CN110919692B - Mechanical arm and intelligent control technology - Google Patents

Mechanical arm and intelligent control technology Download PDF

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CN110919692B
CN110919692B CN201911277170.3A CN201911277170A CN110919692B CN 110919692 B CN110919692 B CN 110919692B CN 201911277170 A CN201911277170 A CN 201911277170A CN 110919692 B CN110919692 B CN 110919692B
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arm
mechanical arm
piston
intelligent control
extending
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CN110919692A (en
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张燕军
韩甲文
缪宏
葛文军
张善文
刘思幸
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Yangzhou University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • 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
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • 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
    • B25J9/20—Programme controls fluidic

Abstract

The utility model provides a mechanical arm and intelligent control technique, novel structure, the theory of operation is clear, utilize hydraulic control device can realize the compensation function of the flexible in-process motion shake of arm, adopt intelligent control hydraulic means oil supply and arm fortune power relation analysis mode of combining together, adopt fuzzy pid genetic algorithm in the motion model analysis, the arm shake under the compensation motion state, by unit step response curve, should have like the analysis to this, compare in pid algorithm relative ratio, the improvement nature of should having the arm shake compensation of this pair of analysis. The time for the mechanical arm to reach a stable state in the motion process is greatly shortened.

Description

Mechanical arm and intelligent control technology
Technical Field
The invention relates to a mechanical arm and an intelligent control technology, belongs to the field of mechanical arms, and particularly relates to a fuzzy pid genetic intelligent control algorithm based on mechanical arm motion jitter compensation.
Background
With the disclosure of mechanical arm technology, many industries put forward new requirements on the use and performance of mechanical arms, the problems brought by the motion of traditional mechanical arms cause restrictions on the automation of production development, and with the development and perfection of computers and digital information technologies, people begin to rely on intelligent control algorithms to improve the increasingly important position of mechanical motion fuzzy pid intelligent control algorithms in controlling motion, while in the field of intelligent control algorithms, some intelligent control algorithms are continuously improved, improved and optimized, such as temperature control, distance adjustment and the like, which are all processed by means of control intelligent control algorithms, and under such a condition, a mechanical arm jitter compensation pid genetic intelligent control algorithm appears.
Disclosure of Invention
The invention aims to provide a mechanical arm shaking compensation control technology improved based on a fuzzy pid genetic intelligent control algorithm aiming at large shaking amplitude of the existing mechanical arm in the motion process so as to reduce the mechanical arm motion shaking.
The technical scheme of the invention is as follows: a mechanical arm and intelligent control technology are characterized in that the intelligent control technology is a fuzzy pid genetic intelligent control algorithm based on mechanical arm motion jitter compensation, and comprises the following steps:
step 1, establishing a mechanical arm motion system model, comprising: hydraulic system, year thing device, arm. The mechanical arm consists of four extending arms, wherein each extending arm is combined with the pulley block shown in the figure 1 and 5 pull cables to form the mechanical arm, a nesting combination mode is adopted among the extending arms, a contact end moves in a sliding block guiding mode, and in the mechanical arm, No. 1, No. 2 and No. 3 are extension pull cables, and No. 4 and No. 5 are retraction pull cables;
no. 1 stay cable: v is that the first extending arm pulls the second extending arm to extend0＝0；ν1＝νOil cylinder；ν2＝2ν1，
No. 2 inhaul cable: v is to pull the three arms out1＝νOil cylinderConsider an arm as stationary, v1’＝0，ν2’＝2ν1-ν1＝ν1；ν3’＝2ν2’＝2ν1；ν3＝ν3’+ν1＝2ν1+ν1＝3ν1；
No. 3 inhaul cable: the three extending arms pull the four extending arms to extend, and the two extending arms are regarded as static v2’＝0,ν3’＝3ν1-2ν1＝ν1；ν4’＝2ν3’＝2ν1；ν4＝2ν4’+2ν1＝2ν1+2ν1＝4ν1Arm extension velocity summary v0＝0,ν1＝ν1,ν2＝2ν1,ν3＝3ν1,ν4＝4ν1，
No. 4 inhaul cable: v is to draw the two arms back by the first arm1＝νOil cylinder，ν0＝0,ν2＝2ν1，
No. 5 inhaul cable: v is obtained when the two extending arms pull the four extending arms to retract and the two extending arms are regarded as static1’＝-ν1(-for opposite directions), v4’＝2ν1,ν4＝4ν1，
Arm retraction velocity v0＝0,ν1＝ν1,ν2＝2ν1,ν3＝3ν1,ν4＝4ν1。
ν0Representing base arm velocity, v1Representing an arm extension speed, v2Indicating two-arm velocity, v3Indicating three-arm velocity, v4Indicating four-arm velocity, v1' denotes a relative speed of an arm, v2' denotes the relative velocity of the two arms, v3' means relative speed of three arms, v4' denotes the relative velocity of the four arms.
