CN109129481A - A kind of service robot load platform balance control method based on increment type PID - Google Patents
A kind of service robot load platform balance control method based on increment type PID Download PDFInfo
- Publication number
- CN109129481A CN109129481A CN201810986431.8A CN201810986431A CN109129481A CN 109129481 A CN109129481 A CN 109129481A CN 201810986431 A CN201810986431 A CN 201810986431A CN 109129481 A CN109129481 A CN 109129481A
- Authority
- CN
- China
- Prior art keywords
- platform
- control method
- balance control
- coordinate
- dimensional
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
-
- 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
- B25J19/0008—Balancing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of service robot load platform balance control method based on increment type PID, comprising the following steps: 1) the real-time six-axle acceleration in calculating robot's mobile platform traveling process；2) it is integrated twice by acceleration obtained in the previous step, obtains the coordinate shift amount of the current quadrangle of platform, while calculating the three-dimensional coordinate of bead；3) three-dimensional coordinate and offset being calculated according to previous step make platform tend to horizontal stable four pillars progress incremental timestamp of platform；4) model established in three-dimensional system of coordinate is projected in two-dimensional surface；5) simplify matrix operation involved in whole process using matlab；6) algorithm is embedded in single-chip microcontroller, is stretched by the pillar of single-chip microcontroller control platform surrounding to achieve the purpose that platform is made to tend towards stability.The present invention provides the service robot load platform balance control method of a kind of strong robustness, high sensitivity, friendly interface.
Description
Technical field
The present invention relates to the fields such as balance control, robot, embedded programming.It specifically refers to a kind of based on increment type PID
Service robot load platform balance control method.
Background technique
The design of balance control system be increasingly used in recent years robot field, especially biped robot with
Self-balance robot.Being mapped to the market demand is mainly service robot, including community service robot, household services machine
People, manufacturing service robot, logistics service robot etc. may require that service robot as long as the place for having service.In machine
It is often needed on device people's mobile platform according to application demand control platform tilt angle, and guarantees the balance of platform loading.And it is present
Most robot moving platform system all has higher requirements to load weight, placement location etc., and robustness is not high；And traveling process
The stabilization of middle platform is guaranteed by mechanical structure, and there are cumulative errors, cannot dynamically compensate control in real time.
Summary of the invention
In order to overcome, the robustness of existing service robot load platform balance control method is not high, sensitivity is lower not
Foot, the purpose of the present invention is provide a kind of robust for the instability problem in above-mentioned service robot mobile platform traveling process
Property strong, high sensitivity, friendly interface service robot load platform balance control method.
In order to solve the above-mentioned technical problem, technical scheme is as follows:
A kind of service robot load platform balance control method based on increment type PID, comprising the following steps:
1) the real-time six-axle acceleration in calculating robot's mobile platform traveling process；
2) it is integrated twice by acceleration obtained in the previous step, obtains the coordinate shift amount of the current quadrangle of platform.Simultaneously
Calculate the three-dimensional coordinate of bead；
3) three-dimensional coordinate and offset being calculated according to previous step carry out increment type PID to four pillars of platform
Control, makes platform tend to horizontal stable；Four pillars are supported in platform quadrangle, and changeable height is to provide platform and inclination
Contrary torque, for making system return to equilbrium position；
4) model established in three-dimensional system of coordinate is projected in two-dimensional surface；
5) simplify matrix operation involved in whole process using matlab；
6) algorithm is embedded in single-chip microcontroller, is stretched by the pillar of single-chip microcontroller control platform surrounding to reach and platform is made to tend to be steady
Fixed purpose.
Further, in the step 1), historical data is recorded, the acceleration of next state is predicted according to prediction rule
Value, and after measurement obtains the acceleration value of next state, the two is compared correction, and weighting obtains actual acceleration
Value.
Further, in the step 3), corresponding pid parameter is set, when platform inclination angle is big, keeps correction amount also corresponding
Greatly；At platform inclination angle hour, correction amount also becomes smaller；User can judge that platform has reached the condition of stable state with self-setting,
The condition is platform inclination angle in 0 ° of certain neighborhood or load objects and in Platform center field.
