CN112433470A - Multi-layer nested priority high-precision hydraulic servo control method and system - Google Patents

Multi-layer nested priority high-precision hydraulic servo control method and system Download PDF

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CN112433470A
CN112433470A CN202011163429.4A CN202011163429A CN112433470A CN 112433470 A CN112433470 A CN 112433470A CN 202011163429 A CN202011163429 A CN 202011163429A CN 112433470 A CN112433470 A CN 112433470A
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servo control
loop
speed
theta
servo
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CN112433470B (en
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范永
王一慧
谢爱珍
马德盛
葛怀国
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Shandong Youbaote Intelligent Robot Co ltd
Shandong Jiaotong University
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Shandong Youbaote Intelligent Robot Co ltd
Shandong Jiaotong University
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract

The invention discloses a multi-layer nested priority high-precision hydraulic servo control method and a system, which comprises the following steps: position data theta of absolute position encoder mounted on hydraulic mechanical arm is collected in real time0(ii) a Calculating collected position data theta0And set position data thetarTo obtain the position deviation thetae(ii) a Deviation value theta of positioneInputting the speed position into a speed position double closed loop nested hierarchical servo control module; the speed position double closed loop nested hierarchical servo control module firstly judges thetaeAnd the set value A is adjusted by entering a small position servo control loop or a speed servo control loop, and finally the small position control loop performs PID parameter adjustment to output corresponding control quantity to the servo valve, so that the hydraulic cylinder is driven to control movement.

Description

Multi-layer nested priority high-precision hydraulic servo control method and system
Technical Field
The invention discloses a method, a device and a system for controlling a multi-layer nested high-precision hydraulic servo.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The inventor finds that the hydraulic mechanical arm has large load, can realize the grabbing and lifting of objects with the same weight as the hydraulic mechanical arm, and meanwhile, the hydraulic mechanical arm runs stably and can bear larger impact force. The hydraulic mechanical arm has wide application prospect in the environment of strong radiation and strong electromagnetic interference such as nuclear industry, high-voltage live-line work and the like. The existing control algorithm of the hydraulic mechanical arm is mainly used for completing servo control on the speed and the position of the mechanical arm and realizing complex motions of rotation, linear motion, three-dimensional curvilinear motion and the like of the mechanical arm. The most widely used control method at present is a position type PID control algorithm. However, the existing PID servo control algorithm can not meet the industrial requirement, and the realization processes of large inertia hydraulic servo control, small position closed loop servo control, speed servo control and the like always have the problems of overshoot, oscillation, slow response and the like.
Disclosure of Invention
Aiming at the problems that the inherent system dynamic delay of a hydraulic mechanical arm is heavy, the traditional hydraulic servo control adopts single closed-loop control, the optimization of precision and dynamic response speed cannot be realized, overshoot oscillation occurs in the servo process and the like, the servo mode of position speed double closed-loop, speed grading setting and priority multilayer nesting is adopted, so that the quick response is realized, the motion oscillation is reduced, the overshoot is avoided, and the high-precision servo of the hydraulic mechanical arm is realized.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, an embodiment of the present invention provides a high-precision hydraulic servo control method with multiple layers of nesting priorities, including the following steps:
position data theta of absolute position encoder mounted on hydraulic mechanical arm is collected in real timeo；
Calculating collected position data thetaoAnd set position data thetarTo obtain the position deviation thetae；
Deviation value theta of positioneInputting the speed position into a speed position double closed loop nested hierarchical servo control module; speed position double closed loop nested hierarchical servo control module judges thetaeAnd the set value A enters a small position control loop or a speed control loop to be adjusted according to the judgment result, and finally, a small position servo control algorithm is adopted to carry out servo adjustment and output corresponding control quantity to a servo valve, so that the hydraulic cylinder is driven to control movement.
As a further technical solution, when θeWhen the control value is less than delta, the control value input to the servo valve is as follows:
Figure BDA0002745069430000021
otherwise, the control quantity input to the servo valve is as follows:
Figure BDA0002745069430000022
where δ is a set limit value, ekThe current angle deviation;
Figure BDA0002745069430000023
is a deviation cumulative value; kp0、Kp1Representing different proportionality coefficients, Ki0、Ki1Representing different integral coefficients, Kd0、Kd1Representing different differential coefficients.
