CN111830992B - Force control method and device of wheeled robot and wheeled robot - Google Patents
Force control method and device of wheeled robot and wheeled robot Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
本发明涉及机器人技术领域，具体涉及一种轮式机器人的力控制方法、装置及轮式机器人。本发明所述轮式机器人的力控制装置，包括期望转速生成部，其用于根据车身的期望速度生成车轮的期望转速；期望牵引力生成部，其用于生成车轮的期望牵引力；期望车轮力矩生成部，其用于根据期望转速和期望牵引力生成车轮的期望力矩；转速误差生成部，其用于根据实时转速和期望转速生成转速误差；牵引力误差生成部，其用于根据实时牵引力和期望牵引力生成牵引力误差；控制律生成部，其用于根据牵引力误差、转速误差和期望力矩生成车轮力速混合控制律，车轮力速混合控制律用于车轮的力跟踪控制或者速度跟踪控制。
The invention relates to the field of robot technology, and in particular to a force control method and device for a wheeled robot and a wheeled robot. The force control device of a wheeled robot according to the present invention includes an expected rotational speed generating unit for generating an expected rotating speed of the wheel according to the expected speed of the vehicle body; an expected traction force generating unit for generating the expected traction force of the wheel; and an expected wheel torque generating unit. a rotational speed error generating section, which is used to generate a rotational speed error according to the real-time rotational speed and the expected traction force; a traction force error generation section, which is used to generate a rotational speed error according to the real-time traction force and the expected traction force. Traction error; a control law generation unit, which is used to generate a wheel force-speed hybrid control law based on the traction force error, rotational speed error and desired torque. The wheel force-speed hybrid control law is used for wheel force tracking control or speed tracking control.
Description
技术领域Technical Field
本发明涉及机器人技术领域，具体而言，涉及一种轮式机器人的力控制方法、装置及轮式机器人。The present invention relates to the technical field of robots, and in particular to a force control method and device for a wheeled robot and the wheeled robot.
背景技术Background Art
对于轮式机器人的运动的控制而言，通常以整机作为被控对象，但是对于多轮的轮式机器人，其在运动过程中，不同车轮的运动可能不同，不同的车轮之间的内力可能会相互干涉，对彼此的运动产生阻碍，导致轮式机器人的驱动效率降低。When it comes to controlling the movement of a wheeled robot, the entire machine is usually taken as the controlled object. However, for a multi-wheeled robot, the movements of different wheels may be different during movement. The internal forces between different wheels may interfere with each other, hindering each other's movement, resulting in reduced driving efficiency of the wheeled robot.
发明内容Summary of the invention
本发明解决的问题是针对轮式机器人的控制进行改进，使不同车轮之间的干涉减小，提高所述轮式机器人的驱动效率。The problem solved by the present invention is to improve the control of a wheeled robot so as to reduce the interference between different wheels and improve the driving efficiency of the wheeled robot.
为解决上述问题，本发明提供一种轮式机器人的力控制装置，包括转速采集部，其用于获取车轮的实时转速；力采集部，其用于获取所述车轮的实时牵引力；期望转速生成部，其用于根据车身的期望速度生成所述车轮的期望转速；期望牵引力生成部，其用于生成所述车轮的期望牵引力；期望车轮力矩生成部，其用于根据所述期望转速和所述期望牵引力生成所述车轮的期望力矩；转速误差生成部，其用于根据所述实时转速和所述期望转速生成转速误差；牵引力误差生成部，其用于根据所述实时牵引力和所述期望牵引力生成牵引力误差；控制律生成部，其用于根据所述牵引力误差、所述转速误差和所述期望力矩生成车轮力速混合控制律，所述车轮力速混合控制律用于所述车轮的力跟踪控制或者速度跟踪控制。To solve the above problems, the present invention provides a force control device for a wheeled robot, comprising a speed acquisition unit for acquiring a real-time speed of a wheel; a force acquisition unit for acquiring a real-time traction of the wheel; an expected speed generation unit for generating an expected speed of the wheel according to an expected speed of a vehicle body; an expected traction generation unit for generating an expected traction of the wheel; an expected wheel torque generation unit for generating an expected torque of the wheel according to the expected speed and the expected traction; a speed error generation unit for generating a speed error according to the real-time speed and the expected speed; a traction error generation unit for generating a traction error according to the real-time traction and the expected traction; and a control law generation unit for generating a wheel force-speed hybrid control law according to the traction error, the speed error and the expected torque, wherein the wheel force-speed hybrid control law is used for force tracking control or speed tracking control of the wheel.
可选地，所述实时转速和所述期望转速用于所述车轮转速的负反馈调节。Optionally, the real-time rotation speed and the expected rotation speed are used for negative feedback regulation of the wheel rotation speed.
可选地，所述实时牵引力和所述期望牵引力用于所述车轮期望牵引力的负反馈调节。Optionally, the real-time traction force and the expected traction force are used for negative feedback regulation of the expected traction force of the wheel.
可选地，所述车轮有多对，所述车轮力速混合控制律用于对其中一对所述车轮进行转速跟踪控制，并对其余所述车轮进行牵引力跟踪控制，以实现对所述车身的速度控制，使得不同所述车轮之间的相互阻碍作用力最小化。Optionally, there are multiple pairs of wheels, and the wheel force-speed hybrid control law is used to perform speed tracking control on one pair of the wheels, and perform traction tracking control on the remaining wheels, so as to achieve speed control of the vehicle body and minimize the mutual hindering force between different wheels.
可选地，还包括转速开关矩阵生成部，其用于生成转速误差结合矩阵，所述控制律生成部还根据所述转速误差结合矩阵判断是否对所述车轮进行转速跟踪控制；还包括力开关矩阵生成部，其用于生成牵引力误差结合矩阵，所述控制律生成部还根据所述牵引力误差结合矩阵判断是否对所述车轮进行牵引力跟踪控制。Optionally, it also includes a speed switch matrix generating unit, which is used to generate a speed error combination matrix, and the control law generating unit also determines whether to perform speed tracking control on the wheel based on the speed error combination matrix; it also includes a force switch matrix generating unit, which is used to generate a traction error combination matrix, and the control law generating unit also determines whether to perform traction tracking control on the wheel based on the traction error combination matrix.
