CN110231823A - A kind of direct control method of two-wheel robot - Google Patents
A kind of direct control method of two-wheel robot Download PDFInfo
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- CN110231823A CN110231823A CN201910512479.XA CN201910512479A CN110231823A CN 110231823 A CN110231823 A CN 110231823A CN 201910512479 A CN201910512479 A CN 201910512479A CN 110231823 A CN110231823 A CN 110231823A
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- robot
- motion
- control amount
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention discloses a kind of direct control methods of two-wheel robot, comprising the following steps: S1: the motion profile of building robotic tracking's target；S2: robot motion equation is constructed by the motion process of analysis robot；S3: error function is constructed using the equation of motion described in tracking target trajectory described in step S1 and step S2, control amount is calculated in conjunction with pulverised dynamic method and gradient dynamics method；S4: it is used for the controller that the control amount passes to robot to directly control robot.Design method of the present invention is simply direct, and the convergence of error function is ensured by the introducing of pulverised dynamic method and gradient dynamics method, improves control precision；The parameter designed in the present invention is few, readily selected, overcomes that parameter in conventional method is more to be difficult to the problem of selecting, convenient for directly calculating control amount.
Description
Technical field
The present invention relates to robot control fields, more particularly, to a kind of direct control method of two-wheel robot.
Background technique
Robot has become tool indispensable in contemporary society's economical production activity.Wherein, dicycly moving machine
Device people, as a kind of common mobile robot, because its structure composition is simple, scope of activities is big, moves flexible feature and obtains
Showing appreciation for somebody for industry, have a wide range of applications scene in flat ground environment, clean robot of such as sweeping the floor, logistic storage transport
Robot and rescue robot etc..The control of two-wheeled mobile robot is had become extremely important in economical production application
One of research contents.
The control method of two-wheeled mobile robot generallys use PID method at present.It is set as most widely used classic control device
Meter method, PID method have been widely used in the control task of industry because of the characteristics of its is widely used, flexible design.But
Only drawback is that the adjustment problem of three parameters generally requires the experience accumulated according to user in PID method, and fail have one
The simple direct determining method of set reduces so as to cause the time for adjusting ginseng process that can expend operator and completes controller design
The efficiency of task.
Summary of the invention
The present invention is to overcome the parameter of above-mentioned robot control method in the prior art various, directly easy can not control,
The low defect of precision is controlled, a kind of direct control method of two-wheel robot is provided.
Technical scheme is as follows:
A kind of direct control method of two-wheel robot, comprising the following steps:
S1: the motion profile of robotic tracking's target is determined；
S2: robot motion equation is constructed by the motion process of analysis robot；
S3: error function, knot are constructed using the equation of motion described in tracking target trajectory described in step S1 and step S2
It closes pulverised dynamic method and control amount is calculated in gradient dynamics method；
S4: it is used for the controller that the control amount passes to robot to directly control robot.
In the present solution, the motion profile of robotic tracking's target described in step S1 is expressed as rd=[xd, yd]T,
Wherein, xdIndicate the target trajectory in the direction x, ydIndicate the target trajectory in the direction y.
In the present solution, the motion profile of robotic tracking's target further include: the target speed in the direction xThe direction y
Target speed
In the present solution, the equation of motion described in step S2 is expressed as follows:
Wherein, x and y indicates the physical location of robot track in cartesian coordinate system, and θ is the steering angle of robot,
That is the angle of robot direction of advance and horizontal axis, u1And u2Respectively robot moves the fast control amount with angular speed.
In the present solution, S3: being missed using equation of motion building described in tracking target trajectory described in step S1 and step S2
Difference function is expressed as follows:
Pulverised dynamic method mathematic(al) representation is as follows:
Control amount u is indicated using pulverised dynamic method1It is as follows
Wherein, λ is the positive real number for adjusting pulverised dynamic method convergence rate；The control that pulverised dynamic method is indicated
Measure u1It is expressed as follows in conjunction with gradient dynamics:
Abbreviation obtains control amount u2Explicit formulas it is as follows:
Wherein, γ is the positive real number for adjusting the convergence rate of the method.
