendency rate is foundation, calculates basic sliding formwork control ratio.
Two type fuzzy sliding mode tracking control module 303 of broad sense, for the two type fuzzy sliding mode tracking control mould of broad sense by pre-establishing
Type handles sliding-mode surface equation, exports preliminary processing results.
In the present embodiment, basic sliding formwork control ratio computing module 302 executes the operation for calculating basic sliding formwork control ratio, can be with
It is carried out after two type fuzzy sliding mode tracking control module 303 of broad sense exports preliminary processing results, can also paste and slide in two pattern of broad sense
Mould control module 303 carries out before exporting preliminary processing results, can also export in two type fuzzy sliding mode tracking control module 303 of broad sense
It is carried out while preliminary processing results, this embodiment is not limited.
Final sliding formwork control ratio computing module 304, for preliminary processing results to be substituting to the table of basic sliding formwork control ratio
Up in formula, final sliding formwork control ratio is obtained, and then completes to run posture to electric inspection process robot according to final sliding formwork control ratio
Control.
As an alternative embodiment, as shown in figure 4, two type fuzzy sliding mode tracking control module 303 of broad sense includes:
First submodule 3031 handles sliding-mode surface equation for choosing multiple alpha cross sections, and using alpha cross section method, counts
Calculate the corresponding degree of membership of each alpha cross section.
Second submodule 3032, for being according to the corresponding activation interval of each alpha cross section of calculating with degree of membership.
Third submodule 3033 obtains each α and cuts for carrying out drop type processing to the corresponding activation interval of each alpha cross section
The corresponding terminating point in face.
4th submodule 3034 obtains a solution for carrying out defuzzification processing to the corresponding terminating point of all alpha cross sections
Fuzzy value, the preliminary processing results as two type fuzzy sliding mode tracking control model of broad sense.
As another optional embodiment, two type fuzzy sliding mode tracking control module 303 of broad sense includes obfuscation module, rule
Table module, indistinct logic computer module, drop pattern block conciliate obfuscation module, in which:
Obfuscation module obtains broad sense two for carrying out Fuzzy processing to above-mentioned sliding-mode surface equation using single-point fuzzification
Type fuzzy set；
Rule list module, for ambiguity in definition rule, fuzzy rule is if-then rule；
In the present embodiment, which can be indicated are as follows:
Wherein, xijIt is j input of the i-th rule, yiIt is the output of the i-th rule,It is two pattern fuzzy model of broad sense
Former piece,It is the consequent of two pattern fuzzy model of broad sense.
In the present embodiment, the formula of the corresponding left terminating point of the above-mentioned each alpha cross section of calculating are as follows:
Lower activation interval corresponding to each alpha cross section carries out drop type processing, and the corresponding right termination of each alpha cross section is calculated
Point, wherein calculate the formula of the corresponding right terminating point of each alpha cross section are as follows:
Wherein, ylαFor the corresponding left terminating point of alpha cross section, yrαFor the corresponding right terminating point of alpha cross section, whereinIt is after j-th
The right terminating point of part,It is the left terminating point of j-th of consequent.
In the present embodiment, becauseIt is the consequent of two pattern fuzzy model of broad sense, thenIt is j-thRight terminating point,It is j-thLeft terminating point.
Indistinct logic computer module is used to calculate the corresponding degree of membership of each alpha cross section using alpha cross section, and to be subordinate to
Degree is according to the corresponding activation interval of each alpha cross section of calculating；
As an alternative embodiment, indistinct logic computer module is product inference machine module.
In the present embodiment, indistinct logic computer module can establish the mapping between input and output.
Pattern block is dropped, for carrying out drop type processing to the corresponding activation interval of each alpha cross section using KM algorithm, is obtained each
The corresponding terminating point of alpha cross section；
In the present embodiment, above-mentioned broad sense type-2 fuzzy sets drop type can be a type fuzzy set by drop pattern block.
Ambiguity solution module, for being solved using terminating point average value ambiguity solution method to the corresponding terminating point of all alpha cross sections
Fuzzy processing obtains an ambiguity solution value, the preliminary processing results as two type fuzzy sliding mode tracking control model of broad sense.
In the present embodiment, ambiguity solution module can establish a type fuzzy set to the mapping determined between output valve.