Step 2, acquiring parameter information of the mechanical arm to acquire the area A of a rod cavity of a piston of a hydraulic system of the mechanical arm2Area A of rodless piston cavity1，CipIs the coefficient of leakage in the piston of the hydraulic cylinder, CIpIs the external leakage coefficient of the piston of the hydraulic cylinder, CtpIs the effective leakage coefficient C of the piston of the hydraulic cylindertp＝Cip+CIp/2，V1Is a rodless cavity volume, V2The volume of the rod cavity is equal to the volume elastic modulus Ec of the hydraulic oil.
Step 3, solving the functional relation x between the vibration of the extension part and the heavy object part of the mechanical arm in the mechanical arm model systemp＝tan(θ)y(t)。
Step 4, establishing a transfer function G(s) of oil supply flow and jitter amplitude for solving the product motion process, wherein G(s) is 4tan (theta) (A)pS+(iV1S(2Ec(1+i2))-1+Kc)MS2(Ap)-1)-1。
And 5, calculating parameters of the solved transfer function of the control system by using a fuzzy pid genetic intelligent control algorithm, obtaining a step response curve, and comparing the step response curve with the pid intelligent control algorithm.
The step 4 specifically comprises the following steps:
flow equation of the servo valve: q ═ KqXν-KcPl；
The stress balance equation of the hydraulic cylinder is as follows:
Figure BDA0002315867430000031
the flow of the rodless cavity and the flow of the rod cavity of the hydraulic cylinder are respectively
Figure BDA0002315867430000032
Figure BDA0002315867430000033
q＝(q1+q2)/2；
The relation equation of the piston rod extension and the jitter amplitude is xp＝tan(θ)y(t)，
Wherein t is time, m is the sum of the masses of all the objects of the extension part connected with the piston rod of the hydraulic cylinder, dpi/dt is the differential of pressure, and the pressure difference of the piston is PLThe flow gain coefficient of the servo valve is KqThe flow pressure coefficient of the servo valve is KcThe offset of the valve core is XνQ is the load flow, y (t) is the amount of movement of the piston with respect to time,
Figure BDA0002315867430000034
as to the speed of the movement of the piston,
Figure BDA0002315867430000035
the piston motion acceleration is adopted, and the volume elastic modulus of the hydraulic oil is Ec, q1For rodless chamber flow, A1Piston area, P, of rodless chamber1Hydraulic oil pressure, V, without rod chambers1Is the volume of the rodless cavity, A2Area of piston with rod chamber, P2Hydraulic oil pressure, V, with rod chamber2Volume of the rod cavity, q2For rod lumen flow f (t) as load resistance, CipThe coefficient of leakage in the piston of the hydraulic cylinder is; cIpIs the external leakage coefficient of the piston of the hydraulic cylinder, CtpIs the effective leakage coefficient C of the piston of the hydraulic cylindertp＝Cip+CIp/2，xpFor jitter amplitude, θ is the offset angle, ApIs the effective active area.