可选地，还包括开关矩阵生成部，其用于生成误差结合矩阵，所述控制律生成部还根据所述误差结合矩阵对所述车轮进行转速跟踪控制或牵引力跟踪控制。Optionally, it further includes a switch matrix generating unit, which is used to generate an error combining matrix. The control law generating unit also performs speed tracking control or traction tracking control on the wheel according to the error combining matrix.
可选地，还包括速度采集部，其用于获取车身的实时速度；所述实时速度和所述期望速度用于对所述车身速度的负反馈调节。Optionally, a speed acquisition unit is further included, which is used to obtain the real-time speed of the vehicle body; the real-time speed and the expected speed are used for negative feedback regulation of the vehicle body speed.
可选地，所述力采集部还用于获取所述车轮的实时法向力，还包括力分配生成部，其用于根据所述实时牵引力和所述实时法向力生成力分配矩阵，所述期望牵引力生成部还用于根据所述力分配矩阵生成不同所述车轮的期望牵引力。Optionally, the force acquisition unit is also used to obtain the real-time normal force of the wheel, and also includes a force distribution generation unit, which is used to generate a force distribution matrix according to the real-time traction force and the real-time normal force, and the expected traction force generation unit is also used to generate the expected traction force of different wheels according to the force distribution matrix.
相比于现有技术，本发明所述的轮式机器人的力控制装置的有益效果是：Compared with the prior art, the force control device of the wheeled robot of the present invention has the following beneficial effects:
通过对所述车轮的实时转速和实时牵引力的获取，并根据期望转速、期望牵引力生成所述车轮的期望力矩，通过转速误差、牵引力误差和期望力矩生成车轮的力速混合控制律，通过所述力速混合控制律对车轮的力或者速度进行跟踪控制，实现了对轮式机器人的车轮的力速混合控制，便于对轮式机器人的控制方式进行力控制或者速度控制的切换，提高车轮的驱动效率。By acquiring the real-time rotational speed and real-time traction of the wheel, and generating the desired torque of the wheel according to the desired rotational speed and the desired traction, a force-speed hybrid control law of the wheel is generated by the rotational speed error, the traction error and the desired torque, and the force or speed of the wheel is tracked and controlled by the force-speed hybrid control law, force-speed hybrid control of the wheel of the wheeled robot is realized, which facilitates the switching of the control mode of the wheeled robot between force control and speed control, and improves the driving efficiency of the wheel.
本发明基于单个车轮，分别确定单个车轮的力控制律或速度控制律，并对轮式机器人的其中一对轮进行力控制，对其他的车轮进行速度控制，避免同时对所述轮式机器人的所有车轮进行力控制或速度控制，从而减小了不同车轮之间的相互阻碍。尤其是在松软地面，车轮的受力情况发生变化，实时对车轮的力进行跟踪，避免单纯速度跟踪导致的跟踪误差越来越大，通过对其他车轮的速度进行跟踪，对轨迹进行修正，可以使力跟踪误差收敛到零。The present invention is based on a single wheel, determines the force control law or speed control law of a single wheel respectively, and performs force control on one pair of wheels of the wheeled robot and speed control on the other wheels, avoiding simultaneous force control or speed control on all wheels of the wheeled robot, thereby reducing mutual obstruction between different wheels. Especially on soft ground, the force of the wheel changes, and the force of the wheel is tracked in real time to avoid the increasing tracking error caused by simple speed tracking. By tracking the speed of other wheels and correcting the trajectory, the force tracking error can be converged to zero.
本发明还提供一种轮式机器人的力控制方法，包括：The present invention also provides a force control method for a wheeled robot, comprising:
获取车轮的实时转速和实时牵引力；根据车身的期望速度生成所述车轮的期望转速；获取所述车轮的期望牵引力；Acquire the real-time rotation speed and real-time traction of the wheel; generate the expected rotation speed of the wheel according to the expected speed of the vehicle body; acquire the expected traction of the wheel;
根据所述期望转速和所述期望牵引力生成所述车轮的期望力矩；generating a desired torque of the wheel according to the desired rotation speed and the desired traction force;
根据所述实时转速和所述期望转速生成转速误差；根据所述实时牵引力和所述期望牵引力生成牵引力误差；generating a speed error according to the real-time speed and the expected speed; generating a traction force error according to the real-time traction force and the expected traction force;
根据所述牵引力误差、所述转速误差和所述期望力矩生成车轮力速混合控制律，所述车轮力速混合控制律用于所述车轮的力速混合控制。A wheel force-speed hybrid control law is generated according to the traction force error, the rotational speed error and the desired torque, and the wheel force-speed hybrid control law is used for force-speed hybrid control of the wheel.
可选地，所述车轮有多对，还包括根据所述车轮力速混合控制律对其中一对所述车轮进行转速跟踪控制，并对其余所述车轮进行牵引力跟踪控制，以实现对所述车身的速度控制，使得不同所述车轮之间的相互阻碍作用力最小化。Optionally, there are multiple pairs of wheels, and the method further includes performing speed tracking control on one pair of the wheels according to the wheel force-speed hybrid control law, and performing traction tracking control on the remaining wheels, so as to achieve speed control of the vehicle body and minimize the mutual hindering force between different wheels.
可选地，还包括确定转速误差结合矩阵，根据所述转速误差结合矩阵判断是否对所述车轮进行转速跟踪控制；确定牵引力误差结合矩阵，根据所述牵引力误差结合矩阵判断是否对所述车轮进行牵引力跟踪控制。Optionally, the method further includes determining a speed error combination matrix, and judging whether to perform speed tracking control on the wheel according to the speed error combination matrix; and determining a traction error combination matrix, and judging whether to perform traction tracking control on the wheel according to the traction error combination matrix.
