CN112809687B - Simulation method, device and equipment of robot controller - Google Patents

Abstract

The invention discloses a simulation method, a simulation device and simulation equipment of a robot controller, which are used for effectively analyzing the influence of simulator parameters on a robot according to a motion trail. The method comprises the following steps: determining a first simulator selected by a user and simulator parameters input by the user, wherein the first simulator is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in the simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated; responding to a data loading instruction, operating the first simulator according to the simulator parameters, and converting an acting force parameter set input by a user into track information through the first simulator, wherein the track information is used for representing the motion track of the robot to be simulated under the simulator parameters.

Description

Simulation method, device and equipment for a robot controller

technical field

The invention relates to the technical field of robot system simulation, in particular to a simulation method, device and equipment for a robot controller.

Background technique

The rehabilitation robot restores the patient's motor function by assisting the patient to carry out scientific and effective rehabilitation training. In the design of the rehabilitation robot, the motion control algorithm is very important and is the core of the whole robot rehabilitation training. Therefore, to quickly test the motion control algorithm, select the control parameters of the motion control algorithm, judge the stability of the entire rehabilitation robot system and evaluate the performance of the whole machine, more convenient and fast tools are needed, which are helpful for the algorithm development and rapid development of the overall rehabilitation robot system. verify.

However, since there is no simulation analysis method for the rehabilitation robot in the current simulation tools, how to simulate the motion trajectory of the rehabilitation robot under the control parameters through the simulation method is a technical problem that needs to be solved urgently.

SUMMARY OF THE INVENTION

The present invention provides a simulation method, device and equipment for a robot controller, which are used to provide a simulation method for a robot controller, which simulates a robot under the simulator parameters according to the simulator selected by the user and the input simulator parameters. According to the motion trajectory, the influence of the simulator parameters on the robot can be effectively analyzed.

In a first aspect, a method for simulating a robot controller provided by an embodiment of the present invention includes:

Determine the first simulator selected by the user and the simulator parameters input by the user, wherein the first simulator is used to determine the position information of the robot to be simulated according to the force parameters input by the user received during the simulation process, and the simulator parameters include Characterizing the attribute parameters of the robot to be simulated and the running parameters required for the motion of the robot to be simulated;

In response to the data loading instruction, the first simulator is run according to the simulator parameters, and the set of force parameters input by the user is converted into trajectory information through the first simulator, wherein the trajectory information is used to represent the to-be-to-be The motion trajectory of the simulated robot under the simulator parameters is simulated.

The simulation method provided by the embodiment of the present invention can simulate the motion trajectory of the robot under the simulator parameters according to the simulator selected by the user and the input simulator parameters, and in response to the data loading instruction, convert the set of force parameters input by the user into conversion For trajectory information, the trajectory information indicates whether the selected simulator and the input simulator parameters meet the design requirements, so that the user can quickly select the control parameters of the motion control algorithm of the rehabilitation robot.

As an optional implementation manner, after converting the force parameter set input by the user into trajectory information through the first simulator, the method further includes:

In response to the user instruction, determine the display content corresponding to the user instruction according to the trajectory information, and display it through the display interface, wherein the display content is used to represent the trajectory information of the robot to be simulated under the simulator parameters relationship with the simulator performance.

The embodiment of the present invention provides an intuitive and visual display interface to observe the motion state of the robot, and observes different controller parameters according to the trajectory information corresponding to the different simulator parameters by inputting different simulator parameters Impact on robotic systems.

As an optional implementation manner, in response to a user instruction, determining the display content corresponding to the user instruction according to the trajectory information, including:

In response to a user's drawing instruction, determine a response curve corresponding to the drawing instruction according to the trajectory information, wherein the response curve is used to represent the relationship between the position information in the trajectory information and a preset variable; and/or ,

In response to a user's indicator analysis instruction, determine a performance indicator value corresponding to the indicator analysis instruction according to the trajectory information, wherein the performance indicator value is used to represent the indicator value determined when the trajectory information satisfies a preset performance condition.

The embodiment of the present invention provides different display contents, and the relationship between the position information in the trajectory information and the preset variables can be visually displayed according to the response curve, so as to determine the effective range of the simulator parameters that meet the preset requirements; The performance index value can quantitatively represent whether the parameters of the simulator meet the preset requirements.

As an optional embodiment, the method also includes:

Determine the number of variables selected by the user and the input non-variable parameters and variable ranges in response to the stability analysis instruction of the user, wherein the stability analysis instruction is used to instruct to analyze the stability of the second simulator;

In response to the variable data loading instruction, run the second simulator according to the variable range and the non-variable parameters, and convert the set of force parameters input by the user into trajectory information through the second simulator;

The stability of the second simulator within the variable range is determined based on the trajectory information.

