CN111949036B - Trajectory tracking control method and system and two-wheeled differential mobile robot - Google Patents
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Abstract
The invention discloses a track tracking control method, a track tracking control system and a two-wheeled differential mobile robot, wherein the tracking method comprises the following steps: rewriting a motion model of the differential mobile robot according to a differential flat theory to obtain a kinematics model based on the differential flat theory; designing a reduced-order generalized proportional-integral observer based on a kinematics model of a differential flat theory to obtain time-varying disturbance and speed estimation; and according to the estimation of the speed and the time-varying disturbance, combining the measurement position of the differential mobile robot and a given reference track to obtain the output control quantity of the track tracking controller, and converting the output control quantity to act on the kinematic model of the differential mobile robot. The system is based on a track tracking control method, and the system is integrated in the two-wheeled differential mobile robot. The invention can lead the differential mobile robot to stably track the given reference track and realize higher tracking precision.
Description
Technical Field
The invention relates to the field of track tracking control methods of two-wheeled differential mobile robot systems, in particular to a track tracking control method and system and a two-wheeled differential mobile robot.
Background
More and more mobile robots are applied to industrial fields, such as food and beverage services, storage, logistics and the like. The two-wheeled differential mobile robot has the advantages of simple structure, low cost, convenient control and the like, and is widely adopted in the fields. In practical applications, two-wheeled differential mobile robots typically perform trajectory tracking tasks.
In order to make a two-Wheeled Differential Mobile robot run along a predetermined trajectory, many control algorithms are proposed, and general PDs (c.p.tang, p.t.miller, v.n.krovi, j.ryutand s.k.agrawal, "Differential-flexible-Based Planning and control of wheel Mobile Manipulator-Theory and Experiment," in IEEE/ASME Transactions on mechanics, vol.16, No.4, pp.768-773, aug.2011, doi:10.1109/tmech.2010.2066282.) are favored by many engineers because of their simple control structure. However, in an actual control system, various time-varying disturbances, such as parameter variations, wheel slip, and road surface irregularities, exist, and when the time-varying disturbances are encountered, the tracking performance of a general PD control algorithm is degraded. In order to inhibit interference, the tracking precision of the two-wheeled differential mobile robot in a track tracking task is improved.
Disclosure of Invention
In view of the above, the present invention provides a trajectory tracking control method, which enables a two-wheeled differential mobile robot to stably track a given reference trajectory and achieve a higher tracking accuracy; the other purpose is to provide a track tracking control system based on the method; the three-wheel differential mobile robot internally integrated with the track tracking control system is provided.
The purpose of the invention is realized by the following technical scheme:
a method for controlling the tracking of a track,
rewriting a motion model of the differential mobile robot according to a differential flat theory to obtain a kinematics model based on the differential flat theory;
designing a reduced-order generalized proportional-integral observer based on a kinematics model of a differential flat theory to obtain time-varying disturbance and speed estimation;
and according to the estimation of the speed and the time-varying disturbance, combining the measured positions of the two-wheeled differential mobile robot and a given reference track to obtain the output control quantity of the track tracking controller, and applying the output control quantity to the kinematic model of the differential mobile robot.
Further, the motion model of the differential mobile robot is as follows:
wherein: x represents the position in the X-axis direction of the inertial reference frame, Y represents the position in the Y-axis direction of the inertial reference frame, [ phi ] represents the direction angle of the body coordinate system of the differential mobile robot relative to the inertial reference frame, [ v ] represents the linear velocity of the differential mobile robot, [ omega ] represents the angular velocity of the differential mobile robot, [ v ] represents the angular velocity of the differential mobile robot s 、v t 、ω s Respectively representing the longitudinal sliding speed, the transverse sliding speed and the sliding angular speed of the differential mobile robot.
Further, the kinematic model based on the differential flat theory is as follows:
wherein
Define the flat output variable as:
wherein, a 1 、a 2 Is the centralized disturbance received by the system;
u 1 、u 2 is the middle term.
