CN111037573A - Vibration suppression method for humanoid flexible joint arm - Google Patents
Vibration suppression method for humanoid flexible joint arm Download PDFInfo
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- CN111037573A CN111037573A CN202010019085.3A CN202010019085A CN111037573A CN 111037573 A CN111037573 A CN 111037573A CN 202010019085 A CN202010019085 A CN 202010019085A CN 111037573 A CN111037573 A CN 111037573A
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- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
Abstract
The invention provides a vibration suppression method for a humanoid flexible joint arm, which adopts a control method based on virtual damping and inertia parameters and relates to the field of humanoid flexible arm control. The method comprises the following steps: aiming at the problem that vibration time is prolonged in the joint motion process due to reduction of system damping caused by introduction of a flexible element in a flexible joint, a joint driving equation is equivalent to a general form of a driving motor motion equation, a control strategy for introducing virtual damping and inertia parameters is provided, a flexible joint control equation based on virtual damping and inertia is established, and the purpose of shortening the vibration time in the acceleration and deceleration processes of a flexible joint system is realized by correspondingly changing the sizes of virtual inertia and damping parameters. Compared with other vibration suppression methods, the method provided by the invention realizes the purpose of rapid attenuation of the vibration of the flexible arm on the premise of not increasing additional hardware structures and complex algorithms, plays a role in vibration suppression, and improves the adaptability and the practicability of the humanoid flexible arm.
Description
Technical Field
The invention relates to the field of control of humanoid flexible arms, and particularly provides a vibration suppression method for a humanoid flexible arm.
Background
With the increasing complexity of industrial sites, the continuous development of the aerospace field and the application of robots in the service industry, the work task of the mechanical arm is gradually changed from the original extensive operation task to a contact task without a preset environment. Compared with the traditional rigid mechanical arm, the human-simulated flexible arm has the capability of better simulating the flexibility of the human arm, and can better adapt to the complex operation environment; however, due to the inherent characteristic of low rigidity of the flexible element, the flexible arm generates structural vibration with a large amplitude for a long time in the motion process and is difficult to recover stably in a short time, and if the vibration is not controlled, the control precision, the operation efficiency and the service life of the flexible arm are obviously influenced. The traditional vibration suppression mode is divided into active control and passive control, most solutions deal with joint vibration by changing joint hardware structures or adopting a complex control algorithm, but the solutions have the problems of high hardware design requirements, complex structures and the like, the problems of difficult algorithm realization, complex operation process and the like, and the problem of human-simulated flexible arm vibration suppression is difficult to solve better.
Disclosure of Invention
The invention aims to provide a method for effectively inhibiting the vibration of a humanoid flexible arm, which mainly solves the vibration problem of the humanoid flexible arm containing a flexible element. According to the method for inhibiting the vibration of the humanoid flexible arm based on the virtual impedance, on the basis of not introducing an additional hardware structure, the damping ratio of a flexible joint system is effectively increased, and the attenuation time of the joint vibration process is shortened; and the value of the virtual impedance parameter is not limited by hardware, and is easy to adjust and realize. The technical content comprises the following contents:
a vibration suppression method of a humanoid flexible joint arm is characterized in that a method based on virtual impedance is adopted to suppress the vibration process of the humanoid flexible joint arm, and a control method introducing virtual inertia and damping parameters is designed to suppress the vibration of the flexible joint aiming at the problem that the vibration time of the joint is prolonged due to the fact that system damping is reduced due to introduction of a flexible element into the flexible joint. The method is characterized in that: the specific implementation comprises the following steps:
step one, establishing a general equation of the kinematics of the arm of the humanoid flexible joint to obtain the mathematical relationship of each parameter of the system causing the arm to vibrate, wherein the process is as follows:
the human-simulated flexible joint arm kinematic equation is as follows:
wherein, theta1、
Respectively outputting an angle, an angular velocity and an angular acceleration for the motor end; theta, theta,
The rotation angle, the angular velocity and the angular acceleration of the arm connecting rod are respectively; t iseOutputting electromagnetic torque for the motor; tau ismlLoading moment for the tail end of the arm; j. the design is a squaren、JrThe inertia of a rotor of the driving motor and the inertia of a flexible wheel of the harmonic reducer are respectively; rho and A, l are the density, sectional area and length of the arm connecting rod material respectively; k is the stiffness coefficient of the joint torsion spring; n is the reduction ratio of the harmonic reducer; b isvIs the drive motor viscosity coefficient; rfThe rotation friction coefficient of the fixed end of the arm connecting rod is;
step two, the joint driving equation established in the step one is equivalent to a general form of a joint driving motor motion equation so as to obtain a mathematical relation that the mechanical inertia parameter and the damping parameter influence the motion state of the system, and the mathematical relation is expressed as follows:
in the formula, TLThe torque is output by a motor and is equivalent to the elastic moment of a torsion spring in a flexible joint system; j is the total inertia of the rotor of the driving motor and the harmonic flexible wheel;
step three, according to the mathematical relation that the mechanical inertia parameters and the damping parameters influence the dynamic characteristics of the system in the step two, virtual damping and inertia parameters are introduced, moment balance equations at two sides of the torsion spring are constructed to be used as control equations, and the control equations are expressed as follows:
in the formula, J*、D*Respectively an introduced virtual inertia parameter and a virtual damping parameter; t isrefThe output torque reference value of the joint driving motor after speed reduction and the actual control are compared with the loadThe moments are equal; t iseFor driving instantaneous electromagnetic torque of the motor, nTeThe equivalent electromagnetic torque is output to the end of the torsion spring speed reducer after passing through the speed reducer;
the rotating speed of the connecting rod;
for reference speed of rotation of the drive motor output after passing through a speed reducer, i.e.