The embodiment of the present invention also provides a stability analysis of the robot controller, which converts the trajectory information into the stability when the variables are in a state of change, so as to quickly test the stability of the robot system.

As an optional implementation manner, determining the stability of the preset simulator within the variable range according to the trajectory information includes:

In response to a user's stability drawing instruction, a stability image is generated according to the relationship between the variable and the stability and displayed through the image display interface, wherein the stability image is used to represent that the variable is within the variable range The stability of the second simulator when internal changes are made.

The embodiment of the present invention also provides a visual stability analysis method, which intuitively indicates whether the variables corresponding to the stability of the robot system and the non-variable parameters meet the preset requirements through the stability image, so as to select a suitable controller for the robot and controller parameters.

As an optional embodiment, the response curve includes any one or more of the following:

Bode plot curve;

Step response curve;

Impulse response curve.

In a second aspect, a simulation device for a robot controller provided by an embodiment of the present invention includes:

The selection input unit is used to determine the first simulator selected by the user and the simulator parameters input by the user, wherein the first simulator is used for determining the position information of the robot to be simulated according to the force parameters input by the user received in the simulation process, The simulator parameters include attribute parameters characterizing the robot to be simulated and operating parameters required for the motion of the robot to be simulated;

determining a trajectory unit, configured to respond to a data loading instruction, run the first simulator according to the simulator parameters, and convert the set of force parameters input by the user into trajectory information through the first simulator, wherein the trajectory information It is used to characterize the motion trajectory of the robot to be simulated under the simulator parameters.

As an optional implementation manner, after the set of force parameters input by the user is converted into trajectory information by the first simulator, the trajectory determining unit is further configured to:

In response to the user instruction, determine the display content corresponding to the user instruction according to the trajectory information, and display it through the display interface, wherein the display content is used to represent the trajectory information of the robot to be simulated under the simulator parameters relationship with the simulator performance.

As an optional implementation manner, the determining track unit is further used for:

In response to a user's drawing instruction, determine a response curve corresponding to the drawing instruction according to the trajectory information, wherein the response curve is used to represent the relationship between the position information in the trajectory information and a preset variable; and/or ,

In response to a user's indicator analysis instruction, determine a performance indicator value corresponding to the indicator analysis instruction according to the trajectory information, wherein the performance indicator value is used to represent the indicator value determined when the trajectory information satisfies a preset performance condition.

As an optional implementation manner, the device further includes a stability analysis unit, which is specifically used for:

Determine the number of variables selected by the user and the input non-variable parameters and variable ranges in response to the stability analysis instruction of the user, wherein the stability analysis instruction is used to instruct to analyze the stability of the second simulator;

In response to the variable data loading instruction, run the second simulator according to the variable range and the non-variable parameters, and convert the set of force parameters input by the user into trajectory information through the second simulator;

The stability of the second simulator within the variable range is determined based on the trajectory information.

As an optional implementation manner, the stability analysis unit is specifically used for:

In response to a user's stability drawing instruction, a stability image is generated according to the relationship between the variable and the stability and displayed through the image display interface, wherein the stability image is used to represent that the variable is within the variable range The stability of the second simulator when internal changes are made.

As an optional embodiment, the response curve includes any one or more of the following:

Bode plot curve;

Step response curve;

Impulse response curve.

In a third aspect, an embodiment of the present invention further provides a simulation device for a robot controller, the device includes a processor and a memory, where the memory is used to store a program executable by the processor, and the processor is used to read all the program in the memory and perform the following steps:

Determine the first simulator selected by the user and the simulator parameters input by the user, wherein the first simulator is used to determine the position information of the robot to be simulated according to the force parameters input by the user received during the simulation process, and the simulator parameters include Characterizing the attribute parameters of the robot to be simulated and the running parameters required for the motion of the robot to be simulated;

In response to the data loading instruction, the first simulator is run according to the simulator parameters, and the set of force parameters input by the user is converted into trajectory information through the first simulator, wherein the trajectory information is used to represent the to-be-to-be The motion trajectory of the simulated robot under the simulator parameters is simulated.

As an optional implementation manner, after converting the force parameter set input by the user into trajectory information through the first simulator, the processor is specifically further configured to execute:

In response to the user instruction, determine the display content corresponding to the user instruction according to the trajectory information, and display it through the display interface, wherein the display content is used to represent the trajectory information of the robot to be simulated under the simulator parameters relationship with the simulator performance.