Further, the design method of the reduced-order generalized proportional-integral observer is as follows:
based on the differential flat theory based kinematic model, the following state variables are defined:
from the state variables, the following form of the state space is obtained:
based on the above formula, a reduced generalized proportional-integral observer is designed as follows:
the following variables are defined:
further, it is possible to obtain:
the respective states can be obtained as follows:
wherein:
represents the velocity estimation of the mobile robot in the direction of the axis of the inertial coordinate system X (i: 1) or Y (i: 2),
an estimate of the time-varying disturbance is represented,
estimate of the first derivative, λ, representing a time-varying disturbance 1i 、λ 2i 、λ 3i Are the coefficients of the observer.
Further, said λ 1i 、λ 2i 、λ 3i The values of (a) are such that the roots of the following formula all fall in the left half plane of the complex plane,
p(s)＝s 3 +λ 1i s 2 +λ 2i s+λ 3i 。
further, the method for designing the output control quantity for the trajectory tracking control specifically includes:
substituting the time-varying disturbance estimation and the speed estimation into the following formula to obtain u 1 And u 2 ，
Subjecting said u to 1 And u 2 Substituting the following formula to obtain the control input actually applied to the system,
wherein the content of the first and second substances,
e x ＝x mes -x r ，e y ＝y mes -y r ，
representing the second derivative of a given reference trajectory,
representing the first derivative, x, of a given reference trajectory r ,y r Representing a given reference trajectory, x mes ，y mes Indicating the position of the differentially-moved robot, measured at the present moment, phi mes ，v mes Indicating the linear and angular velocities, L, of the differentially-moved robot measured at the present time 1 ,L 0 In order to control the gain of the laws,
ω * is the control input actually applied to the system.
Further, L is 1 ,L 0 Such that the roots of the following all fall in the left half plane of the complex plane,
p(s)＝s 2 +L 1 s+L 0 。
the trajectory tracking control system based on the trajectory tracking control method comprises
The sensor is used for measuring the position of the differential mobile robot in the X-axis direction under an inertial coordinate system at the current moment, the position, the linear speed and the direction angle of the differential mobile robot in the Y-axis direction under the inertial coordinate system;
the reduced-order generalized proportional-integral observer module is used for outputting a speed estimation and a time-varying disturbance estimation;
a position control module for receiving the velocity estimate and the time-varying disturbance estimate and outputting u 1 And u 2 ；
Input conversion module receiving u 1 And u 2 The output is the control input actually applied to the system.
A two-wheeled differential mobile robot is integrated with a track tracking control system.
The beneficial effects of the invention are:
1. the order-reduced generalized proportional-integral observer can estimate time-varying interference, and the order of the observer is lower than that of a common generalized proportional-integral observer, so that the requirement on the computing capacity of hardware is reduced.
2. The reduced-order generalized proportional-integral observer can estimate the speed, so that the use of a speed sensor is reduced, and the development cost is reduced.
3. The track tracking controller with the active interference suppression capability is insensitive to interference and system parameter change thereof, can effectively reduce steady-state errors, can suppress various time-varying interferences, and has good robustness.
4. The invention can lead the two-wheeled differential mobile robot to stably track the given reference track and realize higher tracking precision.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
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In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings, in which:
FIG. 1 is a block diagram of a two-wheeled differential mobile robot trajectory tracking control system under the recommended control method;
fig. 2 is a trace tracking comparison of the method of the present invention with a general PD control method, assuming that the system is not disturbed,
wherein (a) is a tracking track under a general PD controller, wherein (a1) is a position tracking result under the PD controller, and (a2) is e under the PD controller x As a function of time, (a3) is e under the PD controller y A change over time;
(b) tracking the track under the method of the present invention, wherein (b1) is the position tracking result under the method of the present invention, and (b2) is e under the method of the present invention x As a function of time, (b3) is e under the process of the invention y A change over time;
fig. 3 is a trace tracking diagram of the method of the present invention compared to a general PD control method, assuming that the system is disturbed,
wherein (a) is a tracking track under a general PD controller, (a1) is a position tracking result under the PD controller, and (a2) is e under the PD controller x Time dependent change, (a3) is e under PD controller y A change over time;
