CN110347040A - A kind of control method, device, equipment and the storage medium of cooperative motion mechanism - Google Patents
A kind of control method, device, equipment and the storage medium of cooperative motion mechanism Download PDFInfo
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- CN110347040A CN110347040A CN201910629089.0A CN201910629089A CN110347040A CN 110347040 A CN110347040 A CN 110347040A CN 201910629089 A CN201910629089 A CN 201910629089A CN 110347040 A CN110347040 A CN 110347040A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The invention discloses a kind of control methods of cooperative motion mechanism, by the input torque value for obtaining cooperative motion mechanism, torque decoupling operation is carried out to input torque value and obtains torque decoupling result, and it will be in the system control function of torque decoupling result input cooperative motion mechanism, realize the decoupling to the external input torque in input cooperative motion mechanism, eliminate influence of the input torque variation to the system control function of cooperative motion mechanism, thus the appearance for phenomena such as strengthening the system stability of cooperative motion mechanism, reducing overshoot, oscillation.The invention also discloses control device, equipment and the storage mediums of a kind of cooperative motion mechanism, have above-mentioned beneficial effect.
Description
Technical field
The present invention relates to technical field of automatic control, control method, dress more particularly to a kind of cooperative motion mechanism
It sets, equipment and storage medium.
Background technique
Cooperative motion mechanism is a kind of close coupling, nonlinear system, generallys use PID control method and is controlled.PID
Although control method has many advantages, such as that control method is flexible, parameter is easy to adjust, control effect is good, but there is tracking essence
The disadvantages of not high, control energy is larger is spent, and is difficult to realize full decoupled.And cooperative motion mechanism is bound to during the motion
It will receive the influence of input torque, these external input torques may be from load, it is also possible to from cooperative motion mechanism
It is internal.Although can compensate to input torque during PID control, actually input torque is all becoming at any time
Change, which results in existing PID control methods timely to precisely compensate for input torque, causes and transports to collaboration
The unstability of dynamic mechanism controls, control effect are not fully up to expectations.
Influence cooperative motion mechanism by the generation of external input moment variations, guarantee cooperative motion mechanism is
System stability, is those skilled in the art's technical issues that need to address.
Summary of the invention
The object of the present invention is to provide control method, device, equipment and the storage mediums of a kind of cooperative motion mechanism, are used for
It influences cooperative motion mechanism by the generation of external input moment variations, guarantees the system stability of cooperative motion mechanism.
In order to solve the above technical problems, the present invention provides a kind of control method of cooperative motion mechanism, comprising:
Obtain the input torque value of cooperative motion mechanism；
Torque is carried out to the input torque value and decouples operation, obtains torque decoupling result；
Torque decoupling result is inputted to the system control function of the cooperative motion mechanism.
Optionally, the input torque value specifically include with external loading value variation generate external torque variable quantity and
The system torque changing value that the cooperative motion mechanism generates during the motion.
Optionally, the input torque value for obtaining cooperative motion mechanism, specifically includes:
Construct the kinetic model of the cooperative motion mechanism；
Acquire the value of feedback of the cooperative motion mechanism；
The value of feedback is inputted into the kinetic model, exports the input torque value.
Optionally, the value of feedback of the acquisition cooperative motion mechanism, specifically:
The value of feedback of the cooperative motion mechanism is acquired in real time.
Optionally, described that torque decoupling operation is carried out to the input torque value, it is indicated especially by following formula:
Wherein, F (s) is that torque decouples function, PL(s) the input torque value, P (s) are the system control function.
In order to solve the above technical problems, the present invention also provides a kind of control devices of cooperative motion mechanism, comprising:
Acquiring unit, for obtaining the input torque value of cooperative motion mechanism；
Torque decoupling unit decouples operation for carrying out torque to the input torque value, obtains torque decoupling result；
Input unit, for torque decoupling result to be inputted to the system control function of the cooperative motion mechanism.
Optionally, the input torque value be specially include with external loading value variation generate external torque variable quantity with
And the system torque changing value that the cooperative motion mechanism generates during the motion.
