CN108908338A - Robot end's jitter suppression method and its system based on ZVD reshaper - Google Patents
Robot end's jitter suppression method and its system based on ZVD reshaper Download PDFInfo
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- CN108908338A CN108908338A CN201810856742.2A CN201810856742A CN108908338A CN 108908338 A CN108908338 A CN 108908338A CN 201810856742 A CN201810856742 A CN 201810856742A CN 108908338 A CN108908338 A CN 108908338A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The present invention relates to robot end's jitter suppression methods and its system based on ZVD reshaper；Wherein, based on robot end's jitter suppression method of ZVD reshaper, include the following steps；S1 obtains position command；S2, judges whether end dither functions open；If it is unlatching, then enter lower step, if be not turned on, enters S8；S3, judges whether single vibration suppression opens；If it is unlatching, then enter lower step, if be not turned on, enters S6；S4 measures the first vibration frequency and the first damping ratio, and calculates related ZVD reshaper coefficient AiAnd ti；S5 is obtained by calculation shaping location information, and exports；S6 measures the second vibration frequency and the second damping ratio, and calculates related ZVD reshaper coefficient AiAnd ti；S7 is obtained by calculation shaping location information, and exports；S8 terminates.The present invention end shake generally existing for robot, plays good inhibitory effect, reduces positioning time, improve efficiency.
Description
Technical field
The present invention relates to robot control fields, more specifically refer to robot end's shake based on ZVD reshaper
Suppressing method and its system.
Background technique
It is exponentially increased in the number of China, robot, over nearly 3 years, annual growth is up to 30% or so, by 2017,
The sales volume estimation of robot is 150,000；Future will have more and more Chinese suppliers of robot to enter market, foreign capitals
Competition between China domestic supplier of robot will be more and more fierce, and the growth potential of Science in Future in China market robot is huge
Greatly.
Currently, Robot Control Technology is generally existing since end shake leads to not accurate problem, and this problem is just
It is the key technology of robot development, many enterprises are also required to urgently solve the problems, such as this, and the market demand is big.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, robot end's shake based on ZVD reshaper is provided
Suppressing method and its system.
To achieve the above object, the present invention uses following technical scheme：
Robot end's jitter suppression method based on ZVD reshaper, includes the following steps；
S1 obtains position command；
S2, judges whether end dither functions open；If it is unlatching, then enter lower step, if be not turned on, into
Enter S8；
S3, judges whether single vibration suppression opens；If it is unlatching, then enter lower step, if be not turned on, into
Enter S6；
S4 measures the first vibration frequency and the first damping ratio, and calculates related ZVD reshaper coefficient AiAnd ti；
S5 is obtained by calculation shaping location information, and exports；
S6 measures the second vibration frequency and the second damping ratio, and calculates related ZVD reshaper coefficient AiAnd ti；
S7 is obtained by calculation shaping location information, and exports；
S8 terminates.
Its further technical solution is：In the S1, position command is by the control period 62.5us according to position ring
It obtains.
Its further technical solution is：The S1 further includes that position command is exported by ZVD reshaper, and position ring P is adjusted
And position feed-forward exports given speed, the PI for carrying out speed ring and electric current loop is adjusted, to control the operating of motor.
Its further technical solution is：The S4 includes：
S41 obtains the first vibration frequency and the first damping ratio according to virtual oscilloscope position feedback waveform；
S42 calculates related ZVD reshaper coefficient A according to the first vibration frequency and the first damping ratioiAnd ti。
Its further technical solution is：In S5, by the first difference equation, output Shaping location information is calculated, first
Difference equation is
Its further technical solution is：The S6 includes：
S61, virtual oscilloscope measure the second vibration frequency and the second damping ratio；
S62, according to the first vibration frequency, the second vibration frequency, the first damping ratio and the second damping ratio, by cascade side
Formula calculates related ZVD reshaper coefficient AiAnd ti。
Its further technical solution is：In S7, by the second difference equation, output Shaping location information is calculated；Second
Difference equation is
Robot end's jitter suppression system based on ZVD reshaper, including：
Position units, for obtaining position command；
Judging unit is shaken, for judging whether end dither functions open；
Vibration suppression judging unit, for judging whether single vibration suppression opens；
Survey calculation unit for measuring vibration frequency and damping ratio, and calculates related ZVD reshaper coefficient AiAnd ti；
Output unit is calculated, for calculating simultaneously output Shaping location information.