可选地，还包括确定误差结合矩阵，根据所述误差结合矩阵对所述车轮进行转速跟踪控制或牵引力跟踪控制。Optionally, the method further includes determining an error combination matrix, and performing speed tracking control or traction tracking control on the wheel according to the error combination matrix.
可选地，还包括获取所述车轮的实时法向力，根据所述实时牵引力和所述实时法向力生成力分配矩阵，根据所述力分配矩阵生成不同所述车轮的期望牵引力。Optionally, the method further includes acquiring the real-time normal force of the wheel, generating a force distribution matrix according to the real-time traction force and the real-time normal force, and generating expected traction forces of different wheels according to the force distribution matrix.
本发明所述轮式机器人的力控制方法与所述轮式机器人的力控制装置的有益效果相同，在此不再赘述。The force control method of the wheeled robot of the present invention has the same beneficial effects as the force control device of the wheeled robot, which will not be described in detail here.
本发明还提供一种轮式机器人，包括上述任一所述的轮式机器人的力控制装置。The present invention also provides a wheeled robot, comprising any one of the above-mentioned force control devices for the wheeled robot.
本发明还提供一种轮式机器人，包括上述所述的轮式机器人的力控制装置。The present invention also provides a wheeled robot, comprising the force control device for the wheeled robot described above.
本发明所述轮式机器人所具有的有益效果与所述轮式机器人的力控制方法的有益效果相同，在此不再赘述。The beneficial effects of the wheeled robot of the present invention are the same as the beneficial effects of the force control method of the wheeled robot, which will not be described in detail here.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明的实施例的轮式机器人的力控制方法的流程图；FIG1 is a flow chart of a force control method for a wheeled robot according to an embodiment of the present invention;
图2为本发明的实施例的轮式机器人的单个车轮受力情况俯视图；FIG2 is a top view of the force applied to a single wheel of the wheeled robot according to an embodiment of the present invention;
图3为本发明的实施例的轮式机器人的受力情况示意图；FIG3 is a schematic diagram of the force applied to the wheeled robot according to an embodiment of the present invention;
图4为本发明的实施例的轮式机器人的阻抗控制框图；FIG4 is a block diagram of impedance control of a wheeled robot according to an embodiment of the present invention;
图5为本发明的实施例的轮式机器人的力控制框图；FIG5 is a force control block diagram of a wheeled robot according to an embodiment of the present invention;
图6为本发明的实施例的轮式机器人的速度控制框图；6 is a speed control block diagram of a wheeled robot according to an embodiment of the present invention;
图7为本发明的实施例的轮式机器人的力速混合控制框图；7 is a block diagram of the force-speed hybrid control of the wheeled robot according to an embodiment of the present invention;
图8为本发明的实施例的所有车轮的力控制与运动学模型结合后的控制框图；FIG8 is a control block diagram of the force control of all wheels combined with the kinematic model according to an embodiment of the present invention;
图9为本发明的实施例的轮式机器人的力控制装置的系统框图；9 is a system block diagram of a force control device for a wheeled robot according to an embodiment of the present invention;
图10为本发明的另一实施例的轮式机器人的力控制装置的系统框图。FIG. 10 is a system block diagram of a force control device for a wheeled robot according to another embodiment of the present invention.
附图标记说明：Description of reference numerals:
1-车轮；2-车身；12-期望车轮力矩生成部，101-转速采集部，102-期望转速生成部，103-转速误差生成部，104-转速开关矩阵生成部，123-控制律生成部，201-速度采集部，202-力分配生成部，203-期望牵引力生成部，301-力采集部，302-牵引力误差生成部，303-力开关矩阵生成部。1-wheel; 2-body; 12-expected wheel torque generating unit, 101-speed acquisition unit, 102-expected speed generating unit, 103-speed error generating unit, 104-speed switch matrix generating unit, 123-control law generating unit, 201-speed acquisition unit, 202-force distribution generating unit, 203-expected traction generating unit, 301-force acquisition unit, 302-traction error generating unit, 303-force switch matrix generating unit.
具体实施方式DETAILED DESCRIPTION
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图对本发明的具体实施例做详细的说明。In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.
在本说明书的描述中，参考术语“实施例”、“一个实施例”和“一个实施方式”等的描述意指结合该实施例或实施方式描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示实施方式中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实施方式。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或实施方式以合适的方式结合。In the description of this specification, the description with reference to the terms "embodiment", "one embodiment" and "one implementation" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or implementation are included in at least one embodiment or implementation of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or implementation. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or implementations in a suitable manner.
本发明的实施例提供一种轮式机器人的力控制装置，如图9和图10所示，包括转速采集部101，其用于获取车轮1的实时转速力采集部301，其用于获取所述车轮1的实时牵引力期望转速生成部3，其用于根据车身2 的期望速度vd生成所述车轮1的期望转速期望牵引力生成部203，其用于生成所述车轮1的期望牵引力期望车轮力矩生成部12，其用于根据所述期望转速和所述期望牵引力生成所述车轮1的期望力矩Td；转速误差生成部103，其用于根据所述实时转速和所述期望转速生成转速误差Tv；牵引力误差生成部302，其用于根据所述实时牵引力和所述期望牵引力生成牵引力误差Tf；控制律生成部123，其用于根据所述牵引力误差Tf、所述转速误差Tv和所述期望力矩Td生成车轮力速混合控制律T，所述车轮力速混合控制律用于所述车轮1的力跟踪控制或者速度跟踪控制。The embodiment of the present invention provides a force control device for a wheeled robot, as shown in FIG9 and FIG10, comprising a speed acquisition unit 101 for acquiring the real-time speed of the wheel 1. The force acquisition unit 301 is used to obtain the real-time traction force of the wheel 1. The desired rotation speed generating unit 3 is used to generate the desired rotation speed of the wheel 1 according to the desired speed vd of the vehicle body 2. The desired traction force generating unit 203 is used to generate the desired traction force of the wheel 1. The desired wheel torque generating unit 12 is used to generate the desired wheel torque according to the desired rotation speed. and the expected traction Generate the desired torque T d of the wheel 1; a speed error generating unit 103, which is used to generate the desired torque T d of the wheel 1 according to the real-time speed and the desired speed The traction force error generating unit 302 is used to generate a rotation speed error T v according to the real-time traction force and the expected traction Generate a traction error T f ; a control law generating unit 123 , which is used to generate a wheel force-speed hybrid control law T according to the traction error T f , the speed error T v and the desired torque T d , wherein the wheel force-speed hybrid control law is used for force tracking control or speed tracking control of the wheel 1 .