Optionally, the acquiring unit specifically includes:
Subelement is modeled, for constructing the kinetic model of the cooperative motion mechanism；
Subelement is acquired, for acquiring the value of feedback of the cooperative motion mechanism；
Computation subunit exports the input torque value for the value of feedback to be inputted the kinetic model.
In order to solve the above technical problems, the present invention also provides a kind of control equipment of cooperative motion mechanism, comprising:
Memory, for storing instruction, described instruction include the controlling party of cooperative motion mechanism described in above-mentioned any one
The step of method；
Processor, for executing described instruction.
In order to solve the above technical problems, it is stored thereon with computer program the present invention also provides a kind of storage medium, it is described
It is realized when computer program is executed by processor as described in above-mentioned any one the step of the control method of cooperative motion mechanism.
The control method of cooperative motion mechanism provided by the present invention, by the input torque for obtaining cooperative motion mechanism
Value carries out torque decoupling operation to input torque value and obtains torque decoupling as a result, and torque is decoupled result input cooperative motion
In the system control function of mechanism, the decoupling to the external input torque in input cooperative motion mechanism is realized, is eliminated defeated
Enter influence of the moment variations to the system control function of cooperative motion mechanism, so that the system for strengthening cooperative motion mechanism is stablized
Property, reduce overshoot, oscillation phenomena such as appearance.The present invention also provides a kind of control device of cooperative motion mechanism, equipment and
Storage medium has above-mentioned beneficial effect, and details are not described herein.
Detailed description of the invention
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow chart of the control method of cooperative motion mechanism provided in an embodiment of the present invention；
Fig. 2 is a kind of control simulation architecture of cooperative motion mechanism provided in an embodiment of the present invention；
Fig. 3 is the single shaft control simulation architecture in cooperative motion mechanism shown in Fig. 2；
Fig. 4 (a) is the ring opening moiety of single shaft control simulation architecture shown in Fig. 3 and the open loop portion of Traditional control simulation architecture
Divide the system response curve comparison diagram under identical input torque；
Fig. 4 (b) is that the ring opening moiety of single shaft control simulation architecture shown in Fig. 3 exists in input torque and is not present two kinds
System response curve comparison diagram under form；
Fig. 4 (c) is the closed loop portion of single shaft control simulation architecture shown in Fig. 3 and the closed loop portion of Traditional control simulation architecture
Divide the system response curve comparison diagram under identical input torque；
Fig. 4 (d) is the partial enlarged view of Fig. 4 (c)；
System response curve of control method of the Fig. 4 (e) based on cooperative motion mechanism described in Fig. 1 under input torque
Figure；
Fig. 4 (f) is the partial enlarged view of Fig. 4 (e)；
Fig. 4 (g) is system response curve of the control simulation architecture of cooperative motion mechanism shown in Fig. 2 under input torque
Figure；
Fig. 4 (h) is the partial enlarged view of Fig. 4 (g)；
Fig. 5 is a kind of structural schematic diagram of the control device of cooperative motion mechanism provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of the control equipment of cooperative motion mechanism provided in an embodiment of the present invention.
Specific embodiment
Core of the invention is to provide control method, device, equipment and the storage medium of a kind of cooperative motion mechanism, is used for
It influences cooperative motion mechanism by the generation of external input moment variations, guarantees the system stability of cooperative motion mechanism.
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 described embodiments are only 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.
