CN110286582A - A kind of motion control method and system of small-sized six-shaft industrial mechanical arm - Google Patents
A kind of motion control method and system of small-sized six-shaft industrial mechanical arm Download PDFInfo
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Abstract
The invention discloses the motion control methods and system of a kind of small-sized six-shaft industrial mechanical arm, this method is acquired to obtain status signal to the motion state of small-sized six-shaft industrial mechanical arm, status signal is measured to obtain measured value y (t), and departure e (t) and deviation variation rate ec (t) is calculated according to the desired value r (t) of measured value y (t) and setting, according to parameter Kp、Ki、KdThe fuzzy matrix rule list that the Adjustment principle met in different e (t) and ec (t) determines, finds corrected parameter Δ K using departure e (t) and deviation variation rate ec (t)p、ΔKi、ΔKd, complete to parameter Kp、Ki、KdCorrection, then complete system using the PID controller of correction parameter and control.The present invention can be improved control precision and response speed do not solve the problems, such as it is of the existing technology.
Description
Technical field
The present invention relates to movement control technology fields, more particularly to a kind of motion control of small-sized six-shaft industrial mechanical arm
Method and system.
Background technique
Wang Hong is disclosed herein one kind in " sliding Mode Robust Controls of the six shaft mechanical arms based on T-S fuzzy compensation " one and is based on
The six-shaft industrial mechanical arm Sliding Mode Robust control method of motion trace of T-S fuzzy compensation, this method pass through linear feedback first
Known portions in the equivalent Manipulator Dynamics of mode, then overcome manipulator motion system with classical sliding formwork control
In uncertainty, finally apply T-S fuzzy model, convert the foolproof fuzzy cunning of rule for classical sliding mode controller
Mould controller, the motion profile for small-sized six shaft mechanicals arm control.This method design principle is simple, and there is no classical sliding formwork controls
Jitter problem in system, and stability is good, occupies the mechanical arm control that is few, but realizing using the control method of hardware logic resource
That there are system response times is slow for system processed, and the not high deficiency of control precision is not suitable for having compared with high control precision and compared with Gao Xiang
Answer the occasion of rate request.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of motion control method of small-sized six-shaft industrial mechanical arm and
System can be improved control precision and response speed.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of small-sized six-shaft industrial machine is provided
The motion control method of tool arm, comprising: the motion state of small-sized six-shaft industrial mechanical arm is acquired to obtain status signal；It is right
The status signal measures to obtain measured value y (t), and is calculated according to the desired value r (t) of the measured value y (t) and setting
Obtain departure e (t) and deviation variation rate ec (t)；Departure e (t) and deviation variation rate ec (t) are input to fuzzy control
Device finds out departure e (t) and the corresponding amendment of deviation variation rate ec (t) using fuzzy matrix rule list by fuzzy controller
Parameter, Δ Kp、ΔKi、ΔKd, and utilize corrected parameter Δ Kp、ΔKi、ΔKdTo parameter Kp、Ki、KdIt is corrected, wherein described
Fuzzy matrix rule list is according to parameter Kp、Ki、KdThe adjustment met in different departure e (t) and deviation variation rate ec (t)
What principle determined；By the parameter K after correctionp、Ki、KdIt is input to PID controller, by PID controller according to the parameter after correction
Kp、Ki、KdThe input control signal u (t) of the small-sized each axis of six-shaft industrial mechanical arm is generated, and the input control of each axis is believed
Number u (t) is respectively outputted to the corresponding steering engine of each axis；Each steering engine is realized according to input control signal u (t) to joint of mechanical arm
The accurate control of angle, enables mechanical arm to complete deliberate action.
Preferably, the status signal includes voice signal, attitude signal and ultrasonic distance measurement signal.