如图9所示，所述实时转速采用转速传感器进行实时采集，所述实时牵引力采用力传感器进行采集后处理获得，这里，基于轮式移动机器人的运动学模型，所述期望转速为：As shown in FIG9 , the real-time speed The speed sensor is used for real-time acquisition, and the real-time traction The force sensor is used for post-processing. Here, based on the kinematic model of the wheeled mobile robot, the expected speed is for:
其中，结合滑转率公式，Among them, combined with the slip rate formula,
其中S为滑转率，xe＝[xe ze]T是末端执行器位置，xr＝[xr zr]T是静止状态下的位置，为所述轮式机器人的质心到第i轮中心的矢量；Where S is the slip rate, x e = [x e z e ] T is the end effector position, x r = [x r z r ] T is the position at rest, is the vector from the center of mass of the wheeled robot to the center of the i-th wheel;
其中，所述实时转速和所述期望转速用于所述车轮1转速的负反馈调节。也就是说，控制装置以所述实时转速作为反馈信息，不断修正所述实时转速和所述期望转速之间的偏差 Among them, the real-time speed and the desired speed It is used for negative feedback regulation of the rotation speed of the wheel 1. That is, the control device uses the real-time rotation speed As feedback information, the real-time speed is continuously corrected The deviation between the expected speed and
转速误差为：The speed error is:
这里，转速误差生成部为转速跟踪PI控制器，其中KPv、Kpf分别为速度跟踪PI控制器的比例系数和积分系数。Here, the speed error generating unit is a speed tracking PI controller, wherein K Pv and K pf are respectively a proportional coefficient and an integral coefficient of the speed tracking PI controller.
其中，所述实时牵引力和所述期望牵引力用于所述车轮1期望牵引力的负反馈调节。也就是说，控制装置以所述实时牵引力作为反馈信息，不断修正所述实时牵引力和所述期望牵引力之间的偏差 Wherein, the real-time traction and the expected traction It is used for negative feedback regulation of the desired traction force of the wheel 1. That is, the control device uses the real-time traction force As feedback information, the real-time traction is continuously corrected and the expected traction The deviation between
所述牵引力误差为：The traction force error is:
这里，牵引力误差生成部为牵引力跟踪PI控制器，其中KPf、KIf分别为速度跟踪PI控制器的比例系数和积分系数。Here, the traction force error generating unit is a traction force tracking PI controller, wherein K Pf and K If are respectively a proportional coefficient and an integral coefficient of the speed tracking PI controller.
基于接触模型和轮地力学模型，得到一种非线性的转矩前馈，Based on the contact model and wheel-ground mechanics model, a nonlinear torque feedforward is obtained.
其中，和是关于所述车轮的接触模型的对角线系数矩阵，FDPd和FNd是实时牵引力FDP和实时法向力FN的期望值。是所有驱动轮的轮刺引起的截距和波动项的组合，是车轮转动惯量矩阵。in, and is the diagonal coefficient matrix of the contact model for the wheel, F DPd and F Nd are the expected values of the real-time traction force F DP and the real-time normal force F N. is the combination of the intercept and fluctuation terms caused by the spurs of all driving wheels, is the wheel moment of inertia matrix.
由此，通过对所述车轮1的实时转速和实时牵引力的获取，并根据期望转速、期望牵引力生成所述车轮的期望力矩，通过转速误差、牵引力误差和期望力矩生成车轮的力速混合控制律，通过所述力速混合控制律对车轮的力或者速度进行跟踪控制，实现了对轮式机器人的车轮的力速混合控制，便于对轮式机器人的控制方式进行力控制或者速度控制的切换。Therefore, by acquiring the real-time rotational speed and real-time traction of the wheel 1, and generating the desired torque of the wheel according to the desired rotational speed and desired traction, a force-speed hybrid control law of the wheel is generated by the rotational speed error, traction error and desired torque, and the force or speed of the wheel is tracked and controlled by the force-speed hybrid control law, thereby realizing force-speed hybrid control of the wheel of the wheeled robot, and facilitating the switching of the control mode of the wheeled robot between force control and speed control.
在本发明的实施例中，所述车轮1有多对，所述车轮力速混合控制律用于对其中一对所述车轮1进行转速跟踪控制，并对其余所述车轮1进行牵引力跟踪控制，以实现对所述车身2的速度控制，使得不同所述车轮1之间的相互阻碍作用力最小化。In an embodiment of the present invention, there are multiple pairs of wheels 1, and the wheel force-speed hybrid control law is used to perform speed tracking control on one pair of the wheels 1, and perform traction tracking control on the remaining wheels 1, so as to achieve speed control of the vehicle body 2, thereby minimizing the mutual hindering force between different wheels 1.
本发明基于单个车轮，分别确定单个车轮的力控制律或速度控制律，并对轮式机器人的其中一对轮进行力控制，对其他的车轮进行速度控制，避免同时对所述轮式机器人的所有车轮进行力控制或速度控制，从而减小了不同车轮之间的相互阻碍。尤其是在松软地面，车轮的受力情况发生变化，实时对车轮的力进行跟踪，避免单纯速度跟踪导致的跟踪误差越来越大，通过对其他车轮的速度进行跟踪，对轨迹进行修正，可以使力跟踪误差收敛到零。The present invention is based on a single wheel, determines the force control law or speed control law of a single wheel respectively, and performs force control on one pair of wheels of the wheeled robot and speed control on the other wheels, avoiding simultaneous force control or speed control on all wheels of the wheeled robot, thereby reducing mutual obstruction between different wheels. Especially on soft ground, the force of the wheel changes, and the force of the wheel is tracked in real time to avoid the increasing tracking error caused by simple speed tracking. By tracking the speed of other wheels and correcting the trajectory, the force tracking error can be converged to zero.