In the step 4), object is projected into two-dimensional plane coordinate system from three-dimensional coordinate system, it first will be three-dimensional
Object is put into a coordinate system, and the midpoint of plane is put into the origin of three-dimensional space；During planar inverted, any overturning
It can be decomposed into around x, y, z-axis rotation；Change the size in the visual field by the matrix that stretches to change object in projection plane
Size；It is obtained by a series of coordinate position of the object of overturnings and scaling in three-dimension object by matrix operation.
In the step 6), based on TivaTMTM4C1294KCPDT Microcontroller microcomputer development, complete
Minimum system and peripheral circuit module are built.
Technical concept of the invention are as follows: for the instability problem in service robot mobile platform traveling process, by
EK-TM4C1294XL expansion board is obtained the real-time inclination angle of extended edition by its included three axis accelerometer, passes through increment type
PID control platform surrounding pillar telescopic level, makes its stabilization that tends to balance；And the mapping relations as obtained by modeling, reflect in real time
On TFT display screen, OpenGL is used for reference to the processing thought of 3-D image, understands the original that 3-D image projects two dimensional image
It manages and the use of various conversions under battle conditions, by Matlab come simplification matrix operation, can also be subject to an air wall in TFT display screen
The moving range of bead is limited, the azimuth of single-chip microcontroller computing platform deviation is passed through and finally realizes that balanced ball gravity sensing is moved
3 dynamic dimension visual interface designs, are convenient for user's real-time monitoring.In addition to this, this method is pressed by using ADC acquisition and GPIO
Key, which can freely adjust platform, allows inclined degree.
Beneficial effects of the present invention are shown: strong robustness, high sensitivity, friendly interface.
Specific embodiment
The present invention will be further described below.
A kind of service robot load platform balance control method based on increment type PID, in particular to a kind of based on increasing
Amount formula PID control, Matlab simplification matrix operation obtain platform inclination degree and are corrected, and are based on OpenGL image procossing
It is presented in the method observed in real time on the display screen of EK-TM4C1294XL for user.
The service robot load platform balance control method the following steps are included:
1) the real-time six-axle acceleration in calculating robot's mobile platform traveling process；
2) it is integrated twice by acceleration obtained in the previous step, obtains the coordinate shift amount of the current quadrangle of platform, simultaneously
Calculate the three-dimensional coordinate of bead；
3) three-dimensional coordinate and offset being calculated according to previous step carry out increment type PID to four pillars of platform
Control, makes platform tend to horizontal stable, and four pillars are supported in platform quadrangle, and changeable height is to provide platform and inclination
Contrary torque, for making system return to equilbrium position；
4) model established in three-dimensional system of coordinate is projected in two-dimensional surface；
5) simplify matrix operation involved in whole process using matlab, reduce computation complexity and required time；
6) algorithm is embedded in single-chip microcontroller, is stretched by the pillar of single-chip microcontroller control platform surrounding to reach and platform is made to tend to be steady
Fixed purpose.
Further, in the step 1, acceleration value is obtained by MPU6050 accelerometer, according to obtained voltage value
Acceleration value is obtained multiplied by sensitivity, user can voluntarily select the acceleration of different sensitivity and range to pass according to actual needs
Sensor.The data obtained in this way also need to filter out noise by Kalman filtering.Historical data is recorded, according to prediction rule
Predict the acceleration value of next state, and after measurement obtains the acceleration value of next state, the two is compared correction,
Weighting obtains actual acceleration value.
In the step 2, the frequency sampled for accelerometer is obtained in conjunction with single-chip microcontroller crystal oscillation fractional frequency, is converted into the period,
The time of integration of offset is obtained as each integrated acceleration, rate integrating.The angle of platform inclination is obtained by integral, with
And position of platform locating for bead, using these as the feedback quantity of PID control.
In the step 3), corresponding pid parameter is set, when platform inclination angle is big, keeps correction amount also corresponding big；In platform
Inclination angle hour, correction amount also become smaller.User can judge that platform has reached the condition of stable state with self-setting.It can be platform
Inclination angle is in 0 ° of certain neighborhood or load objects and in Platform center field.