Its further technical solution is：The survey calculation unit includes measurement module and computing module；
Measurement module, for measuring vibration frequency and damping ratio；
Computing module, for calculating related ZVD reshaper coefficient AiAnd ti。
Compared with the prior art, the invention has the advantages that：For the generally existing end shake of robot, play very
Good inhibitory effect, reduces positioning time, improves efficiency.
The invention will be further described in the following with reference to the drawings and specific embodiments.
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow charts of robot end's jitter suppression method of ZVD reshaper；
Fig. 2 is the schematic diagram that the period is shaken in Fig. 1；
Fig. 3 is that the present invention is based on the operation schematic diagrams in robot end's jitter suppression method of ZVD reshaper；
Fig. 4 is that the present invention is based on the block diagrams of robot end's jitter suppression system of ZVD reshaper.
10 position units 20 shake judging unit
30 vibration suppression judging unit, 40 survey calculation unit
41 measurement module, 42 computing module
50 calculate output unit
Specific embodiment
In order to more fully understand technology contents of the invention, combined with specific embodiments below to technical solution of the present invention into
One step introduction and explanation, but not limited to this.
Specific embodiment as shown in fig. 1 to fig. 4, wherein as shown in Figure 1 to Figure 3, the invention discloses whole based on ZVD
Robot end's jitter suppression method of shape device, includes the following steps：
S1 obtains position command；
S2, judges whether end dither functions open；If it is unlatching, then enter lower step, if be not turned on, into
Enter S8；
S3, judges whether single vibration suppression opens；If it is unlatching, then enter lower step, if be not turned on, into
Enter S6；
S4 measures the first vibration frequency and the first damping ratio, and calculates related ZVD reshaper coefficient AiAnd ti；
S5 is obtained by calculation shaping location information, and exports；
S6 measures the second vibration frequency and the second damping ratio, and calculates related ZVD reshaper coefficient AiAnd ti；
S7 is obtained by calculation shaping location information, and exports；
S8 terminates.
Wherein, as shown in Fig. 2, in S1, position command is obtained according to the control period 62.5us of position ring.
Specifically, as shown in figure 3, S1 further includes, position command is exported by ZVD reshaper, and position ring P is adjusted and position
Feedforward output given speed is set, the PI for carrying out speed ring and electric current loop is adjusted, to control the operating of motor.
Wherein, S4 includes：
S41 obtains the first vibration frequency and the first damping ratio according to virtual oscilloscope position feedback waveform；
S42 calculates related ZVD reshaper coefficient A according to the first vibration frequency and the first damping ratioiAnd ti。
Wherein, in S5, by the first difference equation, output Shaping location information is calculated, the first difference equation is
Wherein, S6 includes：
S61, virtual oscilloscope measure the second vibration frequency and the second damping ratio；
S62, according to the first vibration frequency, the second vibration frequency, the first damping ratio and the second damping ratio, by cascade side
Formula calculates related ZVD reshaper coefficient AiAnd ti。
Wherein, in S7, by the second difference equation, output Shaping location information is calculated；Second difference equation is
Wherein, ZVD input shaper is another passive strategy for eliminating buffeting except filtering mode, belongs to open loop control
System, is usually used in the end chattering elimination of the flexiblesystems such as mechanical arm；Same physical resonant vibration characteristic based on equipment, but not
Be same as the control thinking that filters solutions filter out specific resonant frequency, input shaper technology from mechanical system modal analysis,
The part of the instruction excitation end shake of servo-control system is eliminated self, in the instruction for similarly following directly after servo not
Contain characteristic frequency again, to inhibit elastic buffeting.
Wherein, the principle of ZVD input shaper：As notch filter, input shaper is also in position command
It enters before servo-driver, certain processing is carried out to it, position command is made not inspire entire servo drive control
New system, so its position for being in system, as notch filter, in position, instruction virtual oscillograph and servo tracking are driven
Between dynamic system；The basic thought of input shaper is that original position command is decomposed into a series of pulse signal successively
It is input among system, i.e., reaches elimination end by way of instruction shaping is become and will not cause system residual vibration and tremble
Dynamic purpose.