在本发明的实施例中，轮式机器人的力控制装置还包括转速开关矩阵生成部104，其用于生成转速误差结合矩阵I-SD，所述控制律生成部123 还根据所述转速误差结合矩阵判断是否对所述车轮1进行转速跟踪控制；还包括力开关矩阵生成部303，其用于生成牵引力误差结合矩阵SD，所述控制律生成部123还根据所述牵引力误差结合矩阵判断是否对所述车轮1进行牵引力跟踪控制。In an embodiment of the present invention, the force control device of the wheeled robot further includes a speed switch matrix generating unit 104, which is used to generate a speed error combination matrix IS D , and the control law generating unit 123 further determines whether to perform speed tracking control on the wheel 1 according to the speed error combination matrix; and further includes a force switch matrix generating unit 303, which is used to generate a traction error combination matrix SD , and the control law generating unit 123 further determines whether to perform traction tracking control on the wheel 1 according to the traction error combination matrix.
例如，所述车轮1有多对，所选择的一对车轮是第i轮和第i+1轮，可以设计一个解耦的混合矩阵如下：For example, there are multiple pairs of wheels 1, and the selected pair of wheels is the i-th wheel and the i+1-th wheel. A decoupled mixing matrix can be designed as follows:
式中，In the formula,
然后，将车轮解耦力/速度混合控制的控制规律为：Then, the control law of the wheel decoupling force/speed hybrid control is:
T＝(I-SD)Tv+SDTf+Td T＝(IS D )T v + SD T f +T d
这样设置的好处在于，通过所述转速开关矩阵生成部和所述力开关矩阵生成部303的设置，分别生成用于车轮转速跟踪控制的转速误差结合矩阵和用于所述车轮力跟踪控制的牵引力误差结合矩阵，通过两个控制系统分别实现对所述车轮的转速跟踪控制和牵引力跟踪控制。The advantage of such a setting is that, through the setting of the speed switch matrix generating unit and the force switch matrix generating unit 303, a speed error combining matrix for wheel speed tracking control and a traction error combining matrix for wheel force tracking control are generated respectively, and the speed tracking control and traction tracking control of the wheel are realized respectively through two control systems.
在本发明的实施例中，力控制和车轮速度控制的也可以耦合。可选地，还包括开关矩阵生成部23，其用于生成误差结合矩阵，所述控制律生成部123 还根据所述误差结合矩阵对所述车轮1进行转速跟踪控制或牵引力跟踪控制。In an embodiment of the present invention, force control and wheel speed control may also be coupled. Optionally, a switch matrix generation unit 23 is further included, which is used to generate an error combination matrix, and the control law generation unit 123 also performs speed tracking control or traction tracking control on the wheel 1 according to the error combination matrix.
将耦合混合矩阵定义为：The coupling mixing matrix is defined as:
其中，SCi∈(0，1)(i＝1，2，...，nw)是第i轮的混合相对系数。Wherein, S Ci ∈(0, 1) (i=1, 2, ..., n w ) is the mixing relative coefficient of the i-th round.
通过将力控制和速度控制与SC结合，将车轮耦合力/速度混合控制的控制规律表述如下：By combining force control and speed control with S C , the control law of wheel coupled force/speed hybrid control is expressed as follows:
T＝(I-SC)Tv+SCTf+Td T＝(IS C )T v +S C T f +T d
这样设置的好处在于，通过所述误差结合矩阵的设置，生成同时用于车轮转速跟踪控制和用于所述车轮力跟踪控制的误差结合矩阵，同时实现对对所述车轮的转速跟踪控制或牵引力跟踪控制。The advantage of such a setting is that, through the setting of the error combining matrix, an error combining matrix for both wheel speed tracking control and wheel force tracking control is generated, thereby realizing speed tracking control or traction tracking control of the wheel at the same time.
在本发明的实施例中，所述力采集部301还用于获取所述车轮1的实时法向力，还包括力分配生成部202，其用于根据所述实时牵引力和所述实时法向力生成力分配矩阵，所述期望牵引力生成部203还用于根据所述力分配矩阵生成不同所述车轮1的期望牵引力。In an embodiment of the present invention, the force acquisition unit 301 is also used to obtain the real-time normal force of the wheel 1, and also includes a force distribution generation unit 202, which is used to generate a force distribution matrix according to the real-time traction force and the real-time normal force, and the expected traction force generation unit 203 is also used to generate the expected traction force of different wheels 1 according to the force distribution matrix.
这里，所述确定所述车轮的力分配条件A包括：Here, the determining of the force distribution condition A of the wheel includes:
获取所述车轮的法向力所述法向力采用力传感器获取；Get the normal force of the wheel The normal force is obtained by using a force sensor;
根据所述法向力确定所述车轮的力分配因子和 According to the normal force Determine the force distribution factor of the wheel and
根据所述力分配因子和所述法向力确定所述车轮的力分配条件Determine the force distribution condition of the wheel according to the force distribution factor and the normal force
其中，为第i个轮的法向力，为是与同方向的单位向量，为所述轮式机器人的质心到第i轮中心的矢量；in, is the normal force of the i-th wheel, For Unit vectors with the same direction, is the vector from the center of mass of the wheeled robot to the center of the i-th wheel;
由此，通过力分配条件A的设置，根据所述轮式机器人的期望相互作用力 Fd确定不同所述车轮与所述车身之间的相互作用力，使不同的车轮与车身之间的作用力趋于最佳，从而减小不同车轮之间的阻碍。Therefore, by setting the force distribution condition A, the interaction force between different wheels and the vehicle body is determined according to the expected interaction force Fd of the wheeled robot, so that the interaction force between different wheels and the vehicle body tends to be optimal, thereby reducing the obstruction between different wheels.