Fig. 1 is a kind of flow chart of the control method of cooperative motion mechanism provided in an embodiment of the present invention；Fig. 2 is the present invention
A kind of control simulation architecture for cooperative motion mechanism that embodiment provides；Fig. 3 is the single shaft in cooperative motion mechanism shown in Fig. 2
Control simulation architecture；Fig. 4 (a) is the ring opening moiety and Traditional control simulation architecture of single shaft control simulation architecture shown in Fig. 3
System response curve comparison diagram of the ring opening moiety under identical input torque；Fig. 4 (b) is single shaft control shown in Fig. 3 emulation knot
The ring opening moiety of structure exists and there is no the system response curve comparison diagrams under two kinds of forms in input torque；Fig. 4 (c) is Fig. 3
Shown in single shaft control simulation architecture closed loop portion with the closed loop portion of Traditional control simulation architecture under identical input torque
System response curve comparison diagram；Fig. 4 (d) is the partial enlarged view of Fig. 4 (c)；Fig. 4 (e) is based on cooperative motion machine described in Fig. 1
System response curve of the control method of structure under input torque；Fig. 4 (f) is the partial enlarged view of Fig. 4 (e)；Fig. 4 (g) is
System response curve of the control simulation architecture of cooperative motion mechanism shown in Fig. 2 under input torque；Fig. 4 (h) is Fig. 4
(g) partial enlarged view.
As shown in Figure 1, the control method of cooperative motion mechanism provided in an embodiment of the present invention includes:
S101: the input torque value of cooperative motion mechanism is obtained.
In practical applications, it needs to compensate the input torque in the cooperative motion mechanism course of work, and input power
Square specifically includes the external torque variable quantity generated with the variation of external loading value and cooperative motion mechanism produces during the motion
Raw system torque changing value etc., wherein system torque variable quantity is usually cooperative motion mechanism during the motion due to adding
Caused by movement imbalance between velocity variations, motor.As it can be seen that input torque value is a variable, therefore every time to input
When moment values are decoupled, require first to obtain real-time input torque value.
In specific implementation, the input torque value of cooperative motion mechanism can be obtained in the following manner:
Construct the kinetic model of cooperative motion mechanism；
Acquire the value of feedback of cooperative motion mechanism；
By value of feedback input power model, input torque value is exported.
Traditional control method does not account for the kinetic model of cooperative motion mechanism, it is difficult to guarantee cooperative motion mechanism
Dynamic and static quality, and kinetic model is added in control flow, be conducive to eliminate the coupling in cooperative motion mechanism, improve
Dynamic and static quality.The construction method of the kinetic model of cooperative motion mechanism can refer to the prior art, and details are not described herein.
The value of feedback of cooperative motion mechanism mainly includes the value exported after system control function operation.Due to external force
Square value may change in real time, therefore the value of feedback for acquiring cooperative motion mechanism is specially to acquire cooperative motion machine in real time
The value of feedback of structure, to constitute a real-time compensator.
S102: carrying out torque to input torque value and decouple operation, obtains torque decoupling result.
In specific implementation, torque is carried out to input torque value and decouples operation, indicated especially by following formula:
Wherein, F (s) is that torque decouples function, PL(s) the input torque value, P (s) are system control function.
S103: by the system control function of torque decoupling result input cooperative motion mechanism.
Based on formula (1), the embodiment of the present invention a kind of control simulation architecture of cooperative motion mechanism is provided as shown in Fig. 2,
Control simulation architecture in the prior art increases torque decoupling controller Fi(s), in addition, CiIt (s) is system controller, Pi
It (s) is system control object, S (s) is cooperative motion controller, PLiIt (s) is external torque input channel, riFor system input
Value, FlFor external moment values, yiFor system output value, wherein i=1,2.
Single shaft control simulation architecture is isolated from the control simulation architecture in Fig. 2 as shown in figure 3, external torque passes through PL
(s) metering-in control system influences system output value y.Formula (1) is based on to input torque value by torque decoupling controller F (s)
After carrying out torque decoupling operation, input torque value FlTo the transmission function of system output value y are as follows:
Simultaneous formula (1) is available:
It can be seen that torque decoupling controller F (s) eliminates influence of the input torque to the control function of cooperative motion mechanism.
It will be in single shaft control simulation architecture shown in Fig. 3 (decoupling control structure) and the prior art (no decoupling control structure)
The single shaft control simulation architecture for not carrying out torque decoupling compares, and compares ring opening moiety first under identical input torque value
System response curve such as Fig. 4 (a) and Fig. 4 (b) shown in, then the single shaft tested in single shaft control simulation architecture shown in Fig. 3 closes
Ring control system is shown using the system response curve such as Fig. 4 (c) of PID controller under different input torque values and Fig. 4 (d),
It can be seen that the control method of cooperative motion mechanism provided in an embodiment of the present invention can generate work in input torque static change
With the influence by input torque to system output value is reduced to minimum.