As a further technical solution, the control method of the speed position double closed loop nested hierarchical servo control module is as follows:
based on the obtained position deviation thetaeMaking a judgment if the position deviation thetaeIf the speed is more than A, the robot directly enters a speed servo control loop to perform large-position servo, and the mechanical arm moves at a set speed; if the initial position deviation is | thetaeIf | is less than A, the speed servo control is closedThe ring directly enters the position ring to realize small position servo; where A is a positive value, determined from the actual situation.
As a further technical scheme, the movement speed of the mechanical arm is set in a grading manner, the speed of the mechanical arm is uniformly accelerated from 0 at the beginning, then the uniform movement is kept in the middle process, the uniform deceleration is started when the mechanical arm approaches to a set value, and when the mechanical arm moves to approach to the set value, namely, thetaeIf the absolute value is less than A, closing the speed servo control loop, and directly entering the position loop to realize small position servo.
As a further technical scheme, the speed in the mechanical arm speed servo control loop is set in a trapezoidal grading way as follows:
a first stage: closed-loop uniform accelerated motion;
and a second stage: closed loop uniform motion;
a third stage: open loop uniform motion;
a fourth stage: closed loop uniform motion;
a fifth stage: and performing closed-loop uniform deceleration movement.
As a further technical solution, in the small position servo control method, in each servo control period t, a given speed of a speed servo control loop is v, and when a value of the servo period t is less than 2ms, the inner loop small position servo control loop obtains a given small displacement S, where S is v × t; the position sensor returns a current position value S0Thereby obtaining a deviation signal delta of the small position servosWherein: deltas＝|S-S0L, |; and the position PID algorithm is adopted to carry out small position servo control.
In a second aspect, the present invention further provides a multi-layer nested high-precision hydraulic servo control system, including:
a collection module configured to collect position data θ of an absolute position encoder mounted on a hydraulic robotic arm in real timeo；
A first calculation module configured to calculate the acquired position data θoAnd set position data thetarTo obtain the position deviation thetae；
A dual closed loop nested hierarchical servo control module configured to obtain a position offset value θeAnd determining thetaeThe relation with the set value A enters a speed servo control loop unit or a small position servo control loop unit according to different relations; and a small position servo control loop unit configured to adjust the control amount and output the control amount to the servo valve, thereby driving the hydraulic cylinder to control the movement.
As a further technical solution, the dual closed-loop nested hierarchical servo control module includes:
a comparison unit configured to compare the position deviation thetaeMaking a judgment if the position deviation thetaeIf > A, the position is deviated by thetaeSending the data into a speed servo control loop unit; if the initial position deviation is | thetaeIf | is less than A, the position is deviated by thetaeSending the data to a small position servo control module; wherein A is a positive value;
speed servo control loop unit: connected with the comparison unit, the control unit controls the mechanical arm to move at a set speed to realize large position servo, and simultaneously controls the movement speed in a grading manner until the initial position deviation | theta |e| is close to A;
a small position servo control loop unit: and the comparison unit is connected with the robot arm, and the robot arm realizes small-position servo.
As a further technical scheme, the speed servo control loop unit comprises a closed-loop uniform acceleration motion section, a closed-loop uniform motion section, an open-loop uniform motion section, a closed-loop uniform motion section and a closed-loop uniform deceleration motion section which are sequentially arranged in a segmented manner.
The beneficial effects of the above-mentioned embodiment of the present invention are as follows:
the invention combines the speed servo control loop servo and the position loop servo to form a speed and position double closed loop servo mode, automatically realizes the closed loop entering according to the deviation, and grades the speed while closing the speed to ensure that the speed change presents trapezoidal change, so that the hydraulic mechanical arm can stably accelerate or decelerate, and the problems of high speed and low speed in the motion process or overshoot and oscillation at the end of the servo and the like are avoided.
Directly carrying out PID (proportion integration differentiation) sectional adjustment in the closed-loop process to Kp (critical pressure)0,Kp1,Ki0,Ki1,Kd0,Kd1Namely, proportional, integral and differential parameters are adjusted, namely, the same PID control loop provides two sets of different P, I, D parameters, the two sets of parameters are respectively suitable for different fluctuation ranges, and corresponding PID parameters are automatically selected by a program according to the corresponding fluctuation ranges.
The multi-layer nested priority high-precision hydraulic servo control algorithm not only improves the response speed, ensures the stability of the mechanical arm in the motion process, but also reduces overshoot and improves the positioning precision.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a control system block diagram of the control algorithm of the present invention;
FIG. 2 is a flow chart of the velocity position dual closed loop servo of the present invention;
FIG. 3 is a velocity staging scheme in a robot velocity servo control loop of the present invention;
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
the term interpretation section, the large position servo and the small position servo in the present invention are relative concepts, and there are no specific numerical values.