In the step 4), object is projected into two-dimensional plane coordinate system from three-dimensional coordinate system, it first will be three-dimensional
Object is put into a coordinate system, Common Coordinate (the standard right hand three-dimensional system of coordinate) when handling problem above, in order to calculate
Convenience for the sake of, the midpoint of plane is put into the origin of three-dimensional space.During planar inverted, any overturning can be decomposed into
Around x, y, z-axis rotation.It can change the size in the visual field by the matrix that stretches to change the size of object in projection plane.Through
Crossing a series of coordinate position of overturnings and the object scaled in three-dimension object can be obtained by matrix operation.
In the step 5), for the matrix for carrying out graph transformation, system, which is not achieved, in the real-time speed of single-chip microcontroller is wanted
It asks, therefore the matrix obtained is subjected to the abbreviation with unknown number using Matlab, calculate time and complexity to reduce.
In the step 6), this method is opened based on TivaTMTM4C1294KCPDT Microcontroller single-chip microcontroller
Hair, complete building for minimum system and peripheral circuit module, and by Code Composer Studio 6.0.1 by engineering
It is downloaded in single-chip microcontroller, system can be made to work, peripheral circuit includes ADC roller module, GPIO key module, accelerometer mould
Block and TFT liquid crystal display module.
The specific implementation process of the method for the present embodiment are as follows: it can will be run immediately after the burned single-chip microcontroller of program first, it can be with
Antecedent ground actual requirement sets sensitivity and range, can observe support plate in the variation with angle by single-chip microcontroller display screen
And corresponding visible change is generated, key can adjust idler wheel simultaneously and adjust the visual angle of horizontal direction and the visual angle of vertical direction.Journey
Platform can be made to tend to balance stabilization according to the flexible of the support rod of incremental timestamp robot moving platform surrounding inside sequence.
Claims (5)
1. a kind of service robot load platform balance control method based on increment type PID, which is characterized in that the server
Device people's load platform balance control method the following steps are included:
1) the real-time six-axle acceleration in calculating robot's mobile platform traveling process；
2) it is integrated twice by acceleration obtained in the previous step, obtains the coordinate shift amount of the current quadrangle of platform.It calculates simultaneously
The three-dimensional coordinate of bead out；
3) three-dimensional coordinate and offset being calculated according to previous step carry out incremental timestamp to four pillars of platform,
Platform is set to tend to horizontal stable；Four pillars are supported in platform quadrangle, and height can be changed to provide platform and inclined direction
Opposite torque, for making system return to equilbrium position；
4) model established in three-dimensional system of coordinate is projected in two-dimensional surface；
5) simplify matrix operation involved in whole process using matlab；
6) algorithm is embedded in single-chip microcontroller, is stretched by the pillar of single-chip microcontroller control platform surrounding to reach and platform is made to tend towards stability
Purpose.
2. a kind of service robot load platform balance control method based on increment type PID as described in claim 1, special
Sign is, in the step 1), records historical data, predicts the acceleration value of next state according to prediction rule, and
After measurement obtains the acceleration value of next state, the two is compared correction, and weighting obtains actual acceleration value.
3. a kind of service robot load platform balance control method based on increment type PID as claimed in claim 1 or 2,
It is characterized in that, corresponding pid parameter is arranged in the step 3), when platform inclination angle is big, keep correction amount also corresponding big；?
Platform inclination angle hour, correction amount also become smaller；User can judge that platform has reached the condition of stable state, the item with self-setting
Part is platform inclination angle in 0 ° of certain neighborhood or load objects and in Platform center field.
4. a kind of service robot load platform balance control method based on increment type PID as claimed in claim 1 or 2,
It is characterized in that, object is projected two-dimensional plane coordinate system from three-dimensional coordinate system, first by three in the step 4)
Dimension object is put into a coordinate system, and the midpoint of plane is put into the origin of three-dimensional space；It is any to turn over during planar inverted
Turn to be decomposed into around x, y, z-axis rotation；Change the size in the visual field by the matrix that stretches to change object in projection plane
Size；It is obtained by a series of coordinate position of the object of overturnings and scaling in three-dimension object by matrix operation.