Preferably, the transfer function solved by the transfer function of the control system is: g(s) ═ 4tan (θ) (a)pS+(iV1S(2Ec(1+i2))-1+Kc)MS2(Ap)-1)-1
Wherein i is the area ratio of the rodless cavity to the rodless cavity, S is a variable related to frequency, M is the mass of the cantilever and the cantilever end load object to analyze the characteristics on the signal frequency spectrum, and the deviation e (t) u is in the pid intelligent control algorithmo(t)-ui(t) correction improves performance, and g(s) ═ L [ u [, ]o(t)]/L[ui(t)]，uo(t) is the output signal, ui(t) is an input signal, L]Solving transfer function Gs for Laplace transform]。
Preferably, step 5 is to solve the fuzzy pid genetic intelligent control algorithm parameter and step response curve comparison process:
based on the solved transfer function, when the overshoot of the improved intelligent control algorithm graph is smaller than that of the intelligent control algorithm graph before improvement, and the rate of the improved intelligent control algorithm graph tending to infinite stable amplitude is faster than that of the intelligent control algorithm graph before improvement, the fuzzy pid genetic intelligent control algorithm parameter is output.
The invention is characterized in that a functional relation is established, a transfer function is calculated, pid control is carried out on the transfer function, and a fuzzy pid genetic intelligent control algorithm is carried out.
The invention has the beneficial effects that: the mechanical arm and the intelligent control technology provided by the invention have the advantages that the structure is novel, the working principle is clear, the compensation function of the motion shake in the stretching process of the mechanical arm can be realized by utilizing the hydraulic control device, the combination mode of the intelligent control hydraulic device oil supply and the mechanical arm motion relation analysis is adopted, the fuzzy pid genetic algorithm is adopted in the motion model analysis to compensate the mechanical arm shake in the motion state, the unit step response curve is used for carrying out imaging analysis on the mechanical arm shake, and the improvement of the mechanical arm shake compensation is analyzed by comparing the pid algorithm. The time for the mechanical arm to reach a stable state in the motion process is greatly shortened.
Drawings
FIG. 1 is a schematic diagram of a boom extension and its motion relationships based on a robotic arm according to the present invention;
FIG. 2 is a diagram of the relationship of the hydraulic cylinder oil supply based on the relationship of flow movement of the present invention;
FIG. 3 shows K before modificationpTake 0.608, KiTaking 0.0441, KdTaking an MATLAB step response graph of a 0.0068 traditional PID;
FIG. 4 is the step response diagram of the improved fuzzy pid genetic intelligent control algorithm, the K calculated by the fuzzy pid genetic intelligent control algorithmpIs 19.6905, KiIs 0.0312, KdWas 0.0035.
Detailed Description
For the purpose of illustrating the technical solutions and technical objects of the present invention, the present invention will be further described with reference to the accompanying drawings and specific examples.
The invention relates to a mechanical arm and an intelligent control technology which are combined with a figure 2, wherein the intelligent control technology is a fuzzy pid genetic intelligent control algorithm based on mechanical arm motion jitter compensation, and comprises the following steps:
step 1, collecting the extension length, position information and load-carrying mass of a product
The hydraulic pump oil supply for the arm begins to stretch out, makes terminal displacement sensor receive motion information, and obtains the offset of angle through the spirit level, carries out record processing to data, gets suitable value, confirms product information.
Step 2, improving the PID intelligent control algorithm, and controlling the parameters by a PID method, wherein the controller output is
u(t)＝Kpe(t)+Ki∑e(t)+Kd[e(t)-e(t-1)]；
The improvement is a fuzzy pid genetic intelligent control algorithm:
encoding
Representing three parameters K of PID by binary code strings of length 10 respectivelyP，KI，KDThe value ranges of the three parameters are respectively [0,20 ]],[0,1][0,1]Each parameter has 2^10 discrete points, and in order to obtain optimal PID parameter adjustment, the chromosome code E ^ G ^ K is definedp Ki Kd]∈R3；
Initial population of life
Randomly generating 50 30-bit vector groups, wherein 50 vector groups form a set genetic intelligent control algorithm, and iteration is started by taking the 50 character strings as initial points;
calculating fitness
In the embodiment, the integral of the absolute value of the error to the time is selected and determined as the minimum unit, and meanwhile, the PID control is overshot.