The system control function for testing the control method offer of cooperative motion mechanism provided in an embodiment of the present invention is inputting
Shown in system response curve such as Fig. 4 (e) and Fig. 4 (f) under the influence of torque, while testing cooperative motion mechanism shown in Fig. 2
System response curve of the simulation architecture under different input torque values is controlled, as shown in Fig. 4 (g) and Fig. 4 (h), it can be seen that this
The control method of cooperative motion mechanism and the control mechanism of cooperative motion mechanism that inventive embodiments provide can be moved through
Good control effect is kept in the case where external torque high dynamic variation in journey.
The control method of cooperative motion mechanism provided in an embodiment of the present invention, by the input power for obtaining cooperative motion mechanism
Square value carries out torque decoupling operation to input torque value and obtains torque decoupling as a result, and torque decoupling result is inputted collaboration fortune
In the system control function of motivation structure, the decoupling to the external input torque in input cooperative motion mechanism is realized, is eliminated
Input torque changes the influence to the system control function of cooperative motion mechanism, so that the system for strengthening cooperative motion mechanism is steady
It is qualitative, reduce overshoot, oscillation phenomena such as appearance.
The corresponding each embodiment of control method of cooperative motion mechanism as detailed above, on this basis, the present invention is also
Disclose the control device of cooperative motion corresponding with above method mechanism.
Fig. 5 is a kind of structural schematic diagram of the control device of cooperative motion mechanism provided in an embodiment of the present invention.
As shown in figure 5, the control device of cooperative motion mechanism provided in an embodiment of the present invention includes:
Acquiring unit 501, for obtaining the input torque value of cooperative motion mechanism；
Torque decoupling unit 502 decouples operation for carrying out torque to input torque value, obtains torque decoupling result；
Input unit 503, for torque decoupling result to be inputted to the system control function of cooperative motion mechanism.
Wherein, input torque value can specifically include the external torque variable quantity generated with the variation of external loading value and association
The system torque changing value generated during the motion with movement mechanism.
Optionally, acquiring unit 501 specifically includes:
Subelement is modeled, for constructing the kinetic model of cooperative motion mechanism；
Subelement is acquired, for acquiring the value of feedback of cooperative motion mechanism；
Computation subunit, for exporting input torque value for value of feedback input power model.
Since the embodiment of device part is corresponded to each other with the embodiment of method part, the embodiment of device part is asked
Referring to the description of the embodiment of method part, wouldn't repeat here.
Fig. 6 is a kind of structural schematic diagram of the control equipment of cooperative motion mechanism provided in an embodiment of the present invention.
As shown in fig. 6, the control equipment of cooperative motion mechanism provided in an embodiment of the present invention includes:
Memory 601, for storing instruction, described instruction include cooperative motion mechanism described in above-mentioned any one embodiment
Control method the step of；
Processor 602, for executing described instruction.
The control equipment of cooperative motion mechanism provided in this embodiment, since memory storage can be called by processor
Computer program, realize as above-mentioned any embodiment provide cooperative motion mechanism control method the step of, so well-behaved
Analysis apparatus has the same actual effect of control method with above-mentioned cooperative motion mechanism.
This programme in order to better understand, the embodiment of the present invention also provide a kind of storage medium, store on the storage medium
There is computer program, the control for the cooperative motion mechanism that any embodiment as above is mentioned is realized when computer program is executed by processor
The step of method processed.
Storage medium provided in this embodiment, since the computer journey of storage medium storage can be called by processor
The step of sequence, the control method for the cooperative motion mechanism that realization such as above-mentioned any embodiment provides, so this storage medium has
With the same actual effect of control method of above-mentioned cooperative motion mechanism.