5. a kind of service robot load platform balance control method based on increment type PID as claimed in claim 1 or 2,
It is characterized in that, being based on Tiva in the step 6)TMTM4C1294KCPDT Microcontroller microcomputer development, it is complete
At building for minimum system and peripheral circuit module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810986431.8A CN109129481B (en) | 2018-08-28 | 2018-08-28 | Incremental PID (proportion integration differentiation) -based service robot load platform balance control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810986431.8A CN109129481B (en) | 2018-08-28 | 2018-08-28 | Incremental PID (proportion integration differentiation) -based service robot load platform balance control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109129481A true CN109129481A (en) | 2019-01-04 |
| CN109129481B CN109129481B (en) | 2020-06-30 |
Family
ID=64828458
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810986431.8A Active CN109129481B (en) | 2018-08-28 | 2018-08-28 | Incremental PID (proportion integration differentiation) -based service robot load platform balance control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109129481B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204101063U (en) * | 2014-09-17 | 2015-01-14 | 阜阳师范学院 | Self-adjusting balance testing table |
| CN106426027A (en) * | 2016-07-26 | 2017-02-22 | 五邑大学 | Multi-motor intelligent lifting worktable control system and method |
| CN107168186A (en) * | 2017-07-05 | 2017-09-15 | 山东科技大学 | 4 automatic horizontal control systems and its method of work based on six axle combination sensors |
| US9975747B1 (en) * | 2014-10-13 | 2018-05-22 | Bill J. Williams | Jack with floating platform |
| CN108224017A (en) * | 2018-02-05 | 2018-06-29 | 上海海事大学 | 3 platform structures and its control method with level-regulating system |
-
2018
- 2018-08-28 CN CN201810986431.8A patent/CN109129481B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204101063U (en) * | 2014-09-17 | 2015-01-14 | 阜阳师范学院 | Self-adjusting balance testing table |
| US9975747B1 (en) * | 2014-10-13 | 2018-05-22 | Bill J. Williams | Jack with floating platform |
| CN106426027A (en) * | 2016-07-26 | 2017-02-22 | 五邑大学 | Multi-motor intelligent lifting worktable control system and method |
| CN107168186A (en) * | 2017-07-05 | 2017-09-15 | 山东科技大学 | 4 automatic horizontal control systems and its method of work based on six axle combination sensors |
| CN108224017A (en) * | 2018-02-05 | 2018-06-29 | 上海海事大学 | 3 platform structures and its control method with level-regulating system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109129481B (en) | 2020-06-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101655749B (en) | Input apparatus, control apparatus, control system, and control method | |
| CN101598981B (en) | Input apparatus, control system, handheld apparatus, and calibration method | |
| CN101578570B (en) | Input device, control device, control system, control method and handheld device | |
| KR101778807B1 (en) | Motion capture pointer with data fusion | |
| CN101606119A (en) | Input media, control device, control system, control method and hand-held device | |
| CN108700416B (en) | Improved measuring rod | |
| KR100653315B1 (en) | Method for measuring exercise quantity using portable terminal | |
| KR20070100592A (en) | System for analyzing walking motion | |
| CN101995949A (en) | Operation input system, control apparatus, handheld apparatus, and operation input method | |
| US6532672B1 (en) | Area measurement device and method | |
| Sabatelli et al. | A double stage Kalman filter for sensor fusion and orientation tracking in 9D IMU | |
| CN105934655A (en) | Apparatus, system and method of estimating an orientation of a mobile device | |
| WO2012047494A1 (en) | System and method for compensating for drift in a display of a user interface state | |
| EP2392991A1 (en) | Hand-held pointing device, software cursor control system and method for controlling a movement of a software cursor | |
| CN109540135B (en) | Method and device for detecting pose and extracting yaw angle of paddy field tractor | |
| CN109029455A (en) | A kind of indoor navigation method | |
| US20230076589A1 (en) | Controlling foot landing points and step order of legged robot based on foot contact force | |
| Wu et al. | The design of an intelligent pedometer using Android | |
| CN101430617B (en) | Accelerometer data processing method for controlling cursor movement and cursor control device | |
| CN109129481A (en) | A kind of service robot load platform balance control method based on increment type PID | |
| CN105278382B (en) | The method of Intelligent worn device Wireless remote control automobile central control system | |
| JP2023547054A (en) | Motion state control method, device, wheel robot and program | |
| CN114660927A (en) | Control method and device of photoelectric pod | |
| CN111844013B (en) | Robot gait planning method and device, robot and storage medium | |
| CN103116411A (en) | Positioning pointer position method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |