CN110879621B - Speed closed-loop control method applied to balance torque of four-wheel drive wheeled robot - Google Patents
Speed closed-loop control method applied to balance torque of four-wheel drive wheeled robot Download PDFInfo
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- CN110879621B CN110879621B CN201911233418.6A CN201911233418A CN110879621B CN 110879621 B CN110879621 B CN 110879621B CN 201911233418 A CN201911233418 A CN 201911233418A CN 110879621 B CN110879621 B CN 110879621B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a speed closed-loop control method for balancing torque applied to a four-wheel-drive four-wheel robot, which comprises the following steps: calculating a given steering angle alpha of any wheel according to a given translational linear velocity vector V and a given rotation angular velocity omega i And a rotation speed V i (ii) a The steering angle alpha is in one-to-one correspondence i As the angular inputs to the four wheel steering servo systems; acquiring the current actual rotating speed V of any wheel from the servo driver ri (ii) a Determining the rotational speed V i With the current actual speed V ri Difference value delta of i (ii) a Difference δ for any wheel i PID adjustment is performed, and the output of the PID adjustment is used as the torque T of any one walking servo motor i (ii) a Obtaining the average torque of the walking servo motor; and setting a walking servo system to be in a torque closed-loop mode, and outputting the average torque to the walking servo system. Through the scheme, the four-wheel-drive four-wheel robot has the advantages of simplicity and convenience in control, simple logic and the like, and has high practical value and popularization value in the technical field of four-wheel-drive four-wheel robots.
Description
Technical Field
The invention relates to the technical field of four-wheel-drive four-wheel robots, in particular to a speed closed-loop control method for balancing torque, which is applied to the four-wheel-drive four-wheel robot.
Background
A four-wheel drive robot is a flexible novel robot trolley which is provided with four wheels, but different from a common four-wheel trolley, each wheel of the four-wheel drive robot has two independent degrees of freedom, namely each wheel is provided with two independent servo drive systems, one servo drive system is responsible for driving the wheels to rotate, and the other servo drive system is responsible for driving the wheels to steer, and the four-wheel drive robot can be respectively called as a walking servo system and a steering servo system.
Because each wheel can independently turn to, consequently, four change four wheel drive robot has very high removal flexibility, can easily accomplish the motion that ordinary four-wheel dolly can not accomplish such as pivot turns to, horizontal, oblique translation. In order to accurately control the position and the speed of the robot, the overall speed closed-loop control of the robot needs to be realized, and an ideal control algorithm is as follows:
as shown in fig. 1, when the robot is viewed as a whole, its motion on a two-dimensional plane includes two given quantities, i.e., a translational linear velocity vector V and a rotational angular velocity ω, by which the steering angles and the rotational speeds of the four wheels can be calculated in combination with the mechanical dimensions of the platform itself. Then respectively outputting the steering angle to the steering servo system of each wheel and outputting the rotating speed to the walking servo system of each wheel, thus realizing the given movement. At this time, the steering servo system works in a position closed loop mode, and the walking servo system works in a speed closed loop mode.
The specific calculation method is as follows:
point O is the geometric center of the robot, O 1 、O 2 、O 3 、O 4 Respectively, the projection of the axes of the four wheels on the plane. And establishing a rectangular coordinate system by taking the point O as an origin, taking the right front of the vehicle body as the positive direction of the y axis and taking the right side of the vehicle body as the positive direction of the x axis.
Let the current given vehicle linear velocity vectorThe quantity is V, the rotation angular velocity is omega, then the linear velocity vectors V of the four wheels can be respectively calculated according to the velocity vector composition i Taking the top right wheel No. 2 as an example, the projection of the axis is O 2 Translational linear velocity vector is V, and rotation angular velocity omega is O 2 The linear velocity vector of the point generation is set as V omega 2 Then V ω 2 Is perpendicular to line segment OO 2 Let a line segment OO 2 Is L, then
Vω 2 Modulo V ω 2 I | = ω · L is the angular velocity of rotation ω at O 2 The linear velocity of the dot generation.
Calculating translation velocity vector V and linear velocity vector V omega generated by rotation 2 The vector sum of (1) is the linear velocity vector V of the No. 2 wheel 2 。V 2 An included angle with the y axis is set as alpha 2 ，V 2 Is a modulus of | V 2 If is then a 2 The steering angle input of the No. 2 wheel steering servo system and the speed input of the No. 2 wheel traveling servo system are | V 2 L, positive or negative of which is vector V 2 Is determined. Similarly, the steering angle and the walking speed of the wheels 1, 3 and 4 can be respectively calculated.
However, the above algorithm is completely based on an ideal situation, it is considered that four wheels of the robot are absolutely symmetrical, and the installation positions and the mechanical states are completely consistent, when in actual application, because the machining precision is limited, the installation position of each wheel has a deviation, the rotation angle of the wheel has an error with a set value, the circumferences of the wheels are unlikely to be completely the same, the four wheels of the robot are independently driven, and there is no differential, so the deviation cannot be compensated by the differential as for an electric automobile, in the actual moving process, the actual rotation speed required by the four wheels has a certain deviation with a theoretical calculated value, so that almost all the wheels cannot rotate to the set speed, even if the deviation is not large, forcing the wheels to rotate to the theoretical calculated value by using a speed closed loop will also result seriously, the torques and powers of the four motors are seriously unbalanced, some motors do not exert forces, and hinder the platform from moving, and other motors work in an overload manner, and the problems such as motor overload and shutdown occur, and even burn out the driver or the motor seriously, therefore, the ideal control method is not suitable for the four-wheel-drive robot.