In several embodiments provided herein, it should be understood that disclosed method, apparatus, equipment and storage
Medium may be implemented in other ways.For example, the apparatus embodiments described above are merely exemplary, for example, mould
The division of block, only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple modules or
Component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point is shown
The mutual coupling, direct-coupling or communication connection shown or discussed can be through some interfaces, between device or module
Coupling or communication connection are connect, can be electrical property, mechanical or other forms.As illustrated by the separation member module can be or
It may not be and be physically separated, the component shown as module may or may not be physical module, it can
It is in one place, or may be distributed on multiple network modules.Part therein can be selected according to the actual needs
Or whole modules achieve the purpose of the solution of this embodiment.
It, can also be in addition, can integrate in a processing module in each functional module in each embodiment of the application
It is that modules physically exist alone, can also be integrated in two or more modules in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.
If integrated module is realized and when sold or used as an independent product in the form of software function module, can
To be stored in a computer readable storage medium.Based on this understanding, the technical solution of the application substantially or
Say that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a computer equipment
The whole of (can be personal computer, funcall device or the network equipment etc.) execution each embodiment method of the application
Or part steps.And storage medium above-mentioned may include: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory,
ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. are various can store program
The medium of code.
Above to a kind of control method, device, equipment and the storage medium of cooperative motion mechanism provided by the present invention into
It has gone and has been discussed in detail.Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts in each embodiment may refer to each other.For disclosed in embodiment
For device, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method portion
It defends oneself bright.It should be pointed out that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the protection of the claims in the present invention
In range.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of control method of cooperative motion mechanism characterized by comprising
Obtain the input torque value of cooperative motion mechanism；
Torque is carried out to the input torque value and decouples operation, obtains torque decoupling result；
Torque decoupling result is inputted to the system control function of the cooperative motion mechanism.
2. control method according to claim 1, which is characterized in that the input torque value is specifically included with external loading
The system moment variations that the external torque variable quantity and the cooperative motion mechanism that value variation generates generate during the motion
Value.
3. control method according to claim 1, which is characterized in that the input torque for obtaining cooperative motion mechanism
Value, specifically includes:
Construct the kinetic model of the cooperative motion mechanism；
Acquire the value of feedback of the cooperative motion mechanism；
The value of feedback is inputted into the kinetic model, exports the input torque value.
4. control method according to claim 3, which is characterized in that the feedback of the acquisition cooperative motion mechanism
Value, specifically:
The value of feedback of the cooperative motion mechanism is acquired in real time.
5. control method according to claim 1, which is characterized in that described to carry out torque decoupling to the input torque value
Operation is indicated especially by following formula:
Wherein, F (s) is that torque decouples function, PL(s) the input torque value, P (s) are the system control function.
6. a kind of control device of cooperative motion mechanism characterized by comprising
Acquiring unit, for obtaining the input torque value of cooperative motion mechanism；
Torque decoupling unit decouples operation for carrying out torque to the input torque value, obtains torque decoupling result；
Input unit, for torque decoupling result to be inputted to the system control function of the cooperative motion mechanism.
7. control device according to claim 6, which is characterized in that the input torque value is specially to include with external negative
The system torque that the external torque variable quantity and the cooperative motion mechanism that the variation of load value generates generate during the motion becomes
Change value.
8. control device according to claim 6, which is characterized in that the acquiring unit specifically includes:
Subelement is modeled, for constructing the kinetic model of the cooperative motion mechanism；
Subelement is acquired, for acquiring the value of feedback of the cooperative motion mechanism；
Computation subunit exports the input torque value for the value of feedback to be inputted the kinetic model.
9. a kind of control equipment of cooperative motion mechanism characterized by comprising
Memory, for storing instruction, described instruction include the control of cooperative motion mechanism described in claim 1 to 5 any one
The step of method processed；
Processor, for executing described instruction.
10. a kind of storage medium, is stored thereon with computer program, which is characterized in that the computer program is held by processor
It is realized when row as described in claim 1 to 5 any one the step of the control method of cooperative motion mechanism.
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