As it can be seen that implement the control device of the operation posture of electric inspection process robot described in the present embodiment, it is wide by combining
Adopted two type fuzzy sliding mode tracking control models calculate final sliding formwork control ratio, and complete to patrol electric power according to final sliding formwork control ratio
Inspection robot operation posture is controlled, and anti-interference energy of the electric inspection process robot in inspection motion process can be effectively enhanced
Power, skid resistance is good, and avoidance performance is good, and then effectively promotes security performance of the electric inspection process robot in inspection motion process.
In addition, the present invention also provides a kind of computer equipments.The computer equipment includes memory and processor, storage
Device can be used for storing computer program, and processor is by operation computer program, so that the computer equipment be made to execute above-mentioned side
The function of modules in the control device of method or above-mentioned electric inspection process robot operation posture.
Memory may include storing program area and storage data area, wherein storing program area can storage program area, at least
Application program needed for one function (such as sound-playing function, image player function etc.) etc.；Storage data area can store root
Created data (such as audio data, phone directory etc.) etc. are used according to mobile terminal.In addition, memory may include high speed
Random access memory, can also include nonvolatile memory, a for example, at least disk memory, flush memory device or
Other volatile solid-state parts.
The present embodiment additionally provides a kind of computer storage medium, for storing calculating used in above-mentioned computer equipment
Machine program.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and structure in attached drawing
Figure shows the system frame in the cards of the device of multiple embodiments according to the present invention, method and computer program product
Structure, function and operation.In this regard, each box in flowchart or block diagram can represent a module, section or code
A part, a part of the module, section or code includes one or more for implementing the specified logical function
Executable instruction.It should also be noted that function marked in the box can also be to be different from the implementation as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that in structure chart and/or flow chart
The combination of each box and the box in structure chart and/or flow chart, can function or movement as defined in executing it is dedicated
Hardware based system realize, or can realize using a combination of dedicated hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention can integrate one independence of formation together
Part, be also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be intelligence
Can mobile phone, personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), magnetic or disk etc. be various to can store program code
Medium.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. a kind of control method of electric inspection process robot operation posture characterized by comprising
The inearized model of the electric inspection process robot operation posture is established according to the building formula of predetermined linear model, and
It is according to calculating sliding-mode surface equation with the inearized model；
The sliding-mode surface equation is handled by the two type fuzzy sliding mode tracking control model of broad sense pre-established, exports preliminary place
Manage result；
Using the sliding-mode surface equation, preset liapunov function and default exponential approach rate as foundation, basic sliding formwork is calculated
Control law；
The preliminary processing results are substituting in the expression formula of the basic sliding formwork control ratio, obtain final sliding formwork control ratio,
And then the control to electric inspection process robot operation posture is completed according to the final sliding formwork control ratio；
The building formula of the predetermined linear model are as follows:
Wherein,U is the basic sliding formwork control ratio；
Wherein, x=[x1,x2,x3,x4]TFor the state vector of the electric inspection process robot, a21、a41、a23、b4It is described default
The coefficient of inearized model, m1For the main quality of the electric inspection process robot, m2To be arranged in the electric inspection process robot
Ballast box quality, l is the length of moving lever being arranged in the electric inspection process robot, and d is the electric inspection process machine
The height for the T-type frame being arranged on people, h1The level between cable hung by the T-type frame and the electric inspection process robot
Distance, h20For the horizontal distance between the ballast box and the cable, g is acceleration of gravity, and u is the basic sliding formwork control
Rule；
The sliding-mode surface equation are as follows:
S=CTX=c1x1+c2x2+c3x3+c4x4；
Wherein,
CT=rTP(λ)；
rT=[0,0,0,1] [B, AB, A2B,A3B]-1；
P (λ)=(λ-λ1)(λ-λ2)(λ-λ3)(λ-λ4)；
Wherein, λ1, λ2, λ3, λ4For the ideal extreme point of the inearized model；
Two type fuzzy sliding mode tracking control model of broad sense can be defined as follows:
Wherein,For secondary membership function, fxIt (z) is time membership function degree, JXIt is the region of time membership function, z is one fixed
Fuzzy set of the justice in [0,1]；
The default liapunov function are as follows:
The default exponential approach rate are as follows:
The basic sliding formwork control ratio are as follows:
Wherein, ε and k is preset constant, c1、c2、c3、c4It is the coefficient of the basic sliding formwork control ratio.