Believe in the present solution, control amount is converted into control required for motor driven by step S4 by the controller of robot
Number for controlling robot.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
Design method of the present invention is simply direct, is ensured by pulverised dynamic method and the introducing of gradient dynamics method
The convergence of error function improves control precision；The parameter designed in the present invention is few, readily selected, overcomes in conventional method
Parameter is more to be difficult to the problem of selecting, convenient for directly calculating control amount.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the direct control method of two-wheeled mobile robot.
Fig. 2 is the simplified model schematic diagram of two-wheeled mobile robot of the present invention.
Fig. 3 is two-wheeled mobile robot actual motion track and target following track schematic diagram in the method for the present invention.
Fig. 4 is two-wheeled mobile robot in the method for the present invention in the actual path in the direction x and the error of target trajectory
Schematic diagram.
Fig. 5 is two-wheeled mobile robot in the method for the present invention in the actual path in the direction y and the error of target trajectory
Schematic diagram.
Fig. 6 is the position view of the two-wheeled mobile robot of the method for the present invention control in cartesian coordinate system.
Fig. 7 is the schematic diagram of the deflection θ situation of change of two-wheeled mobile robot in the method for the present invention.
Fig. 8 is two control amount u of two-wheeled mobile robot in the method for the present invention1And u2Schematic diagram.
Specific embodiment
The following further describes the technical solution of the present invention with reference to the accompanying drawings and examples.
Embodiment 1
Fig. 1 shows a kind of flow chart of the direct control method of two-wheeled mobile robot.
A kind of direct control method of two-wheel robot, comprising the following steps:
S1: the motion profile of robotic tracking's target is determined；
S2: robot motion equation is constructed by the motion process of analysis robot；
S3: error function, knot are constructed using the equation of motion described in tracking target trajectory described in step S1 and step S2
It closes pulverised dynamic method and control amount is calculated in gradient dynamics method；
S4: it is used for the controller that the control amount passes to robot to directly control robot.
In the present solution, the motion profile of robotic tracking's target described in step S1 is expressed as rd=[xd, yd]T,
Wherein, xdIndicate the target trajectory in the direction x, ydIndicate the target trajectory in the direction y.
In the present solution, the motion profile of robotic tracking's target further include: the target speed in the direction xThe direction y
Target speed
Fig. 2 shows the simplified models of two-wheeled mobile robot of the present invention.
Establish the equation of motion of robot:
Wherein, x and y indicates the physical location of robot track in cartesian coordinate system, and θ is the steering angle of robot,
That is the angle of robot direction of advance and horizontal axis, u1And u2Respectively robot moves the fast control amount with angular speed.
Pulverised dynamic method mathematic(al) representation is as follows:
Control amount u is indicated using pulverised dynamic method1It is as follows
Wherein, λ is the positive real number for adjusting pulverised dynamic method convergence rate；The control that pulverised dynamic method is indicated
Measure u1It is expressed as follows in conjunction with gradient dynamics:
Abbreviation obtains control amount u2Explicit formulas it is as follows:
Wherein, γ is the positive real number for adjusting the convergence rate of the method.
It should be noted that the related setting of use is as follows when carrying out Computer Simulation: setting two-wheeled mobile robot
Target trajectory be a circle, expression formula are as follows:
Wherein, T=10 seconds are task execution times；Set pulverised dynamics parameter and gradient dynamics design parameter
For λ=γ=10；The initial position of robot is set as r0=[x0,y0]T=[3.02,5]T；Set robot initial deflection
For θ0=-pi/2 rad.Based on a kind of direct control method of two-wheeled mobile robot, the value of control amount can be calculatedWithControl amount is finally passed to emulation slave computer
Controller, control emulation two-wheeled mobile robot complete the tracing task to target.
