CN110014451B - Crawling robot hip device suitable for slope road surface and control - Google Patents
Crawling robot hip device suitable for slope road surface and control Download PDFInfo
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- CN110014451B CN110014451B CN201910331173.4A CN201910331173A CN110014451B CN 110014451 B CN110014451 B CN 110014451B CN 201910331173 A CN201910331173 A CN 201910331173A CN 110014451 B CN110014451 B CN 110014451B
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- 230000009193 crawling Effects 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 238000013016 damping Methods 0.000 claims abstract description 15
- 239000000725 suspension Substances 0.000 claims abstract description 12
- 230000006870 function Effects 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 16
- 239000011159 matrix material Substances 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 150000001875 compounds Chemical class 0.000 claims description 6
- 238000011478 gradient descent method Methods 0.000 claims description 6
- 238000013528 artificial neural network Methods 0.000 claims description 5
- 230000004069 differentiation Effects 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000009897 systematic effect Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000002146 bilateral effect Effects 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 230000002265 prevention Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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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
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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Abstract
A climbing robot hip device suitable for a slope road surface and control belong to the technical field of robots; the problems that the hip of the crawling robot in the prior art is lack of an efficient damping mechanism and the pose adjustment efficiency of the robot body on a slope is low are solved; comprises a machine body, a supporting mechanism, an adjusting joint and a control system; the supporting mechanism comprises a supporting frame, a suspension, a central rotating shaft and a fastening device; the adjusting joint comprises a left adjusting joint and a right adjusting joint; the adjusting joint adopts a damping mechanism, so that the impact of the ground on the machine body can be effectively buffered under the condition of not influencing the walking efficiency; aiming at the problem of low efficiency of adjusting the pose of the robot body, the control system adopts the RBF setting PID control based on the rate increase, introduces the rate increase parameter into the RBF setting PID, limits the PID parameter, not only can ensure the accuracy of adjusting the pose of the robot body, but also can improve the adjusting efficiency, shortens the time of the crawling robot passing through a slope road surface, and reduces the energy loss of a stepping motor.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a hip device and control device of a crawling robot suitable for a slope road surface.
Background
The robot needs to walk on an unstructured slope when replacing human beings to complete disaster prevention rescue and investigation exploration work, the crawling robot is often applied to the slope road surface due to low gravity center, in the prior art, the hip of the crawling robot is lack of an efficient damping mechanism, the body pose adjustment efficiency of the crawling robot on the slope road surface is low, and the robot is optimized in the aspect of controlling the speed of a robot mechanism and a motor.
When the crawling robot advances on a slope road, due to the impact of the ground, the robot body fluctuates on the slope road, the energy loss of the stepping motor which is responsible for driving is large, the crawling robot cannot efficiently pass through the slope, the hip is used as a part of the whole body which is relatively weak, and a damping mechanism is not considered during the mechanism design.
For the control of a stepping motor, when a crawling robot travels on a slope road surface, PID control is often adopted, the algorithm is relatively simple, the robustness is good, the control parameters are difficult to set, the accuracy of the hip to the body pose adjustment is influenced, Jacobian information can be provided to adjust the PID parameters on line through RBF neural network on-line learning training, the overshoot is small, and the problem of low learning speed of the PID control based on RBF exists in the initial control stage, so that the body pose adjustment efficiency is obviously reduced.
Disclosure of Invention
The invention overcomes the defects in the prior art, and provides the hip device and the control of the crawling robot suitable for the slope road surface, a damping mechanism is adopted in the mechanism design, the impact of the ground on the machine body is reduced while the walking efficiency is not influenced, and meanwhile, the modular design of the adjusting joint is beneficial to maintenance, repair and perfection of performance; in the aspect of control, the RBF setting PID control based on the rate increase is adopted, the rate increase parameter is introduced into the RBF setting PID, and the PID parameter is limited, so that the adjusting precision of the pose of the robot body is ensured, the adjusting efficiency is improved, the time of the crawling robot passing through a slope road surface is shortened, and the energy loss of a stepping motor is reduced.
In order to solve the above problems, a first object of the present invention is to provide a hip device of a crawling robot suitable for a sloping road surface, and a second object is to provide a control method of the hip device of the crawling robot suitable for a sloping road surface.
The first technical scheme adopted by the invention is as follows:
a climbing robot hip device suitable for a slope road surface comprises a machine body, a supporting mechanism, an adjusting joint and a control system; the machine body is placed on the supporting mechanism, and the adjusting joint is connected with the supporting mechanism;
the supporting mechanism comprises a supporting frame, a suspension, a central rotating shaft and a fastening device; the supporting frame is fixedly connected with the machine body, the supporting frame is rotatably connected with the suspension through a central rotating shaft, the central rotating shaft can slide up and down in a groove of the supporting frame, the central rotating shaft is connected with a fastening device, and the fastening device adopts two round nuts;
the adjusting joint comprises a left adjusting joint and a right adjusting joint; the left adjusting joint and the right adjusting joint are symmetrically distributed on the two sides of the support frame;
the control system comprises a main control chip, a left adjusting joint stepping motor driving chip, a right adjusting joint stepping motor driving chip and a six-axis sensor chip; and the main control chip is respectively in control connection with the left adjusting joint stepping motor driving chip, the right adjusting joint stepping motor driving chip and the six-axis sensor chip.