As described in the background art, the prior art has disadvantages, and in order to solve the above technical problems, the present invention provides a method and a system for multi-layer nested high-priority high-precision hydraulic servo control.
In an exemplary embodiment of the present invention, as shown in fig. 1, a multi-layer nested priority high-precision hydraulic servo control method includes the following steps:
step 1, acquiring position data theta of absolute position encoder installed on hydraulic mechanical arm in real timeo；
Step 2 setting position data thetarObtaining a positional deviation thetae；
And 3, constructing a speed position double-closed-loop nested hierarchical servo control system, embedding speed hierarchical setting under the speed servo control loop, and ensuring that the system has proper speed to ensure that the mechanical arm moves stably and controllably by adopting a trapezoidal speed planning algorithm.
And 4, performing servo regulation by adopting a small position servo control algorithm and outputting corresponding control quantity to the servo valve so as to drive the hydraulic cylinder to control the movement.
The control system of the velocity position double closed loop of fig. 1 in step 3 is illustrated as follows: the controller inputs a preset mechanical arm joint angle value thetar(ii) a The feedback signal is the collected angle information theta corresponding to the absolute value encoder on the mechanical arm jointo(ii) a Deviation theta between set value and feedback valuee＝|θe-θrA flow chart of velocity position double closed loop servo when entering the position velocity double closed loop is shown in fig. 2. And then PID parameter adjustment is carried out to output the control quantity to the servo valve, and further the hydraulic cylinder is driven to realize the motion servo of the hydraulic mechanical arm.
When theta iseInput to < delta (delta is a set limit value)The control quantity of the servo valve is as follows:
Figure BDA0002745069430000061
otherwise, the control quantity input to the servo valve is as follows:
Figure BDA0002745069430000062
ekthe current angle deviation;
Figure BDA0002745069430000071
is a deviation cumulative value; kp is a proportional coefficient, Ki is an integral coefficient, Kd is a differential coefficient, the same PID control loop provides two sets of different P, I, D parameters, adaptive adjustment is carried out according to the parameters to realize segmented servo control, and when theta is equal to the absolute value ofeWhen the size is larger, the second group of data is adopted to improve the response speed, otherwise, the first group of data is adopted to ensure the positioning precision.
The flow chart of the velocity position dual closed loop servo of fig. 2 obtained from step 3 is described as follows:
based on the obtained position deviation thetaeMaking a determination, e.g. of the position deviation thetaeData is large, thetaeIf the speed is more than A (A is a positive value and is determined according to actual conditions), the robot directly enters a speed servo control loop to perform large-position servo, and the robot arm moves at a certain speed, so that the robot arm keeps stable movement in the servo process, overshooting caused by too fast or too slow movement and the like is avoided, and the movement speed is set in a grading manner. I.e. the speed variation assumes a trapezoidal state, as shown in fig. 3. At the beginning, the speed of the mechanical arm is accelerated from 0 uniformly, then the constant speed motion is kept in the middle process, the uniform deceleration is started when the mechanical arm is close to the set value, and when the mechanical arm runs to the position close to the set value, namely, thetaeIf the absolute value is less than A, closing the speed servo control loop, and directly entering the position loop to realize small position servo. If the initial position deviation is | thetaeIf | is smaller than A, the position servo will be performed directly. The double closed-loop servo control method effectively improves the machineryThe servo precision of the arm and the smoothness of the movement process.
Wherein the speed ladder stage setting diagram in the mechanical arm speed servo control loop of fig. 3 in step 3 is as follows: and planning a motion curve of the mechanical arm according to the motion process of the mechanical arm. The overall process is divided into five stages, each of which is explained below in conjunction with the figures.
And an AB section: the closed loop is accelerated uniformly. This phase is the initial entering velocity servo control loop phase, and a relatively large velocity value V0 is set.
And a BC section: the closed loop moves at a constant speed. In the stage, the mechanical arm starts to move at a constant speed due to the result of position type PID parameter control and adjustment, the speed in a balanced and stable state is V1, and the next stage is started after the speed is stable.
CD section: the open loop moves at a constant speed. In the stage, an open loop is adopted, the response speed is increased, the mechanical arm can rapidly move to be close to a target value, and the next stage is skipped.
Section DE: the closed loop moves at a constant speed. The effect of this stage is to smooth the transition, prepare the corresponding servo data for the deceleration of the next stage, and alleviate the overshoot problem easily caused by too fast speed in the previous stage.