F takes the form:
u(t)＝Kp+∫Kie(t)dt+Kdde(t)/dt
Figure BDA0002315867430000061
wherein ω is1＝0.999,ω2＝0.001,ω3＝2.0,ω4100, t is the rise time, e (t) is the system input-output deviation value, u (t) is the output;
selecting
And comparing the Fitness value of the best individual in the next generation population with the Fitness value of the best individual in the current generation, selecting the best Fitness value to copy to the next generation, and replacing the worst or randomly replacing a corresponding number of individuals in the next generation population, wherein the Fitness function Fitness is 1/F, and evaluating the potential optimality by using the Fitness.
Crossing
And for the selected individual, exchanging the corresponding genes of the two character strings according to a certain cross mode to generate a new individual, wherein the exchanged gene is the individual with higher fitness of the previous generation, calculating the fitness function of the new individual, comparing the fitness function with the original two character strings, if the fitness function is high, retaining the fitness function, otherwise, deleting the fitness function, and not participating in iteration.
Variation of
Firstly, randomly selecting an individual in a group, and randomly changing the value of a certain character in a character string for the selected individual with a certain probability.
Intelligent control algorithm verification, definition PmAnd PcIn which P ism＝0.005，PcAnd randomly selecting 50 individuals as the population 0.9, and obtaining the population by using binary through 150 iterations.
Step 3, establishing a mathematical model for solving the motion and jitter amplitude of the product
Step 3.1 of solving the relationship of motion between the cantilever arms
No. 1 stay cable: v is that the first extending arm pulls the second extending arm to extend0＝0；ν1＝νOil cylinder；ν2＝2ν1，
No. 2 inhaul cable: v is to pull the three arms out1＝νOil cylinderConsider an arm as stationary, v1’＝0，ν2’＝2ν1-ν1＝ν1；ν3’＝2ν2’＝2ν1；ν3＝ν3’+ν1＝2ν1+ν1＝3ν1，
No. 3 inhaul cable: the three extending arms pull the four extending arms to extend out, and the two extending arms are regarded as static v2’＝0,ν3’＝3ν1-2ν1＝ν1；ν4’＝2ν3’＝2ν1；ν4＝2ν4’+2ν1＝2ν1+2ν1＝4ν1
Arm extension speed summary v0＝0,ν1＝ν1,ν2＝2ν1,ν3＝3ν1,ν4＝4ν1；
Step 3.2, solving transfer functions of oil supply flow and jitter amplitude
Flow equation of the servo valve: q ═ KqXν-KcPl
The stress balance equation of the hydraulic cylinder is as follows:
Figure BDA0002315867430000071
the flow and the load flow of a rodless cavity and a rod cavity of the hydraulic cylinder are respectively
Figure BDA0002315867430000072
Figure BDA0002315867430000073
q＝(q1+q2)/2
The relation equation of the piston rod extension and the jitter amplitude is
xp＝tan(θ)y(t)
Where t is time, m is the sum of the masses of all the objects in the extension connected to the piston rod of the hydraulic cylinder, dpi/dt is the differential of pressure, y (t) is the amount of movement of the piston with respect to time,
Figure BDA0002315867430000081
as to the speed of the movement of the piston,
Figure BDA0002315867430000082
the piston differential pressure is P for the acceleration of the piston motionLThe flow gain coefficient of the servo valve is KqThe flow pressure coefficient of the servo valve is KcThe offset of the valve core is XνQ is the load flow and the bulk modulus of the hydraulic oil is Ec，q1For rodless chamber flow, A1Piston area, P, of rodless chamber1Hydraulic oil pressure, V, without rod chambers1Is the volume of the rodless cavity, A2Area of piston with rod chamber, P2Hydraulic oil pressure, V, with rod chamber2Volume of the rod cavity, q2For a rod cavity flow rate f (t) ofLoad resistance, CipThe coefficient of leakage in the piston of the hydraulic cylinder is; cIpIs the external leakage coefficient of the piston of the hydraulic cylinder, CtpIs effective leakage coefficient C of hydraulic cylinder pistontp＝Cip+CIp/2，xpFor jitter amplitude, θ is the offset angle, ApIs the effective active area.