Furthermore, the left adjusting joint and the right adjusting joint have the same structure, taking the left adjusting joint as an example, the left adjusting joint comprises a left adjusting joint driving mechanism, a left adjusting joint damping mechanism, a left adjusting joint shell, a left adjusting joint upper end cover and a left adjusting joint lower connecting plate; the left adjusting joint driving mechanism is coaxially matched with the left adjusting joint shell, the left adjusting joint damping mechanism is distributed below the left adjusting joint driving mechanism and is coaxially matched with the left adjusting joint shell, the left adjusting joint upper end cover is fixedly connected with the left adjusting joint shell, one end of the left adjusting joint lower connecting plate is fixedly connected with the left adjusting joint shell, and the other end of the left adjusting joint lower connecting plate is fixedly connected with the suspension;
furthermore, the left adjusting joint driving mechanism comprises a left adjusting joint stepping motor, a left adjusting joint coupler, a left adjusting joint first connecting key, a left adjusting joint gear shaft, a left adjusting joint second connecting key, a left adjusting joint bearing end cover and a left adjusting joint rack; the left adjusting joint stepping motor is fixedly connected with a left adjusting joint shell and coaxially matched with a left adjusting joint coupler, the left adjusting joint coupler is circumferentially fixed through a left adjusting joint first connecting key, the left adjusting joint coupler is coaxially matched with a left adjusting joint gear shaft, the left adjusting joint coupler is circumferentially fixed through a left adjusting joint second connecting key, the left adjusting joint gear shaft is meshed with a left adjusting joint rack gear, the other end of the left adjusting joint gear shaft is coaxially matched with a left adjusting joint bearing inner ring, a left adjusting joint bearing outer ring is coaxially matched with the left adjusting joint shell and is axially fixed through a left adjusting joint bearing end cover, the left adjusting joint bearing end cover is fixedly connected with the left adjusting joint shell, and the left adjusting joint rack is fixedly connected with a support frame;
furthermore, the main control chip and the left adjustment joint stepping motor driving chip adopt a common anode connection method, and pins PA0 and PA1 of the main control chip are respectively connected with DIR-and PUL-pins of the left adjustment joint stepping motor driving chip and are used for inputting pulse signals and direction signals of the left adjustment joint stepping motor driving chip; pins PA2 and PA3 of the master control chip are respectively connected with DIR-and PUL-pins of a driving chip of the right adjustment joint stepping motor and are used for inputting pulse signals and direction signals of the driving chip of the right adjustment joint stepping motor; PB8 and PB9 of the main control chip are respectively connected with SCL pins and SDA pins of the six-axis sensor chip and used for clock communication and data communication of the main control chip and the six-axis sensor chip IIC, and course angle, roll angle and pitch angle attitude data of the six-axis sensor chip are obtained through DMP;
furthermore, pins A +, A-, B + and B-of the left adjustment joint stepping MOTOR driving chip are respectively connected with pins MOTOR1A +, MOTOR1A-, MOTOR1B + and MOTOR 1B-of the left adjustment joint stepping MOTOR and are used for controlling pulse signals and positive and negative rotation of the left adjustment joint stepping MOTOR;
furthermore, pins A +, A-, B + and B-of the driving chip of the right adjustment joint stepping MOTOR are respectively connected with pins MOTOR2A +, MOTOR2A-, MOTOR2B + and MOTOR 2B-of the right adjustment joint stepping MOTOR and are used for controlling pulse signals and positive and negative rotation of the right adjustment joint stepping MOTOR.
The second technical scheme adopted by the invention is as follows:
the control method implemented by the crawling robot hip device suitable for the slope road comprises the following steps:
step S1, the crawling robot runs on the slope road surfaceIn the process, the pose of the fuselage is changed, the gyroscopes in the six-axis sensors detect the pose of the fuselage, namely the deflection angle alpha, the pitch angle beta and the rolling angle gamma, and the pose information of the fuselage is transmitted to the main control chip; step S2, the main control chip receives the pose information and converts the pose information into the actual angle q of the hip according to the slope gradient thetatDesired angle q to the hipdForming a hip desired angle of rotation Δ qdDesired angle of rotation Δ q of hipdActual angle of rotation delta q with hipoutForming a control deviation e (t);
s3, on the basis of the control deviation e (t), the main control chip controls the robot adjusting joint stepping motor by adopting an RBF (radial basis function) setting PID (proportion integration differentiation) control algorithm based on the rate increase rate, and controls the stepping motor to accurately and quickly rotate to a desired angle;
and step S4, controlling the fuselage to quickly recover to a desired pose.