Fig. 3 has gone out actual motion track and the target trajectory of two-wheeled mobile robot, and wherein dotted line is the mobile machine of two-wheel
The actual tracking track of people, and solid line is target trajectory.As can be seen from Fig. 3, after the minor swing of very short time, practical rail
Mark has successfully tracked target trajectory, and the two is almost overlapped, and illustrates that the method for the present invention has two-wheeled mobile robot control
Effect property and accuracy.
Fig. 4, Fig. 5 respectively illustrate two-wheeled mobile robot in the error in the direction x and y | ex| and | ey|, both direction it is steady
State error is all 10-4The order of magnitude of rice, precision are higher.
Fig. 6 shows the i.e. two-wheeled mobile robot of the position view of two-wheeled mobile robot in cartesian coordinate system and exists
The change in location situation in the direction x and y, wherein solid line expression two-wheeled mobile robot is in the position in the direction x, and dotted line indicates two-wheel
Position of the mobile robot in the direction y.
Fig. 7 shows the situation of change of the deflection θ of two-wheeled mobile robot.
Fig. 8 illustrates two control amount u of two-wheeled mobile robot1And u2Situation of change, wherein solid line indicate control amount
u1, dotted line expression control amount u2.During task execution, two control amounts constantly change.
The same or similar label correspond to the same or similar components；
The terms describing the positional relationship in the drawings are only for illustration, should not be understood as the limitation to this patent；
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (6)
1. a kind of direct control method of two-wheel robot, which comprises the following steps:
S1: the motion profile of robotic tracking's target is determined；
S2: robot motion equation is constructed by the motion process of analysis robot；
S3: error function is constructed using the equation of motion described in tracking target trajectory described in step S1 and step S2, in conjunction with zero
Change dynamic method and control amount is calculated in gradient dynamics method；
S4: it is used for the controller that the control amount passes to robot to directly control robot.
2. a kind of direct control method of two-wheel robot according to claim 1, which is characterized in that machine described in step S1
The motion profile that device people tracks target is expressed as rd=[xd, yd]T,
Wherein, xdIndicate the target trajectory in the direction x, ydIndicate the target trajectory in the direction y.
3. a kind of direct control method of two-wheel robot according to claim 1, which is characterized in that robotic tracking's mesh
Target motion profile further include: the target speed in the direction xThe target speed in the direction y
4. a kind of direct control method of two-wheel robot according to claim 1, which is characterized in that described in step S2
The equation of motion is expressed as follows:
Wherein, x and y indicates the physical location of robot track in cartesian coordinate system, and θ is the steering angle of robot, i.e. machine
The angle of device people direction of advance and horizontal axis, u1And u2Respectively robot moves the fast control amount with angular speed.
5. a kind of direct control method of two-wheel robot according to claim 1-4, which is characterized in that S3:
Indicate as follows using equation of motion building error function described in tracking target trajectory described in step S1 and step S2:
Pulverised dynamic method mathematic(al) representation is as follows:
Control amount u is indicated using pulverised dynamic method1It is as follows
Wherein, λ is the positive real number for adjusting pulverised dynamic method convergence rate；The control amount u that pulverised dynamic method is indicated1
It is expressed as follows in conjunction with gradient dynamics:
Abbreviation obtains control amount u2Explicit formulas it is as follows:
Wherein, γ is the positive real number for adjusting the convergence rate of the method.
6. a kind of direct control method of two-wheel robot according to claim 5, which is characterized in that step S4 will be controlled
Amount is converted into control signal required for motor driven for controlling robot by the controller of robot.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112346419A (en) * | 2020-10-30 | 2021-02-09 | 深圳市烨嘉为技术有限公司 | Human-computer safe interaction method, robot and computer readable storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112346419A (en) * | 2020-10-30 | 2021-02-09 | 深圳市烨嘉为技术有限公司 | Human-computer safe interaction method, robot and computer readable storage medium |
| CN112346419B (en) * | 2020-10-30 | 2021-12-31 | 深圳市烨嘉为技术有限公司 | Human-computer safe interaction method, robot and computer readable storage medium |
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