Disclosure of Invention
The invention aims to provide a speed closed-loop control method for balancing torque applied to a four-wheel-drive robot, which adopts the following technical scheme:
a speed closed-loop control method for balancing torque applied to a four-wheel four-drive wheeled robot is characterized in that any wheel of the four-wheel four-drive wheeled robot is driven by an independent walking servo system and a steering servo system, a servo driver and a walking servo motor are arranged in the walking servo system, and the servo driver is electrically connected with the walking servo motor and drives the walking servo motor to rotate; the speed closed-loop control method comprises the following steps:
calculating a given steering angle alpha of any wheel according to a given translational linear velocity vector V and a given rotation angular velocity omega i And a rotation speed V i (ii) a The value of i is 1,2,3,4;
the steering angle alpha is in one-to-one correspondence i As angular inputs to four wheel steering servo systems;
acquiring and acquiring the current actual rotating speed V of any wheel from a servo driver ri ；
Determining the rotational speed V i With the current actual speed V ri Difference value delta of i ；
Difference δ for any wheel i PID adjustment is carried out, and the output of the PID adjustment is used as the torque T of any one walking servo motor i ；
Obtaining the average torque of the walking servo motor;
and setting a walking servo system as a torque closed-loop mode, and outputting the average torque to the walking servo system to realize closed-loop control.
Compared with the prior art, the invention has the following beneficial effects:
the four-wheel drive robot is used as a whole to carry out speed closed-loop control, so that the whole speed of the robot is consistent with the set speed, the rotating speed of each wheel is not attempted to be consistent with an ideal calculated value, and the four wheels have the same acting force because the torques output to the four-wheel walking servo system are consistent, so that the motor overload phenomenon can be prevented, and meanwhile, the robot can still be accurately controlled in speed and position by combining with a positioning navigation algorithm on the upper layer; in conclusion, the four-wheel-drive four-wheel robot has the advantages of simplicity and convenience in control, simple logic and the like, and has high practical value and popularization value in the technical field of four-wheel-drive four-wheel robots.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of protection, and it will be apparent to those skilled in the art that other related drawings may be obtained based on these drawings without inventive effort.
FIG. 1 is a schematic diagram of the theoretical calculation of the present invention.
FIG. 2 is a flow chart of the closed loop control of the present invention.
Detailed Description
To further clarify the objects, technical solutions and advantages of the present application, the present invention will be further described with reference to the accompanying drawings and examples, and embodiments of the present invention include, but are not limited to, the following examples. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Examples
As shown in fig. 2, the present embodiment provides a speed closed-loop control method for balancing torque applied to a four-wheel drive wheeled robot, which specifically includes the following steps:
first of all, the first step is to,according to an ideal method, the given steering angle alpha of the four wheels is calculated from the given translational linear velocity vector V and the given rotational angular velocity omega i And a rotation speed V i (ii) a At the moment, the steering servo system still works in a position closed loop mode, but the walking servo system is switched into a torque mode, and the speed closed loop of the walking servo system is moved to an upper algorithm from a walking servo driver to realize;
then, the steering angle α is given i As angular inputs to four wheel steering servo systems;
then, the current actual rotating speeds V of the four wheels are respectively obtained from the servo drivers ri (ii) a I.e. V r1 、V r2 、V r3 And V r4 ；
Then, the predetermined rotational speeds V are respectively obtained i With the actual speed V ri Difference value delta of i ；
For each delta i PID adjustment is respectively carried out, and the output of the PID adjustment is used as the torque T of each walking servo motor i (ii) a Namely T 1 、T 2 、T 3 And T 4 ；
Finally, the average torque T of the four-wheel walking servo system is obtained m ：
And average torque T m And simultaneously output to four walking servo systems as given torque.
The above-mentioned embodiments are only preferred embodiments of the present invention, and do not limit the scope of the present invention, but all the modifications made by the principles of the present invention and the non-inventive efforts based on the above-mentioned embodiments shall fall within the scope of the present invention.
Claims (1)
1. A speed closed-loop control method for balancing torque applied to a four-wheel-drive four-wheel robot is characterized in that the speed closed-loop control method comprises the following steps:
calculating a given steering angle alpha of any wheel according to a given translational linear velocity vector V and a given rotation angular velocity omega i And a rotational speed V i (ii) a The value of i is 1,2,3,4;
the steering angle alpha is in one-to-one correspondence i As angular inputs to four wheel steering servo systems;
acquiring and acquiring the current actual rotating speed V of any wheel from a servo driver ri ；
Determining the rotational speed V i With the current actual speed V ri Difference value delta of i ；
Difference δ for any wheel i PID adjustment is performed, and the output of the PID adjustment is used as the torque T of any one walking servo motor i ；
Obtaining the average torque of the walking servo motor;
and setting a walking servo system as a torque closed-loop mode, and outputting the average torque to the walking servo system to realize closed-loop control.
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