Further, in step S2, the main control chip receives the pose information and converts the pose information into an actual angle q of the hip according to the slope θtThe method specifically comprises the following steps:
S2A1, obtaining the pose of the fuselageoRc，oRcA description matrix of the rotation angle of each axis of the body coordinate system relative to the reference coordinate system,oRc＝Rot(z0,αcosθ)Rot(x0,βcosθ)Rot(y0γ cos θ), θ is the slope of the slope;
step S2A2, description of the foot position of the crawling robot in the root joint coordinate system sigma GGP，GP can be represented by
So as to obtain the compound with the characteristics of,op is the position of the support leg in the reference coordinate system sigma O,cPGthe position of the root joint in a body coordinate system sigma C;
step S2A3, based onGP, obtaining the actual angle q of the hip by using single-leg inverse kinematicst。
Further, the desired angle q of the hip in said step S2dHas been calculatedThe process specifically comprises the following steps:
step S2B1,oRcdA representation matrix of expected rotation angles of each axis of the body coordinate system relative to a reference coordinate system,oRcd＝Rot(z0,αd cosθ)Rot(x0,βd cosθ)Rot(y0,γd cosθ)，αddesired deflection angle, beta, for the bodydDesired pitch angle, gamma, for the bodydA desired roll angle for the body;
step S2B2,GPdCan be based on
So as to obtain the compound with the characteristics of,GPddescription of a desired foot end position for the crawling robot in a root joint coordinate system sigma G;
step S2B3,GPdObtaining a desired angle q of the hip using single leg inverse kinematicsd。
Further, the step S3 adopts an increase rate-based RBF tuning PID control, which specifically includes:
the PID controller has an input e (t) and an output u (t) in a relationship of
Wherein KPTo proportional gain, TITo integrate the time constant, TDA derivative time constant, u (t) a control output, e (t) ═ Δ qd(t)-Δqout(t) the transfer function of the controller is
Wherein
To integrate the gain, KD＝KPTDIs the differential gain;
in a RBF neural network, the performance indicator function of the identifier is
Wherein Δ qmout(k) Identifying the output of the network at the Kth moment;
according to the gradient descent method, the central node cjiNode base width bjParameters and output weights wjThe iterative algorithm of (1) is:
cji(k)＝cji(k-1)+ηΔcji+α(cji(k-1)-cji(k-2))
bj(k)＝bj(k-1)+ηΔbj+α(bj(k-1)-bj(k-2))
wj(k)＝wj(k-1)+η(Δqout(k)-Δqmout(k))hj+α(wj(k-1)-wj(k-2))
in the above formula, alpha is momentum factor, eta is learning efficiency, hjIs a Gaussian function, xjIs an input vector of the network;
the jacobian matrix is:
in the formula x1Is u (k);
the control error is as follows: e (k) ═ Δ qd(k)-Δqout(k)
The PID three-phase input is:
xc(1)＝e(k)-e(k-1)
xc(2)＝e(k)
xc(3)＝e(k)-2e(k-1)+e(k-2)
the control algorithm is as follows:
u(k)＝u(k-1)+KPxc(1)+KIxc(2)+KDxc(3)
three parameters K of PIDP、KIAnd KDAdding a rate increasing concept during adjustment by adopting a gradient descent method:
KP(k)＝SkP+KP(k-1)+ΔKP
KI(k)＝SkI+KI(k-1)+ΔKI
KD(k)＝SkD+KD(k-1)+ΔKD
wherein SkP、SkIAnd SkDAre each KP、KIAnd KDMeanwhile, amplitude limit setting needs to be carried out on the PID parameters, and the problem that the PID parameters are adjusted too much is avoided.
Further, limiting the PID parameters;
in the known control system, the strategy is
In the case of (1), the performance index J is optimized, wherein,
e (t) is the systematic error, u (t) is the controller output, tuFor rise time, w1、w2、w3、w4Is a weight value, and w4Is much greater than w1，eΔqout(t)＝Δqout(t)-Δqout(t-1)，Δqout(t) is the rotation angle of the stepping motor of the controlled object;
to make the control system more effective, e (t), u (t), tuAs a constraint, the performance of the control system depends directly on the value of the objective function J formed by these three conditions, and in order to optimize the value of the objective function, an appropriate value of e (t), u (t), and t is requireduThe satisfaction of these three conditions is determined by the PID parameters of the control system, where the task of the algorithm is to search for the phasesShould be KP、KI、KDAnd taking the searched value as the clipping value.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a hip device and a control device of a crawling robot suitable for a slope road surface, wherein the hip device adopts a damping mechanism, the flexibility of a hip is increased, the impact of the ground on a machine body can be buffered when the pose of the machine body is adjusted by the hip, the left adjusting joint and the right adjusting joint have the same structure, the modular design of the adjusting joints is beneficial to maintenance, repair and performance improvement, meanwhile, the structure of the whole hip is simple, the subsequent installation of legs is convenient, and the legs are only installed on two sides of a suspension;
2. when the crawling robot advances on a slope road, the body pose changes, namely the deflection angle, the pitch angle and the rolling angle change, the main control chip can convert the pose information into hip angle information and further control a hip stepping motor, RBF setting PID control based on rate increase is adopted in the control, the problems of low learning speed and overlarge parameter adjustment in the initial control stage can be solved, the precision of hip adjustment of the body pose is ensured, the adjustment efficiency is improved, the time of the crawling robot passing through the slope road is shortened, and the energy loss of the stepping motor is reduced.