其中，轮式机器人的力控制装置还包括速度采集部201，其用于获取车身 2的实时速度；所述实时速度v和所述期望速度vd用于对所述车身2速度的负反馈调节。也就是说，控制装置以所述实时速度v作为反馈信息，不断修正所述实时速度v和所述期望速度vd之间的偏差vd-v。The force control device of the wheeled robot further includes a speed acquisition unit 201, which is used to obtain the real-time speed of the vehicle body 2; the real-time speed v and the expected speed v d are used for negative feedback regulation of the speed of the vehicle body 2. That is, the control device uses the real-time speed v as feedback information to continuously correct the deviation v d -v between the real-time speed v and the expected speed v d .
本发明还提供一种轮式机器人的力控制方法，如图1所示，包括：The present invention also provides a force control method for a wheeled robot, as shown in FIG1 , comprising:
步骤S1：获取车轮1的实时转速和实时牵引力；根据车身2的期望速度生成所述车轮1的期望转速；获取所述车轮1的期望牵引力；Step S1: obtaining the real-time rotation speed and real-time traction of the wheel 1; generating the expected rotation speed of the wheel 1 according to the expected speed of the vehicle body 2; obtaining the expected traction of the wheel 1;
步骤S2：根据所述期望转速和所述期望牵引力生成所述车轮1的期望力矩；Step S2: generating a desired torque of the wheel 1 according to the desired rotation speed and the desired traction force;
步骤S3：根据所述实时转速和所述期望转速生成转速误差；根据所述实时牵引力和所述期望牵引力生成牵引力误差；Step S3: generating a speed error according to the real-time speed and the expected speed; generating a traction force error according to the real-time traction force and the expected traction force;
步骤S4：根据所述牵引力误差、所述转速误差和所述期望力矩生成车轮力速混合控制律，所述车轮力速混合控制律用于所述车轮1的力速混合控制。Step S4: generating a wheel force-speed hybrid control law according to the traction force error, the rotational speed error and the desired torque, wherein the wheel force-speed hybrid control law is used for the force-speed hybrid control of the wheel 1 .
在本发明的实施例中，还包括获取所述车轮1的实时法向力，根据所述实时牵引力和所述实时法向力生成力分配矩阵，根据所述力分配矩阵生成不同所述车轮1的期望牵引力。In an embodiment of the present invention, the method further includes acquiring the real-time normal force of the wheel 1, generating a force distribution matrix according to the real-time traction force and the real-time normal force, and generating expected traction forces of different wheels 1 according to the force distribution matrix.
在本发明的实施例中，所述车轮1有多对，还包括根据所述车轮力速混合控制律对其中一对所述车轮1进行转速跟踪控制，并对其余所述车轮1进行牵引力跟踪控制，以实现对所述车身2的速度控制，使得不同所述车轮1 之间的相互阻碍作用力最小化。In an embodiment of the present invention, there are multiple pairs of wheels 1, and the speed tracking control is performed on one pair of the wheels 1 according to the wheel force-speed hybrid control law, and the traction tracking control is performed on the remaining wheels 1 to achieve speed control of the vehicle body 2, so as to minimize the mutual hindering force between different wheels 1.
在本发明的实施例中，还包括确定转速误差结合矩阵，根据所述转速误差结合矩阵判断是否对所述车轮1进行转速跟踪控制；确定牵引力误差结合矩阵，根据所述牵引力误差结合矩阵判断是否对所述车轮1进行牵引力跟踪控制。In an embodiment of the present invention, it also includes determining a speed error combination matrix, and judging whether to perform speed tracking control on the wheel 1 according to the speed error combination matrix; determining a traction error combination matrix, and judging whether to perform traction tracking control on the wheel 1 according to the traction error combination matrix.
在本发明的实施例中，如图7和图8所示，还包括确定误差结合矩阵，根据所述误差结合矩阵对所述车轮1进行转速跟踪控制或牵引力跟踪控制。In an embodiment of the present invention, as shown in FIG. 7 and FIG. 8 , it further includes determining an error combination matrix, and performing speed tracking control or traction tracking control on the wheel 1 according to the error combination matrix.
所述车轮与所述轮式机器人的期望相互作用力Fd，获取所述轮式机器人的当前速度v和期望速度vd，确定不同车轮的力分配条件A；根据所述当前速度v、所述期望速度vd和所述力分配条件A确定所述期望相互作用力Fd，The expected interaction force F d between the wheel and the wheeled robot, obtaining the current speed v and the expected speed v d of the wheeled robot, and determining the force distribution conditions A of different wheels; determining the expected interaction force F d according to the current speed v, the expected speed v d and the force distribution condition A,
其中，为加速度，所述加速度可以实时获取；M′d为期望的惯性，KP、 KI分别为PI控制器系数，A为所述车轮的力分配条件。in, is the acceleration, which can be obtained in real time; M′d is the desired inertia, KP and KI are PI controller coefficients respectively, and A is the force distribution condition of the wheel.
如图4所示，在阻抗控制方法中，轮式机器人的驱动力矩为：As shown in Figure 4, in the impedance control method, the driving torque of the wheeled robot is:
其中，G为重力，V为离心力，vd指轮式移动机器人期望的速度,指速度跟踪误差,M′d,Dd和Kd指期望C的惯性M，阻尼D及刚度 K，T为驱动力矩，Iw为转动惯量，为转动角度，Where G is gravity, V is centrifugal force, and vd refers to the desired speed of the wheeled mobile robot. refers to the speed tracking error, M′ d , D d and K d refer to the inertia M, damping D and stiffness K of the expected C, T is the driving torque, I w is the moment of inertia, is the rotation angle,
Rd指期望的外力， Rd is the desired external force,
转动惯量Iw＝diag{Iw1 Iw2 … Iwn}n×n；Moment of inertia I w = diag{I w1 I w2 … I wn } n×n ;
转动角度 Rotation Angle
结合图2和图3所示，图2是第i个轮与车体之间的力的俯视图。建立关于法向力和切向驱动力的接触模型：Combined with Figure 2 and Figure 3, Figure 2 is a top view of the force between the i-th wheel and the vehicle body. Establish a contact model for normal force and tangential driving force:
FN＝k(ze-zr)；F N = k( ze - zr );
FN为车轮法向力，k为刚度，μ为摩擦系数，FT为车轮切向驱动力，为机器人等效质量，xe＝[xe ze]T是末端执行器位置，xr＝[xr zr]T是静止状态下的位置。F N is the wheel normal force, k is the stiffness, μ is the friction coefficient, FT is the wheel tangential driving force, is the equivalent mass of the robot, x e = [x e z e ] T is the position of the end effector, and x r = [x r z r ] T is the position at rest.