(b) is the tracking track under the method of the present invention, (b1) is the position tracking result under the method of the present invention, and (b2) is the e under the method of the present invention x At any timeIn (b3) is (e) in the process of the invention y A change over time;
FIG. 4 is a control law output curve for the method of the present invention assuming the system is perturbed, where (a) is η v Control curve, (b) is the control curve of ω;
FIG. 5 is an estimate of velocity and disturbance by a reduced-order generalized proportional-integral observer assuming that the system is disturbed,
wherein (a) the reduced generalized proportional integral observer estimates the velocity, (a1) is the velocity estimate in the X-axis direction under the inertial frame, and (a2) is the velocity estimate in the Y-axis direction under the inertial frame;
(b) the disturbance estimation of the reduced generalized proportional integral observer is (b1) the disturbance estimation of the X axis in the inertial coordinate system, and (b2) the disturbance estimation of the Y axis in the relational coordinate system.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
Example 1
The embodiment provides a trajectory tracking control method, which includes measuring the position of a two-wheeled differential robot in the X-axis direction under an inertial coordinate system, the position of the two-wheeled differential robot in the Y-axis direction under the inertial coordinate system, the linear velocity and the direction angle by a sensor, inputting variable information into a reduced-order generalized proportional-integral observer for operation, outputting time-varying disturbance and speed, obtaining output control quantity by the data, and further performing tracking control on a trajectory. Specifically, the method comprises the following steps:
and (4) rewriting the motion model of the two-wheeled differential mobile robot according to the differential flat theory to obtain a kinematic model based on the differential flat theory.
The motion model of the two-wheeled differential mobile robot is as follows:
wherein: x represents the position in the X-axis direction of the inertial reference frame, Y represents the position in the Y-axis direction of the inertial reference frame, [ phi ] represents the direction angle of the body coordinate system of the two-wheeled differential mobile robot with respect to the inertial reference frame, [ v ] represents the linear velocity of the two-wheeled differential mobile robot, [ omega ] represents the angular velocity of the two-wheeled differential mobile robot, and [ v ] represents the angular velocity of the two-wheeled differential mobile robot s 、v t 、ω s Respectively representing the longitudinal sliding speed, the transverse sliding speed and the sliding angular speed of the two-wheel differential mobile robot.
The kinematic model is rewritten into a kinematic model based on a differential flat theory, and the derivation process is as follows:
output (define) the flat variable:
the first derivative of equation (2) is expressed as:
since the mapping between the system inputs (v, ω) and the system outputs (x, y) is singular, an auxiliary input variable η is introduced v Then, the formula (1) may be changed to the following form:
the derivation of formula (4) yields formula (5).
Wherein:
when v ≠ 0, the mapping relationship between the input variable and the output variable of equation (5) is invertible, making it possible to identify the output variable as a function of the output variable
The formula (6) is substituted into the formula (5), and a kinematic model based on the differential flat theory is obtained, as shown in the formula (7).
Wherein
Wherein, a 1 、a 2 Is the centralized disturbance received by the system;
u 1 、u 2 is the middle term.
A reduced-order generalized proportional-integral observer is designed based on a kinematic model of a differential flat theory to obtain time-varying disturbance and speed estimation. Specifically, the design method of the reduced-order generalized proportional-integral observer is as follows:
a kinematic model based on differential flat theory (equation (7)) defines the following state variables:
from the state variables, the following form of the state space is obtained:
the reduced-order generalized proportional-integral observer can be implemented as follows:
normally, state x 2i Is not easily accurately measured, however, state x 1i The method can be relatively easily and accurately measured, and in order to enable the reduced-order generalized PID observer to normally work, the following variables are defined:
further, it is possible to obtain:
the respective states can be obtained in the manner of equation (14):
wherein:
represents the velocity estimation of the mobile robot in the direction of the axis of the inertial coordinate system X (i-1) or Y (i-2),
an estimate of the time-varying disturbance is represented,
estimate of the first derivative, λ, representing a time-varying disturbance 1i 、λ 2i 、λ 3i Is a coefficient of the observer, λ 1i 、λ 2i 、λ 3i The value of (A) should be such that the root of the following formula falls entirely on the left half plane of the complex plane, and the designed reduced generalized proportional productThe sub-observer can estimate the speed, disturbance and first derivative information of the disturbance with the exponential convergence speed.