The transfer function solved by the transfer function of the control system is as follows:
G(s)＝4tan(θ)(ApS+(iV1S(2Ec(1+i2))-1+Kc)MS2(Ap)-1)-1
wherein i is the area ratio of the rodless cavity to the rodless cavity, S is a variable related to frequency, and M is the mass of the boom and the load object at the boom end to analyze the characteristics on the signal spectrum.
The transfer function is analyzed and processed by using a fuzzy pid genetic intelligent control algorithm in MATLAB, an optimal parameter and an optimal fitness curve are obtained according to comparison of the optimal fitness function, compared with the previous step response curve, the overshoot of a new motion curve is smaller, the trend towards a stable value is faster, the jitter amount is smaller, the stretching-out to a steady-state speed is faster, and the mechanical arm jitter compensation intelligent control algorithm is effective.
The invention relates to mechanical arm motion compensation based on a fuzzy pid genetic intelligent control algorithm, which comprises a hydraulic pump oil supply and motion system, a fuzzy pid genetic intelligent control algorithm, a motion jitter relation and an MATLAB parameter analysis link.
The mechanical arm is used for moving the sensor to the receiving port of the controller, the level meter is used for recording and acquiring the offset angle of the mechanical arm in the motion stage, the recorded angle offset is drawn into a continuous curve, the continuous curve is used for operation and analysis processing of a transfer function, a continuous product transfer function is obtained, the transfer function which is most suitable for a product is obtained, the transfer function is transmitted to the angular motion amplitude processing system, and the angular motion amplitude processing system performs analysis by using a fuzzy pid genetic intelligent control algorithm.
The angular motion amplitude processing system comprises establishment of an angular motion amplitude transfer function and analysis and calculation of a given transfer function of a fuzzy pid genetic intelligent control algorithm by MATLAB.
The angular motion amplitude is used for establishing a transfer function for solving a product, and the oil supply flow and the jitter amplitude are directly related to obtain an oil supply jitter amplitude function relation type oil supply displacement transfer function: g(s) ═ 4tan (θ) (a)pS+(iV1S(2Ec(1+i2))-1+Kc)MS2(Ap)-1)-1
Where S is a frequency dependent variable to analyze characteristics across the signal spectrum. The motion state transfer functions at all the moments in the motion process conform to the relational expression.
The set-up and MATLAB are analytically calculated for a given transfer function of the fuzzy pid genetic intelligent control algorithm.
According to the transfer function G(s) obtained by calculation, a MATLAB program of the fuzzy pid genetic intelligent control algorithm is utilized, the minimum value of the objective function is required to be searched in the control system, however, the minimum value is searched in the maximum direction in the genetic intelligent control algorithm, because the designed fitness function F is 1/J.
The method for compensating the shaking of the mechanical arm based on the fuzzy pid genetic intelligent control algorithm and solving the pid parameters through the MATLAB program slows down the shaking of the mechanical arm in the motion process and greatly shortens the time of the mechanical arm reaching the steady state in the motion process.