Drawings
FIG. 1 is an isometric view of the device of the present invention;
FIG. 2 is a left side view of the apparatus of the present invention;
FIG. 3 is a connection diagram of the left adjustment joint drive mechanism and the damping mechanism of the present invention;
FIG. 4 is a cross-sectional view of the left adjustment joint drive mechanism of the present invention coupled to a housing;
FIG. 5 is an enlarged partial cross-sectional view of the left adjustment joint drive mechanism of the present invention in connection with the housing;
FIG. 6 is a rear elevational view of the left adjustment joint of the present invention;
FIG. 7 is a circuit diagram of a main control chip of the control system of the present invention;
FIG. 8 is a drawing of the left adjustment joint stepper motor driver chip of the present invention;
FIG. 9 is a drawing of the driving chip of the stepping motor for right adjustment joint of the present invention;
FIG. 10 is a circuit diagram of a six-axis sensor chip of the present invention;
FIG. 11 is a schematic diagram of an increased rate based RBF tuning PID control algorithm of the present invention;
FIG. 12 is a schematic view of a PID control algorithm of the invention;
FIG. 13 is a schematic view of the RBF neural network control algorithm of the present invention;
in the figure: 1 machine body, 2 supporting mechanism, 3 adjusting joint, 4 control system, 2-1 supporting frame, 2-2 suspension, 2-3 central rotating shaft, 2-4 fastening device, 3-1 left adjusting joint, 3-2 right adjusting joint, 3-11 left adjusting joint driving mechanism, 3-12 left adjusting joint damping mechanism, 3-13 left adjusting joint shell, 3-14 left adjusting joint upper end cover, 3-15 left adjusting joint lower connecting plate, 3-11A left adjusting joint stepping motor, 3-11B left adjusting joint coupler, 3-11C left adjusting joint first coupling key, 3-11D left adjusting joint gear shaft, 3-11E left adjusting joint second coupling key, 3-11F left adjusting joint bearing, 3-11G left adjusting joint bearing end cover, A 3-11H left adjusting joint rack and a 3-21A right adjusting joint stepping motor.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The first embodiment is as follows:
a climbing robot hip device suitable for a slope road surface is shown in figures 1-2 and comprises a main body 1, a support mechanism 2, an adjusting joint 3 and a control system 4; the machine body 1 is placed on the supporting mechanism 2, and the adjusting joint 3 is connected with the supporting mechanism 2; the 2-support mechanism comprises a 2-1 support frame, a 2-2 suspension, a 2-3 central rotating shaft and a 2-4 fastening device; the 2-1 support frame is fixedly connected with the 1 machine body, the 2-1 support frame is rotatably connected with the 2-2 suspension frame through a 2-3 central rotating shaft, the 2-3 central rotating shaft can slide up and down in a groove of the 2-1 support frame, the 2-3 central rotating shaft is connected with a 2-4 fastening device, and the 2-4 fastening device adopts two round nuts;
the 3 adjusting joints comprise a 3-1 left adjusting joint and a 3-2 right adjusting joint; the 3-1 left adjusting joint and the 3-2 right adjusting joint are symmetrically distributed on the two sides of the 2-1 supporting frame;
the 4 control system comprises a main control chip, a left adjusting joint stepping motor driving chip, a right adjusting joint stepping motor driving chip and a six-axis sensor chip; and the main control chip is respectively in control connection with the left adjusting joint stepping motor driving chip, the right adjusting joint stepping motor driving chip and the six-axis sensor chip.
In this embodiment, the main control chip is a conventional one, and the manufacturer is an ideological semiconductor, and the model is STM32F 407.
In the embodiment, the driving chip of the left adjusting joint stepping motor is in the prior art, and the manufacturer is TELESKY with the model number of TB 6600.
In the embodiment, the driving chip of the right adjustment joint stepping motor is in the prior art, and the manufacturer is TELESKY with the model number of TB 6600.
In this embodiment, the six-axis sensor chip is of the prior art, and is manufactured by Risym, model ATK-MPU 6050.
The second embodiment is as follows:
as shown in fig. 1 and 3-6, on the basis of the first embodiment, the crawling robot hip device suitable for the slope road comprises a main body 1, a support mechanism 2, an adjusting joint 3 and a control system 4, wherein the adjusting joint 3 comprises a left adjusting joint 3-1 and a right adjusting joint 3-2; the 3-1 left adjusting joint and the 3-2 right adjusting joint have the same structure, and taking the 3-1 left adjusting joint as an example, the 3-1 left adjusting joint comprises a 3-11 left adjusting joint driving mechanism, a 3-12 left adjusting joint damping mechanism, a 3-13 left adjusting joint shell, a 3-14 left adjusting joint upper end cover and a 3-15 left adjusting joint lower connecting plate; the 3-11 left adjusting joint driving mechanism is coaxially matched with a 3-13 left adjusting joint shell, the 3-12 left adjusting joint damping mechanism is distributed below the 3-11 left adjusting joint driving mechanism and is coaxially matched with the 3-13 left adjusting joint shell, the 3-14 left adjusting joint upper end cover is fixedly connected with the 3-13 left adjusting joint shell, one end of the 3-15 left adjusting joint lower connecting plate is fixedly connected with the 3-13 left adjusting joint shell, and the other end of the 3-15 left adjusting joint lower connecting plate is fixedly connected with the 2-2 suspension;