In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of small-sized six-shaft industrial
The kinetic control system of mechanical arm, including main control chip, signal-processing board, sensor, operation input module and steering engine, six institutes
Steering engine is stated to be respectively used to control the movement of six axis of small-sized six-shaft industrial mechanical arm；The operation input module is small for setting
The desired value r (t) of type six-shaft industrial manipulator motion；The sensor is used for the motion state to small-sized six-shaft industrial mechanical arm
It is acquired to obtain status signal；The signal-processing board is used to measure to obtain measured value y (t) to the status signal,
And departure e (t) and deviation variation rate ec (t) is calculated according to the desired value r (t) of the measured value y (t) and setting；
The main control chip is used to departure e (t) and deviation variation rate ec (t) being input to fuzzy controller, by fuzzy controller benefit
Departure e (t) and the corresponding corrected parameter Δ K of deviation variation rate ec (t) are found out with fuzzy matrix rule listp、ΔKi、ΔKd,
And utilize corrected parameter Δ Kp、ΔKi、ΔKdTo parameter Kp、Ki、KdIt is corrected, wherein the fuzzy matrix rule list is root
According to parameter Kp、Ki、KdWhat the Adjustment principle met in different departure e (t) and deviation variation rate ec (t) determined；And will
Parameter K after correctionp、Ki、KdIt is input to PID controller, by PID controller according to the parameter K after correctionp、Ki、KdIt generates small-sized
The input control signal u (t) of each axis of six-shaft industrial mechanical arm, and the input control signal u (t) of each axis is respectively outputted to
On the corresponding steering engine of each axis；Each steering engine is used to be realized according to input control signal u (t) to joint of mechanical arm angle
Accurate control, enables mechanical arm to complete deliberate action.
Preferably, the sensor includes sound transducer, attitude transducer and ultrasonic distance-measuring sensor, the state
Signal includes voice signal, attitude signal and ultrasonic distance measurement signal.
It is in contrast to the prior art, the beneficial effects of the present invention are:
There is higher degree of fitting to preset motion profile, shake is small, and control effect is substantially better than traditional PI D and is based on
The control method of T-S fuzzy compensation has so as to mention high control precision and response speed and supports multiple sensors control,
The advantages such as easy to operate.
Detailed description of the invention
Fig. 1 is the flow diagram of the motion control method of the small-sized six-shaft industrial mechanical arm of the embodiment of the present invention.
Fig. 2 is PID control response curve.
Fig. 3 is the emulation schematic diagram of the motion control method of the small-sized six-shaft industrial mechanical arm of the embodiment of the present invention.
Fig. 4 is six-shaft industrial mechanical arm Sliding Mode Robust control method of motion trace, traditional PI D based on T-S fuzzy compensation
The simulation comparison result of the motion control method of control method and the present embodiment.
Fig. 5 is the experimental field figure that the motion control method of the embodiment of the present invention repeat station accuracy experiment.
Fig. 6 is the experimental result picture that the motion control method of the embodiment of the present invention repeat station accuracy experiment.
Fig. 7 is the configuration diagram of the kinetic control system of the small-sized six-shaft industrial mechanical arm of the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is the flow diagram of the motion control method of the small-sized six-shaft industrial mechanical arm of the embodiment of the present invention referring to Fig. 1.
The motion control method of the small-sized six-shaft industrial mechanical arm of the present embodiment includes:
S1: the motion state of small-sized six-shaft industrial mechanical arm is acquired to obtain status signal.
In the present embodiment, status signal includes voice signal, attitude signal and ultrasonic distance measurement signal.
S2: status signal is measured to obtain measured value y (t), and according to the desired value r of measured value y (t) and setting
(t) departure e (t) and deviation variation rate ec (t) is calculated.
Wherein, departure e (t)=r (t)-y (t), deviation variation rate ec (t)=de (t)/dt.
S3: being input to fuzzy controller for departure e (t) and deviation variation rate ec (t), is utilized by fuzzy controller fuzzy
Matrix rule list finds out departure e (t) and the corresponding corrected parameter Δ K of deviation variation rate ec (t)p、ΔKi、ΔKd, and utilize
Corrected parameter Δ Kp、ΔKi、ΔKdTo parameter Kp、Ki、KdIt is corrected, wherein fuzzy matrix rule list is according to parameter Kp、Ki、
KdWhat the Adjustment principle met in different departure e (t) and deviation variation rate ec (t) determined.
According to the operating experience and PID control response curve of six shaft mechanical arms, wherein PID control response curve such as Fig. 2 institute
Show, parameter Kp、Ki、KdMeet following adjustment rule in different departure e and deviation variation rate ec:
(1) 0A stage (e>0, ec<0)
0A is the characteristics of the stage: departure e>0 and tend to 0 from gradually becoming smaller greatly, deviation variation rate ec<0 and | ec | become from 0
It is small to become larger again.In order to obtain better control performance, Gain-scheduling control is taken at this stage.Become according to the size variation of e and ec
0A substage is tri- sections of OI, IJ and JA by gesture.