Further, by taking two pulses as an example, for the servo-control system under an elastic connecting system, in t=0s
At the time of, there is jitter phenomenon in pulse A1 meeting activating system response, and the buffeting period is T, if pulse A2 is at the time of t=T/2
Addition system, then its also can activating system response occur buffet the period be T jitter phenomenon, the phase phase difference of the two half week
Phase, if the amplitude size that can further control pulse A1 and A2 is cooperated, the shake that pulse A1 and A2 are inspired can be mutual
It offsets, achievees the effect that end jitter suppression.
Wherein, the response characteristic of most of system is determined by a pair of Dominant Pole, and transmission function is：
Wherein, ωnFor intrinsic frequency, ε is damping ratio.
Input shaper technology is such a process：By the order of system loads and defined Impulsive Delay signal convolution,
Obtain the process of reshaping signal；When 0<ε<When 1, system shows as underdamping, the unit pulse output of system；
WhereinFor the intrinsic frequency of second-order system.
It is by the input shaper expression formula of N number of pulse shaping：
Input shaper is generally placed on to the front of entire closed-loop system, entire controlled system belongs to opened loop control at this time；
If the unit pulse output of controlled device is ω (t), the unit pulse output of input shaper is f (t), former according to superposition
The unit pulse output of reason, system is represented by：
When pulse number is n, response is then formed by stacking by n impulse response formula, i.e., unit-pulse signal is through inputting
After reshaper, form pulse train, then second-order system receives this order, the output being led to by n Impulsive Delay sequence it
With the response for the system that constitutes.It is to be formed by stacking by the sinusoidal signal of same frequency, can be simplified by trigonometric function, then multiple arteries and veins
The system of punching responds：
Ratio is carried out to range value above, the residual vibration expression formula of no unit can be obtained, that is,：
If system does not have end jitter phenomenon, must satisfy：
Since the calculated result of equation group is unlimited order, acquisition is numerous input shaper, presents system
Limit impulse response.If increasing the constraint condition to input shaper performance, available unique solution, the input shaper obtained at this time
Device has specific performance indicator.
Amplitude is provided first, it is ensured that amplitude of the gain before and after shaping is identical, i.e.,：
If over control does not occur in system, amplitude should all equal to positive number, that is,：
Ai> 0
Input shaper be have target by time lag implant system, for the response speed for improving system, need the time as far as possible
It is small, so first pulse of regulation is realized in zero moment, i.e.,：
t1=0
If it is desired to input shaper is able to achieve, i>1, then：
ti> 0
Zero vibration differential (Zero Vibration and Derivation, ZVD) input shaper is by three pulse groups
At specific to indicate to be write as：
The vibration amplitude that this reshaper does not require nothing more than in system response is zero, and the amplitude of variation of requirement vibration is also
Zero, it is meant that have stronger inhibitory effect and robustness to vibration.
According to above-mentioned several conditions, the related coefficient of step 3 can be found out：
Wherein T is the period of controlled device：
Sliding-model control：Enable ti=niTs, TsFor the sampling period, F (S) carries out transform：
Then difference equation is：
Y (n)=A1x(n-n1)+A2x(n-n2)+A3x(n-n3)
Due to n1=0, it can be reduced to：
Y (n)=A1x(n)+A2x(n-n2)+A3x(n-n3)
If sample frequency is 16384hz, the vibration frequency of 4hz or more is detected, then sampling number is 16384/4=
4096；By ni=ti/Ts=tifsIt can determine niValue, be actually equivalent to a FIR filter.
Above-mentioned parameter is related with damping ratio with intrinsic frequency, and the determination of intrinsic frequency is anti-according to virtual oscilloscope display position
The waveform of feedback calculates vibration period and concussion number so as to find out intrinsic frequency and damping ratio.
Intrinsic frequency is that the inverse of vibration period, rule of thumb gained damping ratio and concussion period have corresponding relationship, is vibrated
Periodicity indicates that controlled device is finally stable at target position, loads cycle of oscillation number (such as following table) experienced.