the 3-11 left adjusting joint driving mechanism comprises a 3-11A left adjusting joint stepping motor, a 3-11B left adjusting joint coupler, a 3-11C left adjusting joint first connecting key, a 3-11D left adjusting joint gear shaft, a 3-11E left adjusting joint second connecting key, a 3-11F left adjusting joint bearing, a 3-11G left adjusting joint bearing end cover and a 3-11H left adjusting joint rack; the 3-11A left adjusting joint stepping motor is fixedly connected with a 3-13 left adjusting joint shell and coaxially matched with a 3-11B left adjusting joint coupler, the left adjusting joint coupler is fixed through a first connecting key of a 3-11C left adjusting joint in the circumferential direction, the 3-11B left adjusting joint coupler is coaxially matched with a 3-11D left adjusting joint gear shaft and fixed through a second connecting key of a 3-11E left adjusting joint in the circumferential direction, the 3-11D left adjusting joint gear shaft is meshed with a 3-11H left adjusting joint rack gear, the other end of the 3-11F left adjusting joint coupler is coaxially matched with a 3-11F left adjusting joint bearing inner ring, the 3-11F left adjusting joint bearing outer ring is coaxially matched with the 3-13 left adjusting joint shell and axially fixed through a 3-11G left adjusting joint bearing end cover, the 3-11G left adjusting joint bearing end cover is fixedly connected with a 3-13 left adjusting joint shell, and the 3-11H left adjusting joint rack is fixedly connected with a 2-1 supporting frame;
as shown in fig. 7-10, the main control chip and the left adjustment joint stepping motor driving chip are connected by common anode, and pins PA0 and PA1 of the main control chip are respectively connected with DIR-and PUL-pins of the left adjustment joint stepping motor driving chip, and are used for inputting pulse signals and direction signals of the left adjustment joint stepping motor driving chip; pins PA2 and PA3 of the master control chip are respectively connected with DIR-and PUL-pins of a driving chip of the right adjustment joint stepping motor and are used for inputting pulse signals and direction signals of the driving chip of the right adjustment joint stepping motor; PB8 and PB9 of the main control chip are respectively connected with SCL pins and SDA pins of the six-axis sensor chip and used for clock communication and data communication of the main control chip and the six-axis sensor chip IIC, and course angle, roll angle and pitch angle attitude data of the six-axis sensor chip are obtained through DMP; pins A +, A-, B + and B-of the left adjustment joint stepping MOTOR driving chip are respectively connected with pins MOTOR1A +, MOTOR1A-, MOTOR1B + and MOTOR 1B-of a 3-11A left adjustment joint stepping MOTOR and are used for controlling pulse signals and positive and negative rotation of the left adjustment joint stepping MOTOR; pins A +, A-, B + and B-of the driving chip of the right adjustment joint stepping MOTOR are respectively connected with pins MOTOR2A +, MOTOR2A-, MOTOR2B + and MOTOR 2B-of the 3-21A right adjustment joint stepping MOTOR and used for controlling pulse signals and positive and negative rotation of the right adjustment joint stepping MOTOR.
In the embodiment, the 3-11A left adjusting joint stepping motor is the prior art, and the manufacturer is hundred million technology with the model number of 42BYGH47-401 AS.
In the embodiment, the 3-11F left adjusting knuckle bearing is the prior art, and the manufacturer is a Harbin bearing with the model 6200.
In this embodiment, the main control chip is a conventional one, and the manufacturer is an ideological semiconductor, and the model is STM32F 407.
In the embodiment, the driving chip of the left adjusting joint stepping motor is in the prior art, and the manufacturer is TELESKY with the model number of TB 6600.
In the embodiment, the driving chip of the right adjustment joint stepping motor is in the prior art, and the manufacturer is TELESKY with the model number of TB 6600.
In this embodiment, the six-axis sensor chip is of the prior art, and is manufactured by Risym, model ATK-MPU 6050.
In the embodiment, the 3-21A right adjustment joint stepping motor is the prior art, and the manufacturer is hundred million technology with the model number of 42BYGH47-401 AS.
The working process is as follows:
the robot body 1 is provided with an initial pose, the pose of the robot body is changed in the advancing process of the crawling robot on a slope road surface, the six-axis sensor chip detects that the robot body 1 shakes or deviates, the pose information of the robot body 1 is transmitted to the main control chip, the main control chip processes the received pose information data of the robot body 1, the corner information data of the left adjusting joint stepping motor 3-11A and the right adjusting joint stepping motor 3-21A by adopting an RBF (radial basis function) setting PID (proportion integration differentiation) control algorithm based on the increasing rate, the processed data outputs control signals of the stepping motors through the left adjusting joint stepping motor driving chip and the right adjusting joint stepping motor driving chip, the left adjusting joint stepping motor 3-11A and the right adjusting joint stepping motor 3-21A are controlled to accurately and rapidly rotate for a certain angle, and the robot body 1 is kept in a stable state, and the damping mechanism can play a role in buffering in the process of rotating and adjusting the pose of the robot body by the stepping motor, so that the impact of the crawling robot on the robot body when the crawling robot advances on a slope road surface is reduced.
The third concrete implementation mode:
as shown in fig. 11 to 13, a control method implemented by a hip device of a crawling robot suitable for a slope road includes the following steps: s1, the pose of the robot body is changed when the crawling robot moves on a slope road, the gyroscopes in the six-axis sensors detect the pose of the robot body, namely a deflection angle alpha, a pitch angle beta and a rolling angle gamma, and the pose information of the robot body is transmitted to a main control chip; step S2, the main control chip receives the pose information and converts the pose information into the actual angle q of the hip according to the slope gradient thetatDesired angle q to the hipdForming a hip desired angle of rotation Δ qdDesired angle of rotation Δ q of hipdActual angle of rotation delta q with hipoutForming a control deviation e (t);
s3, on the basis of the control deviation e (t), the main control chip controls the robot adjusting joint stepping motor by adopting an RBF (radial basis function) setting PID (proportion integration differentiation) control algorithm based on the rate increase rate, and controls the stepping motor to accurately and quickly rotate to a desired angle;
and step S4, controlling the fuselage to quickly recover to a desired pose.