Claims (1)

1. An intelligent control method for a mechanical arm is characterized in that the intelligent control method is a fuzzy pid genetic intelligent control algorithm based on mechanical arm motion jitter compensation, and comprises the following steps:
step 1, establishing a mechanical arm motion system model, comprising: the device comprises a hydraulic system, a carrying device and a mechanical arm; the mechanical arm consists of four extending arms, wherein each extending arm is combined into the mechanical arm in a nested manner through a pulley block and 5 pull cables, and a contact end moves in a sliding block guide manner; 1. no. 2 and No. 3 are extension inhaul cables, and No. 4 and No. 5 are retraction inhaul cables;
no. 1 stay cable: one extending arm pulls the two extending arms to extendWherein v is0=0，ν1=νOil cylinder，ν2=2ν1；
No. 2 inhaul cable: v is to pull the three arms out1=νOil cylinderConsider an arm as stationary, where v1’=0，ν2’=2ν1-ν1=ν1，ν3’=2ν2’=2ν1，ν3=ν3’+ν1=2ν1+ν1=3ν1；
No. 3 cable: the three-extending arm pulls the four-extending arm to extend out, and the two-extending arm is regarded as static, wherein v2’=0，ν3’=3ν1-2ν1=ν1，ν4’=2ν3’=2ν1，ν4=2ν4’+2ν1=2ν1+2ν1=4ν1Arm extension velocity summary v0=0，ν1=ν1，ν2=2ν1，ν3=3ν1，ν4=4ν1；
No. 4 inhaul cable: one extending arm pulls the two extending arms to retract, wherein v1=νOil cylinder，ν0=0，ν2=2ν1；
No. 5 inhaul cable: v is obtained when the two extending arms pull the four extending arms to retract and the two extending arms are regarded as static1’=-ν1，ν4’=2ν1，ν4=4ν1；
Arm retraction velocity v0=0，ν1=ν1，ν2=2ν1，ν3=3ν1，ν4=4ν1；
ν0Representing base arm velocity, vOil cylinderShows the moving speed v of the oil supply cylinder of the mechanical arm1Representing an arm extension speed, v2Indicating two-arm velocity, v3Denotes the three-arm velocity, v4Indicating four-arm velocity, v1' denotes a relative v of an extension arm0Speed, v2' denotes the relative v of two arms0Velocity, v3' means relative v of three arms0Speed, v4' means relative v of four extending arms0Speed;
step 2, acquiring parameter information of the mechanical arm to acquire the area A of a rod cavity of a piston of a hydraulic system of the mechanical arm2Area A of rodless piston cavity1Coefficient of leakage in the piston of the hydraulic cylinder Cip(ii) a External leakage coefficient C of hydraulic cylinder pistonIpEffective leakage coefficient C of hydraulic cylinder pistontpVolume V of rodless cavity1Volume V of cavity with rod2Hydraulic oil bulk modulus Ec;
step 3, solving the relation of the jitter amplitude functions of the extension part and the load part of the mechanical cantilever in the mechanical arm model system into
xp=tan(θ)y(t)
The flow of the rodless cavity and the flow of the rod cavity of the hydraulic cylinder are respectively as follows:
q1=A1ý+V1dp1/Ecdt+CipPL+CtpP1
q2=A2ý+V2dp2/Ecdt-CipPL+CtpP2
q=(q1+q2)/2
the flow equation of the servo valve is as follows:
q=KqXv-KcPl
the stress balance equation of the hydraulic cylinder is as follows:
ApPl=Mÿ(t)+f(t)
wherein the piston pressure difference is PLThe flow gain coefficient of the servo valve is KqThe flow pressure coefficient of the servo valve is KcThe offset of the valve core is XvQ is the load flow, y (t) is the amount of piston movement, and the bulk modulus of hydraulic oil is Ec, q1For rodless chamber flow, A1Is the area of the rodless cavity of the piston, P1Hydraulic oil pressure, V, without rod chambers1Is the volume of the rodless cavity, A2For piston having rod chamber area, P2Hydraulic oil pressure, V, with rod chamber2Volume of the rod cavity, q2For rod cavity flow, xpFor the dither amplitude, θ is the offset angle measured with a level meter, ApM is the sum of the mass of all objects of the extending part connected with the piston rod of the hydraulic cylinder, wherein the effective acting area is M;
step 4, preparing a mixture of G(s) = L [ u [ ]o(t)]/L[ui(t)]Establishing oil supply flow and jitter amplitude transfer function for solving product motion process
G(s)=4tan(θ)(ApS+(iV1S(2Ec(1+i2))-1+Kc)MS2(Ap)-1)-1；
Wherein i is the area ratio of the rodless cavity to the rod cavity, and S is a variable related to frequency to analyze the characteristics on the signal spectrum;
and 5, calculating parameters of the solved transfer function of the control system by using a fuzzy pid genetic intelligent control algorithm and obtaining a step response curve.
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