And an EF section: and performing closed-loop uniform deceleration movement. The speed is rapidly reduced at the stage, the robot waits for entering the position ring, violent oscillation caused by the fact that the movement speed of the mechanical arm is too high when the speed servo control ring is switched to the position ring is avoided, and meanwhile the problem of overshoot caused by the too high speed is reduced.
In the small position servo control method mentioned in step 4, in each servo control period t, the given speed of the speed servo control loop is v, and when t is smaller, the inner loop small position servo control loop obtains a given small displacement amount S, and the calculation formula is as follows: s ═ v × t
The position sensor returns a current position value S0Thereby obtaining deviation signal delta of small position servosThe calculation formula is as follows: deltas＝|S-S0|
At this time, the position PID algorithm is adopted to perform small position servo control, and the servo frequency is set to 300-1000HZ, so that the low frequency fluctuation can be effectively reduced.
In addition, this embodiment also provides a high-accuracy hydraulic servo control system with multilayer nested priority, including:
a collection module configured to collect position data θ of an absolute position encoder mounted on a hydraulic robotic arm in real timeo；
A first calculation module configured to calculate the acquired position data θoAnd set position data thetarTo obtain the position deviation thetae；
A dual closed loop nested hierarchical servo control module configured to obtain a position offset value θeAnd determining thetaeThe relation with the set value A enters a speed servo control loop unit or a small position servo control loop unit according to different relations; and a small position servo control loop unit configured to adjust the control amount and output the control amount to the servo valve, thereby driving the hydraulic cylinder to control the movement.
As a further technical solution, the dual closed-loop nested hierarchical servo control module includes:
a comparison unit configured to compare the position deviation thetaeMaking a judgment if the position deviation thetaeIf > A, the position is deviated by thetaeSending the data into a speed servo control loop unit; if the initial position deviation is | thetaeIf | is less than A, the position is deviated by thetaeSending the data to a small position servo control module; wherein A is a positive value;
speed servo control loop unit: connected with the comparison unit, the control unit controls the mechanical arm to move at a set speed to realize large position servo, and simultaneously controls the movement speed in a grading manner until the initial position deviation | theta |e| is close to A;
a small position servo control loop unit: and the comparison unit is connected with the robot arm, and the robot arm realizes small-position servo.
As a further technical scheme, the speed servo control loop unit comprises a closed-loop uniform acceleration motion section, a closed-loop uniform motion section, an open-loop uniform motion section, a closed-loop uniform motion section and a closed-loop uniform deceleration motion section which are sequentially arranged in a segmented manner.
The speed servo control loop unit comprises a closed-loop uniform acceleration motion section, a closed-loop uniform motion section, an open-loop uniform motion section, a closed-loop uniform motion section and a closed-loop uniform deceleration motion section which are sequentially arranged in a segmented manner, and is shown in fig. 3.
The invention combines the speed servo control loop servo and the position loop servo to form a speed and position double closed loop servo mode, automatically realizes the closed loop entering according to the deviation, and grades the speed while closing the speed to ensure that the speed change presents trapezoidal change, so that the hydraulic mechanical arm can stably accelerate or decelerate, and the problems of high speed and low speed in the motion process or overshoot and oscillation at the end of the servo and the like are avoided.
Directly carrying out PID (proportion integration differentiation) sectional adjustment in the closed-loop process to Kp (critical pressure)0,Kp1,Ki0,Ki1,Kd0,Kd1Namely, proportional, integral and differential parameters are adjusted, namely, the same PID control loop provides two sets of different P, I, D parameters, the two sets of parameters are respectively suitable for different fluctuation ranges, and corresponding PID parameters are automatically selected by a program according to the corresponding fluctuation ranges.
The multi-layer nested priority high-precision hydraulic servo control algorithm not only improves the response speed, ensures the stability of the mechanical arm in the motion process, but also reduces overshoot and improves the positioning precision.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A multi-layer nesting priority high-precision hydraulic servo control method is characterized by comprising the following steps:
position data theta of absolute position encoder mounted on hydraulic mechanical arm is collected in real time0；
Calculating collected position data theta0And set position data thetarTo obtain the position deviation thetae；
Deviation value theta of positioneInputting the speed position into a speed position double closed loop nested hierarchical servo control module; speed position double closed loop nested hierarchical servo control module judges thetaeAnd the set value A enters a small position servo control loop or a speed servo control loop to be adjusted according to the judgment result, and finally the small position servo control loop performs PID parameter adjustment to output corresponding control quantity to the servo valve so as to drive the hydraulic cylinder to control the movement.