ω*Outputting a reference rotating speed for the motor end;
step four, according to the control equation established in the step three, the design of the controller introducing virtual damping and inertia parameters is completed, and the implementation process of the controller comprises the following steps:
step a, sampling three-phase input voltage and current of a driving motor in the current period to calculate electromagnetic torque of the driving motor, wherein the calculation process is as follows:
wherein P iseFor driving the electromagnetic power of the motor, the calculation equation is as follows:
Pe＝1.5(uαiα+uβiβ) (5)
wherein u isα、uβFor values of the three-phase input voltage of the drive motor at αβ coordinates iα、iβThe value of the three-phase input current of the driving motor under the αβ coordinate is shown;
step b, sampling and feeding back the current load moment at the tail end of the arm connecting rod to obtain the rated output torque of the driving motor, and taking the rated output torque as the rated torque value TrefInput to a controller;
c, sampling the output rotating speed of the driving motor in the current period after passing through the speed reducer and the rotating speed of the arm connecting rod, performing feedback control as the input quantity of the controller, and calculating the electromagnetic torque;
step D, introducing a virtual damping parameter D*And virtual inertia parameter J*Forming a control closed loop, performing virtual damping and inertia control on the rotational speed difference value, and outputting a reference value omega of the output rotational speed of the driving motor*；
E, according to the rotating speed reference value omega*Carrying out closed-loop control on the rotating speed of the driving motor, finally generating a modulation signal, and driving an inverter switching tube to achieve the purpose of changing the input quantity of the joint motor;
step five, adjusting the virtual damping parameter D according to the expected control target*And virtual inertia parameter J*To obtain the desired system dynamic response requirements; note that the virtual damping parameter and the virtual inertia parameter have full-range selectivity, and the value range of the virtual damping parameter and the virtual inertia parameter is determined according to the performance of the direct-current side energy supply element of the driving system;
and finishing control.
The method has the advantages that the control system has virtual damping and inertia characteristics by introducing the virtual inertia parameters and the virtual damping parameters. Virtual inertia parameter J*The introduction of the torsion spring reduces the change rate of the rotating speed output to the arm connecting rod when the system moves in an acceleration mode, prolongs the dynamic response time of the system, and weakens the influence of the elastic potential energy of the torsion spring on the stability of the system in the acceleration process; virtual damping parameter D*The introduction of the elastic potential energy-releasing device can accelerate the speed of the speed difference attenuation of the system in the process of speed reduction, thereby shortening the process of the spring releasing the elastic potential energy to balance the elastic moment, the driving moment and the load moment and effectively shortening the vibration time of the system.
The virtual damping parameters and the virtual inertia parameters have full-range selectivity, so that the method can actively adjust according to the dynamic response requirements of the system, and the driving motor can more flexibly control the motion state of the arm.
Drawings
FIG. 1 is a system block diagram of a method for suppressing vibration of a humanoid flexible arm based on virtual damping and inertia parameters;
FIG. 2 is a schematic view of a typical flexible joint structure;
FIG. 3 is a block diagram of an implementation of a control method based on virtual damping, inertia parameters;
FIG. 4 is a block diagram of a controller architecture based on virtual damping, inertia parameters;
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
a vibration suppression method of a humanoid flexible joint arm is used for suppressing the vibration process of the humanoid flexible joint arm by adopting a control method based on virtual impedance, and a system block diagram is shown in figure 1. And acquiring output signals of the driving motor as input signals of the controller, calculating detection signals by adopting a control method of introducing virtual impedance parameters, and inputting the signals into the driver as instruction values so as to correspondingly adjust the running state of the driving motor.