p(s)＝s 3 +λ 1i s 2 +λ 2i s+λ 3i 。
According to the estimation of the speed and the time-varying disturbance, combining the measurement position of the two-wheeled differential mobile robot and a given reference track, acquiring an output control quantity for track tracking control, specifically:
the estimation and velocity estimation of the time-varying disturbance are substituted into formula (15) to obtain u 1 And u 2 ，
Will u 1 And u 2 Substitution formula (16) for obtaining the control input actually applied to the system through transformation,
wherein the content of the first and second substances,
e x ＝x mes -x r ，e y ＝y mes -y r ，
representing the second derivative of a given reference trajectory,
representing the first derivative, x, of a given reference trajectory r ,y r Representing a given reference trajectory, x mes ，y mes Indicating the position of the differentially-moved robot, measured at the present moment, phi mes ，v mes Indicating the linear and angular velocities, L, of the differentially-moved robot measured at the present time 1 ,L 0 In order to control the gain of the laws,
ω * for control input actually applied to the system, wherein L 1 ,L 0 The values of the two-wheel differential motion robot are determined so that the roots of the formula (17) all fall on the left half plane of the complex plane, and the two-wheel differential motion robot can track the given reference track gradually at an exponential convergence speed.
p(s)＝s 2 +L 1 s+L 0 Formula (17)
The embodiment also provides a track tracking control system based on the method, which comprises
And the sensor is used for measuring the position of the two-wheeled differential mobile robot at the current moment in the X-axis direction under an inertial coordinate system, the position of the two-wheeled differential mobile robot in the Y-axis direction under the coordinate system, the linear speed and the direction angle.
The reduced-order generalized proportional-integral observer module is used for outputting speed estimation and time-varying disturbance estimation, and is integrated with a reduced-order generalized proportional-integral observer, and the design method of the reduced-order generalized proportional-integral observer module is shown in the formulas (9) to (14).
A position control module for receiving the velocity estimate and the time-varying disturbance estimate and outputting u 1 And u 2 And a position controller is integrated, and the implementation logic of the position controller is shown as a formula (15).
Input conversion module receiving u 1 And u 2 The output is actually applied to the control input of the system, and the logic of the implementation is shown as a formula (16).
An embodiment of the trajectory tracking control system is shown in fig. 1, and outputs a signal representing a position x of the differentially moving robot measured at the present time based on the kinematic model mes ，y mes To a reduced-order generalized integral proportional observer, phi mes ，v mes Inputting the time-varying disturbance and speed to an input transform module, inputting the time-varying disturbance and speed to a position controller by a reduced-order generalized integral proportional observer, and outputting u by the position controller 1 、u 2 To an input transformation module and a reduced-order generalized integral proportion observer, the input transformation module outputs control input actually acting on the system and inputs the control input into a kinematic model so as to perform trajectoryAnd (6) tracking.
The embodiment also provides a two-wheeled differential mobile robot integrated with the trajectory tracking control system.
Example 2
In this embodiment, a comparison between the trajectory tracking control method (hereinafter referred to as the present method) provided by the present invention and a general PD control method is tested, and as shown in fig. 2, when the two-wheeled differential mobile robot does not generate disturbance, both the general PD control method and the present method can well track the reference trajectory, and meet the control requirement.