| Shake periodicity | 1 | 2 | 3 | 4 | 5 |
| Damping ratio | 0.4 | 0.3 | 0.2 | 0.15 | 0.13 |
| Shake periodicity | 6 | 7 | 8 | 9 | 10 |
| Damping ratio | 0.11 | 0.1 | 0.09 | 0.07 | 0.06 |
| Shake periodicity | 11 | 12 | 13 | 14 | 15 |
| Damping ratio | 0.05 | 0.046 | 0.043 | 0.04 | 0.035 |
Often more than one shakes mode to system, in the case where cannot completely eliminating shake according to one group of reshaper, needs
Multiple reshapers are arranged using cascade mode, by taking two groups of reshapers as an example：
Above-mentioned two formula is subjected to convolution, if amplitude is A1, A2,A3；B1,B2, B3The then parameter of the input shaper of two mode
For：
As shown in figure 4, the invention also discloses robot end's jitter suppression systems based on ZVD reshaper, including：
Position units 10, for obtaining position command；
Judging unit 20 is shaken, for judging whether end dither functions open；
Vibration suppression judging unit 30, for judging whether single vibration suppression opens；
Survey calculation unit 40 for measuring vibration frequency and damping ratio, and calculates related ZVD reshaper coefficient AiWith
ti；
Output unit 50 is calculated, for calculating simultaneously output Shaping location information.
Wherein, survey calculation unit 40 includes measurement module 41 and computing module 42；
Measurement module 41, for measuring vibration frequency and damping ratio；
Computing module 42, for calculating related ZVD reshaper coefficient AiAnd ti。
The present invention end shake generally existing for robot, plays good inhibitory effect, reduces positioning time,
Improve efficiency.
It is above-mentioned that technology contents of the invention are only further illustrated with embodiment, in order to which reader is easier to understand, but not
It represents embodiments of the present invention and is only limitted to this, any technology done according to the present invention extends or recreation, by of the invention
Protection.Protection scope of the present invention is subject to claims.
Claims (9)
1. robot end's jitter suppression method based on ZVD reshaper, which is characterized in that include the following steps：
S1 obtains position command；
S2, judges whether end dither functions open；If it is unlatching, then enters lower step and enter if be not turned on
S8；
S3, judges whether single vibration suppression opens；If it is unlatching, then enters lower step and enter if be not turned on
S6；
S4 measures the first vibration frequency and the first damping ratio, and calculates related ZVD reshaper coefficient AiAnd ti；
S5 is obtained by calculation shaping location information, and exports；
S6 measures the second vibration frequency and the second damping ratio, and calculates related ZVD reshaper coefficient AiAnd ti；
S7 is obtained by calculation shaping location information, and exports；
S8 terminates.
2. robot end's jitter suppression method according to claim 1 based on ZVD reshaper, which is characterized in that institute
It states in S1, position command is obtained according to the control period 62.5us of position ring.
3. robot end's jitter suppression method according to claim 2 based on ZVD reshaper, which is characterized in that institute
Stating S1 further includes that position command is exported by ZVD reshaper, and position ring P is adjusted and position feed-forward exports given speed, is carried out
The PI of speed ring and electric current loop is adjusted, to control the operating of motor.
4. robot end's jitter suppression method according to claim 1 based on ZVD reshaper, which is characterized in that institute
Stating S4 includes：
S41 obtains the first vibration frequency and the first damping ratio according to virtual oscilloscope position feedback waveform；
S42 calculates related ZVD reshaper coefficient A according to the first vibration frequency and the first damping ratioiAnd ti。
5. robot end's jitter suppression method according to claim 1 based on ZVD reshaper, which is characterized in that institute
It states in S5, by the first difference equation, calculates output Shaping location information；First difference equation is
6. robot end's jitter suppression method according to claim 1 based on ZVD reshaper, which is characterized in that institute
Stating S6 includes：
S61, virtual oscilloscope measure the second vibration frequency and the second damping ratio；
S62 passes through cascade system meter according to the first vibration frequency, the second vibration frequency, the first damping ratio and the second damping ratio
Calculate correlation ZVD reshaper coefficient AiAnd ti。
7. robot end's jitter suppression method according to claim 1 based on ZVD reshaper, which is characterized in that institute
It states in S7, by the second difference equation, calculates output Shaping location information；Second difference equation is
8. robot end's jitter suppression system based on ZVD reshaper, which is characterized in that including：
Position units, for obtaining position command；
Judging unit is shaken, for judging whether end dither functions open；
Vibration suppression judging unit, for judging whether single vibration suppression opens；
Survey calculation unit for measuring vibration frequency and damping ratio, and calculates related ZVD reshaper coefficient AiAnd ti；
Output unit is calculated, for calculating simultaneously output Shaping location information.