Further, in step S2, the main control chip receives the pose information and converts the pose information into an actual angle q of the hip according to the slope θtThe method specifically comprises the following steps:
S2A1, obtaining the pose of the fuselageoRc，oRcA description matrix of the rotation angle of each axis of the body coordinate system relative to the reference coordinate system,oRc＝Rot(z0,αcosθ)Rot(x0,βcosθ)Rot(y0γ cos θ), θ is the slope of the slope;
step S2A2, description of the foot position of the crawling robot in the root joint coordinate system sigma GGP，GP can be represented by
So as to obtain the compound with the characteristics of,op is the position of the support leg in the reference coordinate system sigma O,cPGthe position of the root joint in a body coordinate system sigma C;
step S2A3, based onGP, obtaining the actual angle q of the hip by using single-leg inverse kinematicst。
Further, the desired angle q of the hip in said step S2dThe calculation process specifically includes:
step S2B1,oRcdA representation matrix of expected rotation angles of each axis of the body coordinate system relative to a reference coordinate system,oRcd＝Rot(z0,αdcosθ)Rot(x0,βdcosθ)Rot(y0,γdcosθ)，αddesired deflection angle, beta, for the bodydDesired pitch angle, gamma, for the bodydA desired roll angle for the body;
step S2B2,GPdCan be based on
So as to obtain the compound with the characteristics of,GPddescription of a desired foot end position for the crawling robot in a root joint coordinate system sigma G;
step S2B3,GPdObtaining a desired angle q of the hip using single leg inverse kinematicsd。
Further, the step S3 adopts an increase rate-based RBF tuning PID control, which specifically includes:
the PID controller has an input e (t) and an output u (t) in a relationship of
Wherein KPTo proportional gain, TITo integrate the time constant, TDA derivative time constant, u (t) a control output, e (t) ═ Δ qd(t)-Δqout(t) the transfer function of the controller is
Wherein
To integrate the gain, KD＝KPTDIs the differential gain;
in a RBF neural network, the performance indicator function of the identifier is
Wherein Δ qmout(k) Identifying the output of the network at the Kth moment;
according to the gradient descent method, the central node cjiNode base width bjParameters and output weights wjThe iterative algorithm of (1) is:
cji(k)＝cji(k-1)+ηΔcji+α(cji(k-1)-cji(k-2))
bj(k)＝bj(k-1)+ηΔbj+α(bj(k-1)-bj(k-2))
wj(k)＝wj(k-1)+η(Δqout(k)-Δqmout(k))hj+α(wj(k-1)-wj(k-2))
in the above formula, alpha is momentum factor, eta is learning efficiency, hjIs a Gaussian function, xjIs an input vector of the network;
the jacobian matrix is:
in the formula x1Is u (k);
the control error is as follows: e (k) ═ Δ qd(k)-Δqout(k)
The PID three-phase input is:
xc(1)＝e(k)-e(k-1)
xc(2)＝e(k)
xc(3)＝e(k)-2e(k-1)+e(k-2)
the control algorithm is as follows:
u(k)＝u(k-1)+KPxc(1)+KIxc(2)+KDxc(3)
three parameters K of PIDP、KIAnd KDAdding a rate increasing concept during adjustment by adopting a gradient descent method:
KP(k)＝SkP+KP(k-1)+ΔKP
KI(k)＝SkI+KI(k-1)+ΔKI
KD(k)＝SkD+KD(k-1)+ΔKD
wherein SkP、SkIAnd SkDAre each KP、KIAnd KDMeanwhile, amplitude limit setting needs to be carried out on the PID parameters, and the problem that the PID parameters are adjusted too much is avoided.
Further, limiting the PID parameters;
in the known control system, the strategy is
In the case of (1), the performance index J is optimized, wherein,
e (t) is the systematic error, u (t) is the controller output, tuFor rise time, w1、w2、w3、w4Is a weight value, and w4Is much greater than w1，eΔqout(t)＝Δqout(t)-Δqout(t-1)，Δqout(t) is the rotation angle of the stepping motor of the controlled object;
to make the control system more effective, e (t), u (t), tuAs a constraint, the performance of the control system depends directly on the value of the objective function J formed by these three conditions, and in order to optimize the value of the objective function, an appropriate value of e (t), u (t), and t is requireduThe satisfaction of these three conditions is determined by the PID parameters of the control system, where the task of the algorithm is to search for the corresponding KP、KI、KDAnd taking the searched value as the clipping value.