结合图2和图3所示，建立关于法向力和切向驱动力的轮地力学模型：Combined with Figures 2 and 3, a wheel-ground mechanics model regarding normal force and tangential driving force is established:
FN＝k′(z′e-zr)；F N = k′(z′ e −z r );
其中， in,
由此，可以确定FN＝k′(z′e-zr)；Therefore, it can be determined that F N = k′(z′ e −z r );
其中，k为刚度，k′为等效刚度，r,b分别为车轮半径及宽度，θ1和θ2是进入角和离开角，θm是最大应力角，θ是θ1至θ2之间的任意角。kc和是地形特性参数，是土壤内摩擦角，N是土壤线性沉陷系数，是车轮等效沉陷量， z′e为等效法向位移系数，μ'为等效摩擦系数，K是土壤剪切变形模量。Where k is the stiffness, k′ is the equivalent stiffness, r and b are the wheel radius and width respectively, θ1 and θ2 are the approach angle and departure angle, θm is the maximum stress angle, and θ is any angle between θ1 and θ2 . is the terrain characteristic parameter, is the soil internal friction angle, N is the soil linear settlement coefficient, is the equivalent wheel settlement, z′e is the equivalent normal displacement coefficient, μ' is the equivalent friction coefficient, and K is the soil shear deformation modulus.
结合滑转率公式其中S为滑转率。Combined with the slip rate formula Where S is the slip rate.
可以确定 It can be determined
结合图3所示的内容，可以确定：Combined with the content shown in Figure 3, it can be determined that:
其中，是与同方向的单位向量，Ti,mwi,Iwi,vi,μ′i分别是指驱动力矩、质量、转动惯量、线速度和摩擦角，iFN,iFDP,iFT,分别为第i个轮的正应力，挂钩牵引力，牵引力和滑移力。in, is with The unit vectors in the same direction, Ti , mwi , Iwi , vi , μ′i , respectively refer to the driving torque, mass, moment of inertia, linear velocity and friction angle, i F N , i F DP , i F T , are the normal stress, hook traction, traction and slip force of the i-th wheel respectively.
由此，可以确定轮式机器人的运动学模型：From this, the kinematic model of the wheeled robot can be determined:
其中， in,
其中，分别为所述车轮的线速度和角速度； in, are the linear velocity and angular velocity of the wheel respectively;
进而可以确定 It can be determined
其中， in,
考虑到在松软地面中行驶，V→0；因此Considering driving on soft ground, V→0; therefore
其中，Fi＝iFDP-iFR为单个轮对车体质心的作用力；Among them, Fi = iFDP - iFR is the force acting on the center of mass of a single wheelset ;
FR＝A(V+G+R′)； FR = A(V+G+R′);
结合轮地力学模型，其中，RC为滚动阻力系数，为机器人等效质量，Iw为转动惯量。Combined with the wheel-ground mechanics model, Where RC is the rolling resistance coefficient, is the equivalent mass of the robot, and Iw is the moment of inertia.
对于单个车轮而言，For a single wheel,
基于所述轮式机器人的驱动力矩，单个所述车轮的阻抗控制律为Based on the driving torque of the wheeled robot, the impedance control law of a single wheel is:
其中，代表转动角度的误差值，Fi d是预期的Fi，分别代表期望的转动惯量、阻尼和刚度。in, represents the error value of the rotation angle, Fid is the expected Fi , represent the desired moment of inertia, damping and stiffness respectively.
在S1中，如图5所示，预先建立关于期望相互作用力控制模型：In S1, as shown in FIG5 , a control model for the desired interaction force is established in advance:
其中， in,
所述轮式机器人的当前速度可以实时获取，所述期望速度可以根据所述轮式机器人的可以实时修改，所述期望速度也可根据所述车轮的期望相互作用力来确定。The current speed of the wheeled robot can be acquired in real time, the expected speed can be modified in real time according to the current speed of the wheeled robot, and the expected speed can also be determined according to the expected interaction force of the wheels.
这里，所述确定所述车轮的力分配条件A包括：Here, the determining of the force distribution condition A of the wheel includes:
获取所述车轮的法向力所述法向力采用力传感器获取；Get the normal force of the wheel The normal force is obtained by using a force sensor;
根据所述法向力确定所述车轮的力分配因子和 According to the normal force Determine the force distribution factor of the wheel and
根据所述力分配因子和所述法向力确定所述车轮的力分配条件Determine the force distribution condition of the wheel according to the force distribution factor and the normal force
其中，为第i个轮的法向力，为是与同方向的单位向量，为所述轮式机器人的质心到第i轮中心的矢量；in, is the normal force of the i-th wheel, For Unit vectors with the same direction, is the vector from the center of mass of the wheeled robot to the center of the i-th wheel;
由此，通过力分配条件A的设置，根据所述轮式机器人的期望相互作用力Fd确定不同所述车轮与所述车身之间的相互作用力，使不同的车轮与车身之间的作用力趋于最佳，从而减小不同车轮之间的阻碍。Therefore, by setting the force distribution condition A, the interaction force between different wheels and the vehicle body is determined according to the expected interaction force Fd of the wheeled robot, so that the interaction force between different wheels and the vehicle body tends to be optimal, thereby reducing the obstruction between different wheels.