The specific implementation method comprises the following steps:
step one, establishing a general equation of the kinematics of the arm of the humanoid flexible joint to obtain the mathematical relationship of each parameter of the system causing the arm to vibrate, wherein the process is as follows:
fig. 2 is a schematic diagram of a physical structure of a typical flexible joint, a lagrangian kinetic equation method is used to establish a flexible joint model, and a kinetic equation of the system can be described as follows:
wherein, theta1、
Respectively outputting an angle, an angular velocity and an angular acceleration for the motor end; theta, theta,
The rotation angle, the angular velocity and the angular acceleration of the arm connecting rod are respectively; t iseOutputting electromagnetic torque for the motor; tau ismlLoading moment for the tail end of the arm; j. the design is a squaren、JrThe inertia of a rotor of the driving motor and the inertia of a flexible wheel of the harmonic reducer are respectively; rho and A, l are respectively arm connecting rod materialsDensity, cross-sectional area, length; k is the stiffness coefficient of the joint torsion spring; n is the reduction ratio of the harmonic reducer; b isvIs the drive motor viscosity coefficient; rfThe rotation friction coefficient of the fixed end of the arm connecting rod is;
the system kinematics model of equation (1) can be concluded:
(1) because the instantaneous speed of the connecting rod cannot change suddenly, when the joint motor moves in an accelerating mode, the output rotating speed of the motor after passing through the speed reducer is larger than the angular speed of the connecting rod, and the rotating speed difference is converted into a spring deformation and stored as spring elastic potential energy; the continuous acceleration movement is represented by the continuous increase of the deformation amount of the spring until the rotation speed difference is eliminated and the arm moves at a constant speed when the elastic torque balance motor drives the torque and the sum of the connecting rod acceleration torque and the load torque;
(2) when the motor starts to perform speed reduction movement, the instantaneous angular speed of the connecting rod cannot change suddenly under the influence of inertia, the output rotating speed of the motor is reduced after passing through the speed reducer, and the rotating speed difference between the motor and the connecting rod occurs again. The elastic potential energy stored in the acceleration process enables the elastic moment to be larger than the sum of the output moment of the motor and the load moment of the connecting rod, if external intervention is not applied, the spring reduces the elastic moment in a mode of releasing the elastic potential energy to achieve new balance, the elastic moment works the arm connecting rod in the process and presents a second-order oscillation state, and the connecting rod vibrates;
step two, the joint driving equation established in the step one is equivalent to a general form of a joint driving motor motion equation so as to obtain a mathematical relation that the mechanical inertia parameter and the damping parameter influence the motion state of the system, and the mathematical relation is expressed as follows:
the first equation in the formula (1) describes the relationship between the output torque of the joint driving motor and the elastic torque of the joint, and can be organized into a general form of the motion equation of the joint driving motor:
in the formula, TLThe torque is output by a motor and is equivalent to the elastic moment of a torsion spring in a flexible joint system; omega is the output angular speed of the motorIs shown as ω ═ n (d θ)1Dt); j is the total inertia of the drive motor rotor and the harmonic flexible wheel.
The equation of motion for the joint drive motor shown in equation (2) can be concluded:
(1) the driving motor has inertia of the output rotating speed of the motor due to the inherent mechanical rotational inertia of the rotor. When the motor outputs electromagnetic torque TeWhen the change is carried out, the influence of the output electromagnetic torque of the motor on the change rate d omega/dt of the output rotating speed is weakened due to the existence of the inertia J, and the output rotating speed of the motor is in a gently changed state, so that the influence of the change of the rotating speed of the motor on the elastic torque of the joint is reduced;
(2) the driving motor has the damping characteristic of the output rotating speed of the motor due to the inherent mechanical damping. When the motor is accelerated, the damping coefficient B is under the condition of the same change amount of the electromagnetic torque of the motorvThe larger the rotation speed is, the more the friction loss of the rotation speed is, the smaller the change rate of the rotation speed is reflected to, and the rotation speed is in a slowly increasing state; when the motor is decelerated, taking the deceleration of the motor to zero as an example, the larger the damping coefficient is, the larger B is because J is a fixed valuevThe greater the rate of change d ω/dt of the rotation speed, the greater the rotation speed will assume a rapidly decaying state;
step three, according to the mathematical relation that the mechanical inertia parameters and the damping parameters influence the dynamic characteristics of the system in the step two, virtual damping and inertia parameters are introduced, moment balance equations at two sides of the torsion spring are constructed to be used as control equations, and the control equations are expressed as follows:
in the formula, J*、D*Respectively an introduced virtual inertia parameter and a virtual damping parameter; t isrefThe reference value of the output torque of the joint driving motor after speed reduction is equal to the load moment in actual control; t iseFor driving instantaneous electromagnetic torque of the motor, nTeThe equivalent electromagnetic torque is output to the end of the torsion spring speed reducer after passing through the speed reducer;
the rotating speed of the connecting rod;
for reference speed of rotation of the drive motor output after passing through a speed reducer, i.e.