Claims (3)
1. The hip device of the crawling robot suitable for the slope road is characterized by comprising a main body (1), a supporting mechanism (2), an adjusting joint (3) and a control system (4); the machine body (1) is placed on the supporting mechanism (2), and the adjusting joint (3) is connected with the supporting mechanism (2);
the supporting mechanism (2) comprises a supporting frame (2-1), a suspension (2-2), a central rotating shaft (2-3) and a fastening device (2-4); the supporting frame (2-1) is fixedly connected with the machine body (1), the supporting frame (2-1) is rotatably connected with the suspension frame (2-2) through a central rotating shaft (2-3), the central rotating shaft (2-3) can slide up and down in a groove of the supporting frame (2-1), the central rotating shaft (2-3) is connected with the fastening device (2-4), and the fastening device (2-4) adopts two round nuts;
the adjusting joint (3) comprises a left adjusting joint (3-1) and a right adjusting joint (3-2); the left adjusting joint (3-1) and the right adjusting joint (3-2) are distributed on the two sides of the supporting frame (2-1) in a bilateral symmetry manner; taking the left adjusting joint (3-1) as an example, the left adjusting joint (3-1) comprises a left adjusting joint driving mechanism (3-11), a left adjusting joint damping mechanism (3-12), a left adjusting joint shell (3-13), a left adjusting joint upper end cover (3-14) and a left adjusting joint lower connecting plate (3-15); the left adjusting joint driving mechanism (3-11) is coaxially matched with the left adjusting joint shell (3-13), the left adjusting joint damping mechanism (3-12) is distributed below the left adjusting joint driving mechanism (3-11) and is coaxially matched with the left adjusting joint shell (3-13), the upper end cover of the left adjusting joint (3-14) is fixedly connected with the left adjusting joint shell (3-13), one end of the lower connecting plate of the left adjusting joint (3-15) is fixedly connected with the left adjusting joint shell (3-13), and the other end of the lower connecting plate of the left adjusting joint (3-15) is fixedly connected with the suspension (2-2); the left adjusting joint driving mechanism (3-11) comprises a left adjusting joint stepping motor (3-11A), a left adjusting joint coupling (3-11B), a left adjusting joint first connecting key (3-11C), a left adjusting joint gear shaft (3-11D), a left adjusting joint second connecting key (3-11E), a left adjusting joint bearing (3-11F), a left adjusting joint bearing end cover (3-11G) and a left adjusting joint rack (3-11H); the (3-11A) left adjusting joint stepping motor is fixedly connected with the (3-13) left adjusting joint shell and coaxially matched with the (3-11B) left adjusting joint coupler, the left adjusting joint coupler is circumferentially fixed through a (3-11C) left adjusting joint first connecting key, the (3-11B) left adjusting joint coupler is coaxially matched with the (3-11D) left adjusting joint gear shaft and is circumferentially fixed through a (3-11E) left adjusting joint second connecting key, the (3-11D) left adjusting joint gear shaft is meshed with the (3-11H) left adjusting joint rack gear, the other end of the left adjusting joint gear shaft is coaxially matched with the (3-11F) left adjusting joint bearing inner ring, the (3-11F) left adjusting joint bearing outer ring is coaxially matched with the (3-13) left adjusting joint shell and is axially fixed through a (3-11G) left adjusting joint bearing end cover, the (3-11G) left adjusting joint bearing end cover is fixedly connected with the (3-13) left adjusting joint shell, and the (3-11H) left adjusting joint rack is fixedly connected with the (2-1) supporting frame;
the control system (4) comprises a main control chip, a left adjusting joint stepping motor driving chip, a right adjusting joint stepping motor driving chip and a six-axis sensor chip; and the main control chip is respectively in control connection with the left adjusting joint stepping motor driving chip, the right adjusting joint stepping motor driving chip and the six-axis sensor chip.
2. The hip device of the crawling robot suitable for the slope road surface as claimed in claim 1, wherein the main control chip and the left adjustment joint stepping motor driving chip are connected in a common anode manner, and pins PA0 and PA1 of the main control chip are respectively connected with DIR-, PUL-pins of the left adjustment joint stepping motor driving chip for inputting pulse signals and direction signals of the left adjustment joint stepping motor driving chip; pins PA2 and PA3 of the master control chip are respectively connected with DIR-and PUL-pins of a driving chip of the right adjustment joint stepping motor and are used for inputting pulse signals and direction signals of the driving chip of the right adjustment joint stepping motor; PB8 and PB9 of the main control chip are respectively connected with SCL pins and SDA pins of the six-axis sensor chip and used for clock communication and data communication of the main control chip and the six-axis sensor chip IIC, and course angle, roll angle and pitch angle attitude data of the six-axis sensor chip are obtained through DMP; pins A +, A-, B + and B-of the left adjustment joint stepping MOTOR driving chip are respectively connected with pins A1A +, MOTOR1A-, MOTOR1B + and MOTOR 1B-of the (3-11A) left adjustment joint stepping MOTOR and are used for controlling pulse signals and positive and negative rotation of the left adjustment joint stepping MOTOR; pins A +, A-, B + and B-of the right adjustment joint stepping MOTOR driving chip are respectively connected with pins A2A +, MOTOR2A-, MOTOR2B + and MOTOR 2B-of the (3-21A) right adjustment joint stepping MOTOR, and are used for controlling pulse signals and positive and negative rotation of the right adjustment joint stepping MOTOR.