9. robot end's jitter suppression system according to claim 8 based on ZVD reshaper, which is characterized in that institute
Stating survey calculation unit includes measurement module and computing module；
Measurement module, for measuring vibration frequency and damping ratio；
Computing module, for calculating related ZVD reshaper coefficient AiAnd ti。
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| CN110239140A (en) * | 2019-06-13 | 2019-09-17 | 博众精工科技股份有限公司 | A kind of servo press equipment compress control method based on input shaper |
| CN110977969A (en) * | 2019-11-29 | 2020-04-10 | 东北大学 | Resonance suppression method of flexible load servo drive system based on pose transformation of mechanical arm |
| CN111338216A (en) * | 2020-04-21 | 2020-06-26 | 华中科技大学 | Input shaper based on mixed pulse excitation and design method |
| CN111367170A (en) * | 2020-02-11 | 2020-07-03 | 固高科技(深圳)有限公司 | Input shaper design method |
| CN111515955A (en) * | 2020-05-13 | 2020-08-11 | 中科新松有限公司 | Method and device for inhibiting residual shaking of flexible joint mechanical arm |
| CN111913506A (en) * | 2020-07-23 | 2020-11-10 | 中国地质大学（武汉） | Terminal vibration suppression method based on equivalent input interference and input shaper |
| CN112589794A (en) * | 2020-12-02 | 2021-04-02 | 法奥意威(苏州)机器人系统有限公司 | Method for suppressing vibration of robot |
| CN114193456A (en) * | 2022-01-04 | 2022-03-18 | 陈威 | Vibration suppression robot using multimodal input shaping method and control method thereof |
| CN114310907A (en) * | 2022-01-25 | 2022-04-12 | 佛山智能装备技术研究院 | Multi-working-condition self-adaptive industrial robot tail end vibration suppression method |
| CN114460838A (en) * | 2021-12-31 | 2022-05-10 | 上海新时达机器人有限公司 | Mechanical tail end jitter suppression method, position ring and driving device |
| CN115319760A (en) * | 2022-10-11 | 2022-11-11 | 广东隆崎机器人有限公司 | Mechanical arm tail end jitter suppression method and device, electronic equipment and storage medium |
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| CN111367170A (en) * | 2020-02-11 | 2020-07-03 | 固高科技(深圳)有限公司 | Input shaper design method |
| CN111367170B (en) * | 2020-02-11 | 2023-08-08 | 固高科技股份有限公司 | Input shaper design method |
| CN111338216A (en) * | 2020-04-21 | 2020-06-26 | 华中科技大学 | Input shaper based on mixed pulse excitation and design method |
| CN111338216B (en) * | 2020-04-21 | 2021-06-29 | 华中科技大学 | Input shaper based on mixed pulse excitation and design method |
| CN111515955A (en) * | 2020-05-13 | 2020-08-11 | 中科新松有限公司 | Method and device for inhibiting residual shaking of flexible joint mechanical arm |
| CN111913506A (en) * | 2020-07-23 | 2020-11-10 | 中国地质大学（武汉） | Terminal vibration suppression method based on equivalent input interference and input shaper |
| CN112589794A (en) * | 2020-12-02 | 2021-04-02 | 法奥意威(苏州)机器人系统有限公司 | Method for suppressing vibration of robot |
| CN114460838A (en) * | 2021-12-31 | 2022-05-10 | 上海新时达机器人有限公司 | Mechanical tail end jitter suppression method, position ring and driving device |
| CN114193456A (en) * | 2022-01-04 | 2022-03-18 | 陈威 | Vibration suppression robot using multimodal input shaping method and control method thereof |
| CN114193456B (en) * | 2022-01-04 | 2023-12-26 | 上海博远升控制技术有限公司 | Vibration suppression robot using multimodal input shaping method and control method thereof |
| CN114310907A (en) * | 2022-01-25 | 2022-04-12 | 佛山智能装备技术研究院 | Multi-working-condition self-adaptive industrial robot tail end vibration suppression method |
| CN114310907B (en) * | 2022-01-25 | 2024-01-16 | 佛山智能装备技术研究院 | Multi-working-condition self-adaptive industrial robot tail end vibration suppression method |
| CN115319760A (en) * | 2022-10-11 | 2022-11-11 | 广东隆崎机器人有限公司 | Mechanical arm tail end jitter suppression method and device, electronic equipment and storage medium |
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