2. The multi-layer nesting priority high precision hydraulic servo control method of claim 1, wherein: when theta iseWhen the position is less than delta, the control quantity input to the servo valve by the small position servo control loop is as follows:
Figure FDA0002745069420000011
otherwise, the control quantity input to the servo valve is as follows:
Figure FDA0002745069420000012
where δ is a set limit value, ekThe current angle deviation;
Figure FDA0002745069420000013
is a deviation cumulative value; kp0、Kp1Representing different proportionality coefficients, Ki0、Ki1Representing different integral coefficients, Kd0、Kd1Representing different differential coefficients.
3. The multi-layer nesting priority high precision hydraulic servo control method of claim 1, wherein: the control method of the speed position double closed loop nested hierarchical servo control module comprises the following steps:
based on the obtained position deviation thetaeMaking a judgment if the position deviation thetaeIf the position is more than A, the robot directly enters a speed servo control loop to perform large position servo, the mechanical arm moves at a set speed, the moving speed is set in a grading way, and when the mechanical arm moves to be close to the set value, the initial position deviation | theta is obtainedeIf the absolute value is less than A, closing the speed servo control loop, and directly entering a small position servo control loop to realize small position servo; if the initial position deviation is | thetaeIf | is less than A, the servo is directly entered into the small position servo control loop, wherein A is a positive value and is determined according to the actual situation.
4. The multi-layer nesting priority high precision hydraulic servo control method of claim 3, wherein: when the movement speed of the mechanical arm is set in a grading manner, the speed of the mechanical arm is uniformly accelerated from 0 at the beginning, then the uniform movement is kept in the middle process, and the uniform deceleration is started when the movement speed is close to a set value.
5. The multi-layer nesting priority high precision hydraulic servo control method of claim 4, wherein: the speed ladder in the mechanical arm speed servo control ring is set in a grading way as follows:
a first stage: closed-loop uniform accelerated motion;
and a second stage: closed loop uniform motion;
a third stage: open loop uniform motion;
a fourth stage: closed loop uniform motion;
a fifth stage: and performing closed-loop uniform deceleration movement.
6. The multi-layer nesting priority high precision hydraulic servo control method of claim 4, wherein: the control method of the small position control loop comprises the following steps:
during each servo control period t, the speed servoThe given speed of the servo control loop is v, when the value of the servo period t is less than 2ms, the inner loop small position servo control loop obtains a given tiny displacement S, wherein S is v multiplied by t; the position sensor returns a current position value S0Thereby obtaining a deviation signal delta of the small position servosWherein: deltas＝|S-S0L, |; and the position PID algorithm is adopted to carry out small position servo control.
7. A multi-layer nested priority high-precision hydraulic servo control system is characterized by comprising:
a collection module configured to collect position data θ of an absolute position encoder mounted on a hydraulic robotic arm in real time0；
A first calculation module configured to calculate the acquired position data θ0And set position data thetarTo obtain the position deviation thetae；
A dual closed loop nested hierarchical servo control module configured to obtain a position offset value θeAnd determining thetaeThe relation with the set value A enters a speed servo control loop unit or a small position servo control loop unit according to different relations; and the small position servo control loop module is configured to adjust the control quantity and output the control quantity to the servo valve so as to drive the hydraulic cylinder to control the movement.
8. The system of claim 7, wherein the dual closed-loop nested hierarchical servo control module comprises:
a comparison unit configured to compare the position deviation thetaeMaking a judgment if the position deviation thetaeIf > A, the position is deviated by thetaeSending the data into a speed servo control loop unit; if the initial position deviation is | thetaeIf | is less than A, the position is deviated by thetaeSending the data to a small position servo control module; wherein A is a positive value;
speed servo control loop unit: connected to a comparison unit which controls the robot arm to move at a set speedPerforming large position servo, and simultaneously performing step control on the movement speed until the initial position deviation | thetae| is close to A;
a small position servo control loop unit: and the comparison unit is connected with the robot arm, and the robot arm realizes small-position servo.
9. The multi-layer nested priority high-precision hydraulic servo control system as claimed in claim 8, wherein the speed servo control loop unit comprises a closed-loop uniform acceleration motion section, a closed-loop uniform motion section, an open-loop uniform motion section, a closed-loop uniform motion section and a closed-loop uniform deceleration motion section which are sequentially arranged in segments.
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