When the initial state of the system deviates from a given reference track and a sinusoidal longitudinal sliding speed (amplitude: 0.15m/s, frequency: 2rad/s) and a sinusoidal transverse sliding speed (amplitude: 0.1m/s, frequency: 1rad/s) are applied after 5 seconds, as shown in fig. 3, it can be found by observing a tracking error that the method has better tracking performance, better anti-interference capability and strong robustness than a general PD control method. As shown in fig. 4, under the deviation, the output curve of the control law applying the method is in a reasonable range, and as shown in fig. 5, the reduced-order generalized proportional-integral observer can well estimate the speed and the disturbance.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (6)
1. A trajectory tracking control method is characterized in that:
rewriting a motion model of the two-wheeled differential mobile robot according to a differential flat theory to obtain a kinematics model based on the differential flat theory;
designing a reduced-order generalized proportional-integral observer based on a kinematics model of a differential flat theory to obtain time-varying disturbance and speed estimation;
according to the estimation of time-varying disturbance and speed, combining the measured position of the two-wheeled differential mobile robot and a given reference track to obtain the output control quantity of the track tracking controller, and converting the output control quantity to act on a kinematic model of the two-wheeled differential mobile robot;
the design method of the reduced-order generalized proportional-integral observer comprises the following steps:
based on the differential flat theory based kinematic model, the following state variables are defined:
from the state variables, the following form of the state space is obtained:
based on the above formula, a reduced generalized proportional-integral observer is designed as follows:
the following variables are defined:
further, it is possible to obtain:
the respective states can be obtained as follows:
wherein:
the speed estimation of the two-wheeled differential mobile robot in the X-axis direction of the inertial coordinate system when i is 1 and the speed estimation of the two-wheeled differential mobile robot in the Y-axis direction of the inertial coordinate system when i is 2 are shown;
an estimate of the time-varying disturbance is represented,
estimation of the first derivative, λ, representing a time-varying disturbance 1i 、λ 2i 、λ 3i Is the coefficient of the observer;
said lambda 1i 、λ 2i 、λ 3i The values of (a) are such that the roots of the following formula all fall in the left half plane of the complex plane,
p(s)＝s 3 +λ 1i s 2 +λ 2i s+λ 3i ；
the design method of the output control quantity for the trajectory tracking control specifically comprises the following steps:
substituting the time-varying disturbance estimation and the speed estimation into the following formula to obtain u 1 And u 2 ；
Subjecting said u to 1 And u 2 Substituting the formula into the mixture, and converting the mixture,the control input actually applied to the system is obtained,
wherein the content of the first and second substances,
e x ＝x mes -x r ，e y ＝y mes -y r ，
representing the second derivative of a given reference trajectory,
representing the first derivative, x, of a given reference trajectory r ,y r Representing a given reference trajectory, x mes ，y mes Indicates the position of the two-wheeled differential mobile robot measured at the current moment, phi mes ，v mes Represents the linear velocity and the angular velocity, L, of the two-wheeled differential mobile robot measured at the current moment 1 ,L 0 In order to control the gain of the laws,
ω * is the control input actually applied to the system.
2. The trajectory tracking control method according to claim 1, characterized in that: the motion model of the two-wheeled differential mobile robot is as follows:
wherein: x represents the position in the X-axis direction of the inertial reference frame, Y represents the position in the Y-axis direction of the inertial reference frame, [ phi ] represents the direction angle of the body coordinate system of the two-wheeled differential mobile robot with respect to the inertial reference frame, [ v ] represents the linear velocity of the two-wheeled differential mobile robot, [ omega ] represents the angular velocity of the two-wheeled differential mobile robot, and [ v ] represents the angular velocity of the two-wheeled differential mobile robot s 、v t 、ω s Respectively shows the longitudinal sliding speed and the transverse sliding speed of the two-wheeled differential mobile robot
And sliding angular velocity.
3. The trajectory tracking control method according to claim 2, characterized in that: the kinematic model based on the differential flat theory is as follows:
wherein
Define the flat output variable as:
wherein, a 1 、a 2 Is the centralized disturbance received by the system;
u 1 、u 2 is the middle term.
4. According to claimThe trajectory tracking control method according to claim 3, characterized in that: said L 1 ,L 0 Such that the roots of the following all fall in the left half plane of the complex plane,
p(s)＝s 2 +L 1 s+L 0 。
5. the trajectory tracking control system based on the trajectory tracking control method according to any one of claims 1 to 4, characterized in that: comprises that
The sensor is used for measuring the position of the two-wheeled differential mobile robot in the X-axis direction under an inertial coordinate system, the position of the two-wheeled differential mobile robot in the Y-axis direction under the inertial coordinate system, the linear speed and the direction angle at the current moment;
the reduced-order generalized proportional-integral observer module is used for outputting a speed estimation and a time-varying disturbance estimation;
a position control module for receiving the velocity estimate and the time-varying disturbance estimate and outputting u 1 And u 2 ；
Input conversion module receiving u 1 And u 2 The output is the control input actually applied to the system.
6. A two-wheeled differential mobile robot which is characterized in that: a trajectory tracking control system according to claim 5 integrated.
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