ω*Outputting a reference rotating speed for the motor end;
step four, according to the control equation established in the step three, the design of the controller introducing virtual damping and inertia parameters is completed, and the implementation process of the controller comprises the following steps:
step a, sampling three-phase input voltage and current of a driving motor in the current period to calculate electromagnetic torque of the driving motor, wherein the calculation process is as follows:
wherein P iseFor driving the electromagnetic power of the motor, the calculation equation is as follows:
Pe＝1.5(uαiα+uβiβ) (5)
wherein u isα、uβFor values of the three-phase input voltage of the drive motor at αβ coordinates iα、iβThe value of the three-phase input current of the driving motor under the αβ coordinate is shown;
step b, sampling and feeding back the current load moment at the tail end of the arm connecting rod to obtain the rated output torque of the driving motor, and taking the rated output torque as the rated torque value TrefInput to a controller;
c, sampling the output rotating speed of the driving motor in the current period after passing through the speed reducer and the rotating speed of the arm connecting rod, performing feedback control as the input quantity of the controller, and calculating the electromagnetic torque;
step D, introducing a virtual damping parameter D*And virtual inertia parameter J*Forming a control closed loop, performing virtual damping and inertia control on the rotational speed difference value, and outputting a reference value omega of the output rotational speed of the driving motor*；
E, according to the rotating speed reference value omega*Carrying out closed-loop control on the rotating speed of the driving motor, finally generating a modulation signal, and driving an inverter switching tube to achieve the purpose of changing the input quantity of the joint motor;
fig. 3 is a block diagram of an implementation of a control method for introducing virtual damping and inertia parameters, and fig. 4 is a block diagram of a structural design of a controller based on virtual damping and inertia parameters. The controller calculates the electromagnetic torque T of the driving motor by performing coordinate transformation on the sampling signals of the three-phase input voltage and currente(ii) a The rated output torque of the driving motor is obtained through sampling feedback of the current load torque at the tail end of the arm connecting rod and is used as a torque rated value TrefInput to a controller; sampling and feeding back the rotating speed of the connecting rod and the rotating speed output by the driving motor after passing through the speed reducer so as to calculate the rotating speed difference between the rotating speed of the motor and the rotating speed of the arm after being reduced in the current sampling period; by introducing virtual damping parameters D*And virtual inertia parameter J*And forming a control closed loop, and performing virtual damping and inertia control on the rotational speed difference value. The output quantity of the controller is a reference value omega of the output rotating speed of the driving motor under the control of virtual inertia and damping*。
Step five, adjusting the virtual damping parameter D according to the expected control target*And virtual inertia parameter J*To obtain the desired system dynamic response requirements; note that the virtual damping parameter and the virtual inertia parameter have full-range selectivity, and the value range of the virtual damping parameter and the virtual inertia parameter is determined according to the performance of the direct-current side energy supply element of the driving system;
and finishing control.
Therefore, the control system has the capability of simulating the mechanical characteristics of the joint driving motor and has the characteristics of damping and inertia by introducing the virtual inertia parameters and the virtual damping parameters. Virtual inertia parameter J*The introduction of the torsion spring reduces the change rate of the rotating speed output to the arm connecting rod when the system moves in an acceleration mode, prolongs the dynamic response time of the system, and weakens the influence of the elastic potential energy of the torsion spring on the stability of the system in the acceleration process; virtual damping parameter D*To attenuate the speed difference of the system during decelerationThe speed is accelerated, thereby shortening the process that the spring releases elastic potential energy to balance the elastic torque, the driving torque and the load torque, and effectively shortening the vibration time of the system.
The virtual damping parameters and the virtual inertia parameters have full-range selectivity, so that the method can actively adjust according to the dynamic response requirements of the system, and the driving motor can more flexibly control the motion state of the arm.