基于轮式移动机器人的运动学模型，可以得到Based on the kinematic model of the wheeled mobile robot, we can get
通过拉格朗日方程可以得到车轮的阻抗控制函数：The wheel impedance control function can be obtained through the Lagrange equation:
对于轮式机器人，所有车轮的力控制律和运动学模型可以结合在一起，如下所示，For a wheeled robot, the force control laws and kinematic models for all wheels can be combined together as follows,
其中， in,
其中，M′为所述轮式机器人的惯性，vd为期望速度，Iw d为期望的转动惯量，分别代表期望的转动惯量、阻尼和刚度，是与同方向的单位向量，为车轮的牵引力，为从轮式机器人的质心到第i轮中心的矢量。Wherein, M′ is the inertia of the wheeled robot, v d is the desired speed, I w d is the desired moment of inertia, represent the desired moment of inertia, damping and stiffness, respectively. is with Unit vectors with the same direction, is the traction of the wheel, is the vector from the center of mass of the wheeled robot to the center of the i-th wheel.
当v趋近于vd时，When v approaches vd ,
所有车轮的力控制律和运动学模型结合后的传递函数及其框图如图8所示；The transfer function and block diagram of the combined force control law and kinematic model of all wheels are shown in Figure 8;
在本发明的实施例中，如图5所示，所述轮式机器人的力控制律的确定包括：In an embodiment of the present invention, as shown in FIG5 , the determination of the force control law of the wheeled robot includes:
确定所述车轮的角加速度和滚动阻力iFR，确定所述车轮与所述车身的当前相互作用力Fi；确定所述车轮与所述车身的当前相互作用力Fi包括：Determine the angular acceleration of the wheel and rolling resistance i FR , determine the current interaction force Fi between the wheel and the vehicle body; determining the current interaction force Fi between the wheel and the vehicle body comprises:
获取所述车轮的牵引力FDP，确定所述车轮对所述车身的阻力iFR；Obtaining the traction force F DP of the wheel, and determining the resistance i FR of the wheel on the vehicle body;
根据所述车轮的牵引力FDP和所述车轮对所述车身的阻力iFR确定所述当前相互作用力Fi＝iFDP-iFR；Determine the current interaction force F i = i F DP - i F R according to the traction force F DP of the wheel and the resistance i FR of the wheel on the vehicle body ;
根据所述当前相互作用力Fi、所述法向力、所述角加速度和所述滚动阻力iFR确定所述车轮的当前转矩Ti；According to the current interaction force F i , the normal force, the angular acceleration and the rolling resistance i FR to determine the current torque Ti of the wheel;
其中， in,
基于PI控制器，根据所述当前转矩确定所述轮式机器人的力控制律Based on the PI controller, the force control law of the wheeled robot is determined according to the current torque
这里，如图6所示，所述车轮的期望轨迹qd的确定包括：获取所述车轮的当前牵引力FDP和所述车轮的参考轨迹qr；根据所述期望相互作用力、当前牵引力FDP和所述车轮的参考轨迹qr确定所述车轮的期望轨迹qd。Here, as shown in FIG6 , determining the desired trajectory q d of the wheel includes: acquiring the current traction force F DP of the wheel and the reference trajectory q r of the wheel; and determining the desired trajectory q d of the wheel according to the desired interaction force, the current traction force F DP and the reference trajectory q r of the wheel.
所述车轮期望的转动惯量为 The desired moment of inertia of the wheel is
所述车轮期望的阻尼为 The desired damping of the wheel is
所述车轮期望的刚度为 The desired stiffness of the wheel is
其中， in,
通过拉普拉斯变化，可以得到： Through Laplace transformation, we can get:
其中，J是当前滑转率s(t)的雅可比矩阵，xr(t) 为轮式机器人的参考轨迹。in, J is the Jacobian matrix of the current slip rate s(t), and x r (t) is the reference trajectory of the wheeled robot.
由于车轮之间的不协调导致车轮滑动的意外变化，导出的可能是不合理的，跟踪这种降低了轮式机器人轨迹跟踪的精度。但是，如果通过跟踪期望的力则可以消除不协调，理想状态下， Due to the unintended changes in wheel slip caused by the incoordination between the wheels, the derived It may be unreasonable to track this This reduces the accuracy of the wheeled robot's trajectory tracking. However, if the incoordination can be eliminated by tracking the expected force, ideally,
基于接触模型和轮地力学模型，得到一种非线性的转矩前馈，Based on the contact model and wheel-ground mechanics model, a nonlinear torque feedforward is obtained.
其中， in,
和是关于所述车轮的接触模型的对角线系数矩阵，FDPd和FNd是FDP和FN的期望值。是所有驱动轮的轮刺引起的截距和波动项的组合，是车轮转动惯量矩阵。and is the diagonal coefficient matrix of the contact model for the wheel, and F DPd and F Nd are the expected values of F DP and F N. is the combination of the intercept and fluctuation terms caused by the spurs of all driving wheels, is the wheel moment of inertia matrix.
所述车轮的参考轨迹qr可以通过编码器实时获取，通过PI控制器对所述车轮的期望转速进行跟踪。The reference trajectory q r of the wheel can be obtained in real time through an encoder, and the expected rotation speed of the wheel can be tracked through a PI controller.
本发明还提供一种轮式机器人，包括上述任一所述的轮式机器人的力控制装置。本发明所述轮式机器人所具有的有益效果与所述轮式机器人的力控制方法的有益效果相同，在此不再赘述。The present invention further provides a wheeled robot, comprising any of the above-mentioned wheeled robot force control devices. The beneficial effects of the wheeled robot of the present invention are the same as those of the wheeled robot force control method, which will not be described in detail here.
虽然本公开披露如上，但本公开的保护范围并非仅限于此。本领域技术人员在不脱离本公开的精神和范围的前提下，可进行各种变更与修改，这些变更与修改均将落入本发明的保护范围。Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.
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