OI sections: since e is larger, | ec | become larger from 0, to accelerate response speed and integral being prevented to be saturated, KpTake larger, KdIt takes
It is smaller, KiIt takes smaller or 0；
IJ sections: e is moderate, | ec | near the maximum, to prevent system overshoot, while in order to guarantee system response time,
Kp、Ki、KdAll cannot be too big, KpAnd KdTake moderate, KiIt takes smaller；
JA sections: e smaller and trend 0, | ec | from becoming smaller greatly, K should be reducedp, and increase KiValue, while overshoot in order to prevent, Kd
Take median size.
(2) AB stage (e < 0, ec < 0)
AB is the characteristics of the stage: departure e < 0 and | e | become larger from 0, deviation variation rate ec < 0 and | ec | become from big
It is small.The purpose of stage is quickly to force down overshoot, reduces systematic steady state error, so should reinforce ratio and integral part control work
With, while in order to maintain system near stable state, it should also reinforce the control action of differential part.So KpTake larger, KiTake compared with
Greatly, KdTake median size.
(3) BC stage (e<0, ec>0)
BC is the characteristics of the stage: departure e<0 and | e | tend to 0 from gradually becoming smaller greatly, deviation variation rate ec>0 and | ec | from
0 becomes larger.The stage approaches to stable state direction, in order to reduce system reverse overshoot, should reduce or be not added integral action, can be with
Increase differential part conduct.So KpTake moderate, KiIt takes smaller or for 0, KdTake median size.
(4) CD stage (e > 0, ec > 0)
CD is the characteristics of the stage: departure e > 0 and | e | slowly become larger from 0, deviation variation rate ec > 0 and | ec | from becoming smaller greatly
Tend to 0.Although the stage system has small overshoot, but already close to stable state, system output is varied less.So KpTake moderate, Ki
Take moderate, KdIt takes moderate.
(5) DE stage (e>0, ec<0)
DE is the characteristics of the stage: departure e>0 and | e | from slowly tending to 0 greatly, deviation variation rate ec<0 and | ec | it is attached 0
Closely.The stage deviation very little, and tend to stable state, control action should not be too strong, so integral action should be reduced, keeps ratio and micro-
It is allocated as using, makes system keep stablizing, and have stronger anti-interference ability.So KpTake moderate, KiTake smaller, KdIt takes moderate.
According to it is above-mentioned to different e and ec when pid parameter Kp、Ki、KdThe analysis of Adjustment principle, fuzzy controller is to PID tri-
Parameter is adjusted in real time, if Kp、Ki、KdThere is following relationship with e and ec:
In formula, Kp、Ki、KdIt is the pid parameter after being adjusted by fuzzy controller, Kp0、Ki0、Kd0It is by aritical ratio side
The initial parameter for the PID controller that method obtains.ΔKp、ΔKi、ΔKdIt is by fuzzy relation function fp(e,ec)、fi(e,ec)、
fdThe PID adjustment amount related with e and ec that (e, ec) is obtained.
ΔKp、ΔKi、ΔKdFuzzy matrix rule list with E and EC is as shown in table 4.1 to 4.3.
4.1 Δ K of tablepFuzzy matrix rule list
4.2 Δ K of tableiFuzzy reasoning table
4.3 Δ K of tabledFuzzy reasoning table
By the variation range of departure e and deviation variation rate ec be defined as the domain in fuzzy set be e, ec=-3, -2, -
1,0,1,2,3 }, fuzzy subset E, EC={ FD, FZ, FX, LO, ZX, ZZ, ZD } export Δ Kp、ΔKi、ΔKdDomain take [-
10,10], output fuzzy subset is identical as input fuzzy subset.If E, EC and Δ Kp、ΔKi、ΔKdEqual Normal Distribution, and
Subordinating degree function is identical.
S4: by the parameter K after correctionp、Ki、KdIt is input to PID controller, by PID controller according to the parameter after correction
Kp、Ki、KdThe input control signal u (t) of the small-sized each axis of six-shaft industrial mechanical arm is generated, and the input control of each axis is believed
Number u (t) is respectively outputted to the corresponding steering engine of each axis.
S5: each steering engine realizes the accurate control to joint of mechanical arm angle according to input control signal u (t), makes machinery
Arm can complete deliberate action.