Claims (1)
1. A vibration suppression method of a humanoid flexible joint arm is used for suppressing the vibration process of the humanoid flexible joint arm by adopting a method based on virtual damping and inertia, and is characterized in that: the control method specifically comprises the following steps:
step one, establishing a general equation of the kinematics of the arm of the humanoid flexible joint to obtain the mathematical relationship of each parameter of the system causing the arm to vibrate, wherein the process is as follows:
the human-simulated flexible joint arm kinematic equation is as follows:
wherein, theta1、
Respectively outputting an angle, an angular velocity and an angular acceleration for the motor end; theta, theta,
The rotation angle, the angular velocity and the angular acceleration of the arm connecting rod are respectively; t iseOutputting electromagnetic torque for the motor;
loading moment for the tail end of the arm; j. the design is a squaren、JrThe inertia of a rotor of the driving motor and the inertia of a flexible wheel of the harmonic reducer are respectively; rho and A, l are the density, sectional area and length of the arm connecting rod material respectively; k is the stiffness coefficient of the joint torsion spring; n is the reduction ratio of harmonic reducer；BvIs the drive motor viscosity coefficient; rfThe rotation friction coefficient of the fixed end of the arm connecting rod is;
step two, the joint driving equation established in the step one is equivalent to a general form of a joint driving motor motion equation so as to obtain a mathematical relation that the mechanical inertia parameter and the damping parameter influence the motion state of the system, and the mathematical relation is expressed as follows:
in the formula, TLThe torque is output by a motor and is equivalent to the elastic moment of a torsion spring in a flexible joint system; j is the total inertia of the rotor of the driving motor and the harmonic flexible wheel;
step three, according to the mathematical relation that the mechanical inertia parameters and the damping parameters influence the dynamic characteristics of the system in the step two, virtual damping and inertia parameters are introduced, moment balance equations at two sides of the torsion spring are constructed to be used as control equations, and the control equations are expressed as follows:
in the formula, J*、D*Respectively an introduced virtual inertia parameter and a virtual damping parameter; t isrefThe reference value of the output torque of the joint driving motor after speed reduction is equal to the load moment in actual control; nTeThe equivalent electromagnetic torque is output to the end of the torsion spring speed reducer after passing through the speed reducer;
the rotating speed of the connecting rod;
for reference speed of rotation of the drive motor output after passing through a speed reducer, i.e.
ω*Outputting a reference rotating speed for the motor end;
step four, according to the control equation established in the step three, the design of the controller introducing virtual damping and inertia parameters is completed, and the implementation process of the controller comprises the following steps:
step a, sampling three-phase input voltage and current of a driving motor in the current period to calculate electromagnetic torque of the driving motor, wherein the calculation process is as follows:
wherein P iseFor driving the electromagnetic power of the motor, the calculation equation is as follows:
Pe＝1.5(uαiα+uβiβ) (5)
wherein u isα、uβFor values of the three-phase input voltage of the drive motor at αβ coordinates iα、iβThe value of the three-phase input current of the driving motor under the αβ coordinate is shown;
step b, sampling and feeding back the load moment at the tail end of the connecting rod of the current arm to be used as the rated value T of the output torque of the driving motorrefInput to a controller;
c, sampling and feeding back the output rotating speed of the driving motor in the current period after passing through the speed reducer and the rotating speed of the arm connecting rod, performing feedback control as the input quantity of the controller, and calculating the electromagnetic torque;
step D, introducing a virtual damping parameter D*And virtual inertia parameter J*Forming a control closed loop, performing virtual damping and inertia control on the rotational speed difference value, and outputting a reference value omega of the output rotational speed of the driving motor*；
E, according to the rotating speed reference value omega*Carrying out closed-loop control on the rotating speed of the driving motor, finally generating a modulation signal, and driving an inverter switching tube to achieve the purpose of changing the input quantity of the joint motor;
step five, adjusting the virtual damping parameter D according to the expected control target*And virtual inertia parameter J*The value range of the power supply element is determined according to the performance of the direct current side power supply element of the driving system,having a full range of selectability to achieve a desired system dynamic response requirement; and finishing control.
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| CN114421830B (en) * | 2022-03-29 | 2022-06-21 | 南京凌博电子科技有限公司 | Motor control method based on virtual damping winding for permanent magnet synchronous motor |
| WO2023213243A1 (en) * | 2022-12-06 | 2023-11-09 | 之江实验室 | Adaptive variable impedance electric driving system for robot, control method, and apparatus |
| CN116512245A (en) * | 2023-03-13 | 2023-08-01 | 之江实验室 | Track optimization method and device for inhibiting residual vibration of flexible joint mechanical arm |
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