2. the control method of electric inspection process robot operation posture according to claim 1, which is characterized in that described to pass through
The two type fuzzy sliding mode tracking control model of broad sense pre-established handles the sliding-mode surface equation, exports preliminary processing results packet
It includes:
Multiple alpha cross sections are chosen, and the sliding-mode surface equation is handled using alpha cross section method, it is corresponding to calculate each alpha cross section
Degree of membership；
It is that foundation calculates the corresponding activation interval of each alpha cross section with the degree of membership；
Drop type processing is carried out to the corresponding activation interval of each alpha cross section, obtains the corresponding termination of each alpha cross section
Point；
The terminating point corresponding to all alpha cross sections carries out defuzzification processing, an ambiguity solution value is obtained, as broad sense
The preliminary processing results of two type fuzzy sliding mode tracking control models.
3. the control method of electric inspection process robot operation posture according to claim 2, which is characterized in that calculate each
The corresponding degree of membership of the alpha cross section, comprising:
The corresponding degree of membership of each alpha cross section is calculated using triangle time membership function；
Wherein, the calculation formula of the corresponding degree of membership of each alpha cross section is calculated are as follows:
Wherein, αkSection indicates an alpha cross section in multiple alpha cross sections,For each αkThe corresponding person in servitude in section
Category degree, the degree of membership include upper degree of membership and lower degree of membership,For the αkThe corresponding upper degree of membership in section,For the αkThe corresponding lower degree of membership in section；For the corresponding upper degree of membership of alpha cross section as α=0,
For the corresponding lower degree of membership of alpha cross section as α=0, ω is constant, indicates the vertex position of the triangle time membership function.
4. the control method of electric inspection process robot operation posture according to claim 3, which is characterized in that described with institute
Stating degree of membership is according to the calculation formula for calculating the corresponding activation interval of each alpha cross section are as follows:
Wherein,For the corresponding activation interval of each alpha cross section, the activation interval includes upper activation interval and lower swashs
Section living,For the corresponding upper activation interval of each alpha cross section,It is corresponding for each alpha cross section
The lower activation interval,For the corresponding lower degree of membership of the alpha cross section,For the αkThe corresponding upper person in servitude in section
Category degree.
5. the control method of electric inspection process robot operation posture according to claim 4, which is characterized in that each described
The corresponding terminating point of alpha cross section includes left terminating point and right terminating point；
It is described that drop type processing is carried out to the corresponding activation interval of each alpha cross section, it is corresponding to obtain each alpha cross section
Terminating point includes:
Drop type processing is carried out to the corresponding upper activation interval of each alpha cross section, it is corresponding that each alpha cross section is calculated
Left terminating point, wherein calculate the formula of the corresponding left terminating point of each alpha cross section are as follows:
Drop type processing is carried out to the corresponding lower activation interval of each alpha cross section, it is corresponding that each alpha cross section is calculated
Right terminating point, wherein calculate the formula of the corresponding right terminating point of each alpha cross section are as follows:
Wherein, ylαFor the corresponding left terminating point of the alpha cross section, yrαFor the corresponding right terminating point of the alpha cross section, whereinIt is the right terminating point of j-th of consequent,It is the left terminating point of j-th of consequent.
6. the control method of electric inspection process robot operation posture according to claim 4, which is characterized in that described to institute
There is the corresponding terminating point of the alpha cross section to carry out defuzzification processing, obtains an ambiguity solution value, pasted as two pattern of broad sense
The calculation formula of the preliminary processing results of sliding formwork control model are as follows:
Wherein, a shared k alpha cross section, αpSection is an alpha cross section in the k alpha cross section, αpFor the αpSection is corresponding
Section value.
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| CN109407689B (en) * | 2018-12-19 | 2020-02-21 | 四川大学 | Fuzzy control method and device for balance robot and balance robot |
| CN110308718A (en) * | 2019-04-11 | 2019-10-08 | 长沙理工大学 | A kind of pilotless automobile behaviour decision making method based on two type fuzzy comprehensive evoluations |
| CN110083061B (en) * | 2019-04-12 | 2022-04-08 | 国网宁夏电力有限公司电力科学研究院 | Wheel type mobile robot control method |
| CN110275439B (en) * | 2019-06-28 | 2020-05-26 | 四川大学 | Control method of self-balancing trolley and design method and device of controller |
| CN110297496B (en) * | 2019-06-28 | 2020-04-21 | 四川大学 | Control method and device for power inspection robot, electronic equipment and storage medium |
| CN110977971B (en) * | 2019-12-03 | 2021-08-24 | 长安大学 | Delta robot control method based on fuzzy set theory |
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