The software emulation of the motion control method of the present embodiment is as shown in Figure 3.The motion control method is in hardware configuration
Intel i5 4200U, 8G memory, 256G solid state hard disk are equipped on the PC of 64 WIN10 operating systems and MATLAB2014a
It is emulated.Six-shaft industrial mechanical arm Sliding Mode Robust control method of motion trace based on T-S fuzzy compensation, traditional PID control
The simulation comparison result of the motion control method of method and the present embodiment is as shown in Figure 4, wherein Fig. 4 (a) is fuzzy based on T-S
The simulation result of compensation campaign method for controlling trajectory, Fig. 4 (b) are the simulation result of traditional PID control method, and Fig. 4 (c) is this hair
The simulation result of the motion control method of bright embodiment.
Comparing three kinds of simulation results can be seen that the motion control of the embodiment of the present invention when motion profile fluctuates
Control method of motion trace of the method than traditional PID control method and based on T-S fuzzy compensation has preset motion profile
Higher degree of fitting, system control precision is high, and shake is small, and control effect is significantly superior.
The motion control method of the embodiment of the present invention is carried out again to repeat station accuracy experiment, in this experiment, small-sized six
Axis industrial machinery arm defines the positive direction under mechanical arm 0 degree of state of No. 1 axis steering engine angle for mechanical arm, from positive direction 190mm
It is demarcated as the center of circle at (75mm comprising No. 1 axis center to steering engine chassis edge, similarly hereinafter), the circle of radius 20mm is drawn with the center of circle,
Mechanical arm is allowed to hold stroke point 50 times in the center of circle.Experimental field figure is as shown in figure 5, experimental result picture is as shown in Figure 6, wherein Fig. 6
It (a) is the experimental result of the fortune function method for controlling trajectory based on T-S fuzzy compensation, Fig. 6 (b) is the reality of traditional PID control method
It tests as a result, Fig. 6 (c) is the experimental result of the motion control method of the embodiment of the present invention.
From figure China as can be seen that the point of Fig. 6 (a) and Fig. 6 (b) is more dispersed, or even occur shaking due to mechanical arm
And the company's pen generated, the company situation of Fig. 6 (c) is less, and point compares concentration.Illustrate the motion control method of the embodiment of the present invention
It is relatively good to repeat fixed-point performance, control precision is high.
It is the configuration diagram of the kinetic control system of the small-sized six-shaft industrial mechanical arm of the embodiment of the present invention refering to Fig. 7.
The kinetic control system of the embodiment of the present invention includes main control chip 10, signal-processing board 20, sensor 30, operation input module 40
With steering engine 50, six steering engines 50 are respectively used to control the movement of six axis of small-sized six-shaft industrial mechanical arm.
Operation input module 40 is used to set the desired value r (t) of small-sized six-shaft industrial manipulator motion.
Sensor 30 to the motion state of small-sized six-shaft industrial mechanical arm for being acquired to obtain status signal.Wherein,
Sensor 30 includes sound transducer, attitude transducer and ultrasonic distance-measuring sensor, and status signal includes voice signal, posture
Signal and ultrasonic distance measurement signal.
Signal-processing board 20 is used to measure to obtain to status signal measured value y (t), and according to measured value y (t) with set
Departure e (t) and deviation variation rate ec (t) is calculated in fixed desired value r (t).
Main control chip 10 is used to departure e (t) and deviation variation rate ec (t) being input to fuzzy controller, by Fuzzy Control
Device processed finds out departure e (t) and the corresponding corrected parameter Δ K of deviation variation rate ec (t) using fuzzy matrix rule listp、Δ
Ki、ΔKd, and utilize corrected parameter Δ Kp、ΔKi、ΔKdTo parameter Kp、Ki、KdIt is corrected, wherein fuzzy matrix rule list is
According to parameter Kp、Ki、KdWhat the Adjustment principle met in different departure e (t) and deviation variation rate ec (t) determined；And it will
By the parameter K after correctionp、Ki、KdIt is input to PID controller, by PID controller according to the parameter K after correctionp、Ki、KdIt generates small
The input control signal u (t) of each axis of type six-shaft industrial mechanical arm, and the input control signal u (t) of each axis is exported respectively
Onto the corresponding steering engine 50 of each axis；
Each steering engine 50 is used for the accurate control according to input control signal u (t) realization to joint of mechanical arm angle, makes machine
Tool arm can complete deliberate action.
It is in concrete application at one, main control chip 10 selects STM32 series monolithic, such as STM32F103C8T6, rudder
The model of machine 50 selects LD-1501, and signal-processing board 20 selects Arduino Uno r3 development board, the model choosing of sound transducer
ADXL335, the model of ultrasonic distance-measuring sensor are selected with the model of LM986 audio integrated power amplifier, attitude transducer
Select US-100.