3. A control method implemented by the hip device of the crawling robot suitable for the slope pavement according to any one of claims 1 to 2, characterized by comprising the following steps:
s1, the pose of the robot body is changed when the crawling robot moves on a slope road, the gyroscopes in the six-axis sensors detect the pose of the robot body, namely a deflection angle alpha, a pitch angle beta and a rolling angle gamma, and the pose information of the robot body is transmitted to a main control chip;
step S2, the main control chip receives the pose information and converts the pose information into the actual angle q of the hip according to the slope gradient thetatDesired angle q to the hipdForming a hip desired angle of rotation Δ qdDesired angle of rotation Δ q of hipdActual angle of rotation delta q with hipoutForming a control deviation e (t);
s3, on the basis of the control deviation e (t), the main control chip controls the robot adjusting joint stepping motor by adopting an RBF (radial basis function) setting PID (proportion integration differentiation) control algorithm based on the rate increase rate, and controls the stepping motor to accurately and quickly rotate to a desired angle;
s4, rapidly recovering the fuselage to a desired pose according to a control result;
further, in step S2, the main control chip receives the pose information and converts the pose information into an actual angle q of the hip according to the slope θtThe method specifically comprises the following steps:
S2A1, obtaining the pose of the fuselageoRc，oRcA description matrix of the rotation angle of each axis of the body coordinate system relative to the reference coordinate system,oRc＝Rot(z0,αcosθ)Rot(x0,βcosθ)Rot(y0γ cos θ), θ is the slope of the slope;
step S2A2, description of the foot position of the crawling robot in the root joint coordinate system sigma GGP，GP can be represented byGP＝oRc ToP-cPGSo as to obtain the compound with the characteristics of,op is the position of the support leg in the reference coordinate system sigma O,cPGthe position of the root joint in a body coordinate system sigma C;
step S2A3, based onGP, obtaining the actual angle q of the hip by using single-leg inverse kinematicst；
Further, the desired angle q of the hip in said step S2dThe calculation process specifically includes:
step S2B1,oRcdA representation matrix of expected rotation angles of each axis of the body coordinate system relative to a reference coordinate system,oRcd＝Rot(z0,αdcosθ)Rot(x0,βdcosθ)Rot(y0,γdcosθ)，αddesired deflection angle, beta, for the bodydDesired pitch angle, gamma, for the bodydA desired roll angle for the body;
step S2B2,GPdCan be based onGPd＝oRcd ToP-cPGSo as to obtain the compound with the characteristics of,GPddescription of a desired foot end position for the crawling robot in a root joint coordinate system sigma G;
step S2B3,GPdUsing single-leg inverse kinematicsObtaining a desired angle q of the hipd；
Further, the step S3 adopts an increase rate-based RBF tuning PID control, which specifically includes:
the PID controller has an input e (t) and an output u (t) in a relationship of
Wherein KPTo proportional gain, TITo integrate the time constant, TDA derivative time constant, u (t) a control output, e (t) ═ Δ qd(t)-Δqout(t) the transfer function of the controller is
Wherein
To integrate the gain, KD＝KPTDIs the differential gain;
in a RBF neural network, the performance indicator function of the identifier is
Wherein Δ qmout(k) Identifying the output of the network at the Kth moment;
according to the gradient descent method, the central node cjiNode base width bjParameters and output weights wjThe iterative algorithm of (1) is:
cji(k)＝cji(k-1)+ηΔcji+α(cji(k-1)-cji(k-2))
bj(k)＝bj(k-1)+ηΔbj+α(bj(k-1)-bj(k-2))
wj(k)＝wj(k-1)+η(Δqout(k)-Δqmout(k))hj+α(wj(k-1)-wj(k-2))
in the above formula, alpha is momentum factor, eta is learning efficiency, hjIs a Gaussian function, xjIs an input vector of the network;
the jacobian matrix is:
in the formula x1Is u (k);
the control error is as follows: e (k) ═ Δ qd(k)-Δqout(k)
The PID three-phase input is:
xc(1)＝e(k)-e(k-1)
xc(2)＝e(k)
xc(3)＝e(k)-2e(k-1)+e(k-2)
the control algorithm is as follows:
u(k)＝u(k-1)+KPxc(1)+KIxc(2)+KDxc(3)
three parameters K of PIDP、KIAnd KDAdding a rate increasing concept during adjustment by adopting a gradient descent method:
KP(k)＝SkP+KP(k-1)+ΔKP
KI(k)＝SkI+KI(k-1)+ΔKI
KD(k)＝SkD+KD(k-1)+ΔKD
wherein SkP、SkIAnd SkDAre each KP、KIAnd KDAt the same time, the rate of increase ofThe PID parameters are subjected to amplitude limiting setting, so that the problem of overlarge PID parameter adjustment is avoided;
further, limiting the PID parameters;
in the known control system, the strategy is
In the case of (1), the performance index J is optimized, wherein,
e (t) is the systematic error, u (t) is the controller output, tuFor rise time, w1、w2、w3、w4Is a weight value, and w4Is much greater than w1，eΔqout(t)＝Δqout(t)-Δqout(t-1)，Δqout(t) is the rotation angle of the stepping motor of the controlled object;
to make the control system more effective, e (t), u (t), tuAs a constraint, the performance of the control system depends directly on the value of the objective function J formed by these three conditions, and in order to optimize the value of the objective function, an appropriate value of e (t), u (t), and t is requireduThe satisfaction of these three conditions is determined by the PID parameters of the control system, where the task of the algorithm is to search for the corresponding KP、KI、KDAnd taking the searched value as the clipping value.
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