The kinetic control system of the small-sized six-shaft industrial mechanical arm of the present embodiment has small-sized six axis with previous embodiment
The identical technical characteristic of the motion control method of industrial machinery arm, details are not described herein.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (4)
1. a kind of motion control method of small-sized six-shaft industrial mechanical arm characterized by comprising
The motion state of small-sized six-shaft industrial mechanical arm is acquired to obtain status signal；
The status signal is measured to obtain measured value y (t), and according to the desired value r of the measured value y (t) and setting
(t) departure e (t) and deviation variation rate ec (t) is calculated；
Departure e (t) and deviation variation rate ec (t) are input to fuzzy controller, advised by fuzzy controller using fuzzy matrix
Then table finds out departure e (t) and the corresponding corrected parameter Δ K of deviation variation rate ec (t)p、ΔKi、ΔKd, and utilize amendment ginseng
Number Δ Kp、ΔKi、ΔKdTo parameter Kp、Ki、KdIt is corrected, wherein the fuzzy matrix rule list is according to parameter Kp、Ki、Kd
What the Adjustment principle met in different departure e (t) and deviation variation rate ec (t) determined；
By the parameter K after correctionp、Ki、KdIt is input to PID controller, by PID controller according to the parameter K after correctionp、Ki、KdIt is raw
At the input control signal u (t) of the small-sized each axis of six-shaft industrial mechanical arm, and respectively by the input control signal u (t) of each axis
It is output to the corresponding steering engine of each axis；
Each steering engine realizes the accurate control to joint of mechanical arm angle according to input control signal u (t), keeps mechanical arm complete
At deliberate action.
2. the motion control method of small-sized six-shaft industrial mechanical arm according to claim 1, which is characterized in that the state
Signal includes voice signal, attitude signal and ultrasonic distance measurement signal.
3. a kind of kinetic control system of small-sized six-shaft industrial mechanical arm, which is characterized in that including main control chip, signal processing
Plate, sensor, operation input module and steering engine, six steering engines are respectively used to control six of small-sized six-shaft industrial mechanical arm
The movement of axis；
The operation input module is used to set the desired value r (t) of small-sized six-shaft industrial manipulator motion；
The sensor to the motion state of small-sized six-shaft industrial mechanical arm for being acquired to obtain status signal；
The signal-processing board is used to measure to obtain measured value y (t) to the status signal, and according to the measured value y
(t) departure e (t) and deviation variation rate ec (t) is calculated in the desired value r (t) with setting；
The main control chip is used to departure e (t) and deviation variation rate ec (t) being input to fuzzy controller, by fuzzy control
Device finds out departure e (t) and the corresponding corrected parameter Δ K of deviation variation rate ec (t) using fuzzy matrix rule listp、ΔKi、
ΔKd, and utilize corrected parameter Δ Kp、ΔKi、ΔKdTo parameter Kp、Ki、KdIt is corrected, wherein the fuzzy matrix rule list
It is according to parameter Kp、Ki、KdWhat the Adjustment principle met in different departure e (t) and deviation variation rate ec (t) determined；
And by the parameter K after correctingp、Ki、KdIt is input to PID controller, by PID controller according to the parameter K after correctionp、
Ki、KdGenerate the input control signal u (t) of the small-sized each axis of six-shaft industrial mechanical arm, and by the input control signal u of each axis
(t) it is respectively outputted on the corresponding steering engine of each axis；
Each steering engine is used for the accurate control according to input control signal u (t) realization to joint of mechanical arm angle, makes machinery
Arm can complete deliberate action.
4. the kinetic control system of small-sized six-shaft industrial mechanical arm according to claim 3, which is characterized in that the sensing
Device includes sound transducer, attitude transducer and ultrasonic distance-measuring sensor, and the status signal includes voice signal, posture letter
Number and ultrasonic distance measurement signal.
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| CN110919692A (en) * | 2019-12-12 | 2020-03-27 | 扬州大学 | Mechanical arm and intelligent control technology |
| CN110919692B (en) * | 2019-12-12 | 2022-06-14 | 扬州大学 | Mechanical arm and intelligent control technology |
| CN115524998A (en) * | 2022-10-25 | 2022-12-27 | 山西建投集团装饰有限公司 | Robot sliding mode control method based on self-adaptive fuzzy compensation |
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