As an optional implementation manner, the processor is further configured to execute:

In response to a user's drawing instruction, determine a response curve corresponding to the drawing instruction according to the trajectory information, wherein the response curve is used to represent the relationship between the position information in the trajectory information and a preset variable; and/or ,

In response to a user's indicator analysis instruction, determine a performance indicator value corresponding to the indicator analysis instruction according to the trajectory information, wherein the performance indicator value is used to represent the indicator value determined when the trajectory information satisfies a preset performance condition.

As an optional implementation manner, the processor is further configured to execute:

Determine the number of variables selected by the user and the input non-variable parameters and variable ranges in response to the stability analysis instruction of the user, wherein the stability analysis instruction is used to instruct to analyze the stability of the second simulator;

In response to the variable data loading instruction, run the second simulator according to the variable range and the non-variable parameters, and convert the set of force parameters input by the user into trajectory information through the second simulator;

The stability of the second simulator within the variable range is determined based on the trajectory information.

As an optional implementation manner, the processor is further configured to execute:

In response to a user's stability drawing instruction, a stability image is generated according to the relationship between the variable and the stability and displayed through the image display interface, wherein the stability image is used to represent that the variable is within the variable range The stability of the second simulator when internal changes are made.

As an optional embodiment, the response curve includes any one or more of the following:

Bode plot curve;

Step response curve;

Impulse response curve.

In a fourth aspect, an embodiment of the present invention further provides a computer storage medium on which a computer program is stored, and when the program is executed by a processor, is used to implement the steps of the method described in the first aspect above.

These and other aspects of the present application will be more clearly understood in the description of the following embodiments.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a flowchart of a simulation method of a robot controller provided by an embodiment of the present invention;

2 is a schematic diagram of a selection input interface provided by an embodiment of the present invention;

3 is a schematic diagram of an interface for determining a selected simulator and an input simulator parameter provided by an embodiment of the present invention;

4 is a schematic diagram of a display interface for responding to a data loading instruction provided by an embodiment of the present invention;

5 is a schematic diagram of a first response curve provided by an embodiment of the present invention;

6 is a schematic diagram of a second response curve provided by an embodiment of the present invention;

7 is a schematic diagram of a third response curve provided by an embodiment of the present invention;

8 is a schematic diagram of a display interface for displaying performance index values according to an embodiment of the present invention;

9 is a schematic diagram of a display interface for responding to a user's stability analysis instruction provided by an embodiment of the present invention;

10 is a schematic diagram of inputting variables in a stability analysis display interface provided by an embodiment of the present invention;

11 is a schematic diagram of a display interface of a response variable data loading instruction provided by an embodiment of the present invention;

12 is a schematic diagram of a first stability drawing display interface provided by an embodiment of the present invention;

13 is a schematic diagram of a second stability drawing display interface provided by an embodiment of the present invention;

14 is a schematic diagram of a third stability drawing display interface provided by an embodiment of the present invention;

15 is a flowchart of a specific simulation method of a robot controller provided by an embodiment of the present invention;

16 is a schematic diagram of a simulation device of a robot controller according to an embodiment of the present invention;

FIG. 17 is a schematic diagram of a simulation device of a robot controller according to an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In this embodiment of the present invention, the term "and/or" describes the association relationship between associated objects, indicating that there may be three relationships, for example, A and/or B, which may indicate that A exists alone, A and B exist simultaneously, and B exists alone these three situations. The character "/" generally indicates that the associated objects are an "or" relationship.

The application scenarios described in the embodiments of the present invention are for the purpose of illustrating the technical solutions of the embodiments of the present invention more clearly, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. It appears that the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems. Wherein, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

Example 1

Embodiments of the present invention provide a method for simulating a robot controller, which can be applied to but not limited to the field of medical devices, such as simulating a controller used by a lower limb rehabilitation robot; it can also be applied to a multi-axis robot, an interactive robot, etc. The used controller is used for simulation, which is not limited too much in this embodiment of the present invention.

The motion control algorithm is the core key technology of the entire rehabilitation robot motion. How to design a suitable controller for the rehabilitation robot equipment quickly and select the optimal control algorithm and related parameters is a technical problem that needs to be solved urgently at present. The following questions:

Problem 1. The performance index of the control algorithm of the robot cannot be observed intuitively and quantitatively.

The main reason is that in the process of designing the control algorithm, some parameters in the inertial parameters of the system cannot be accurately obtained, and at the same time, the setting and calculation analysis of the control index are lacking, and the visual operation cannot be performed more intuitively.

Question 2. The stability of the robot system cannot be quickly checked.

For different control algorithms, the stability of the robot system is the premise of the operation of all control algorithms, but at present, there is a lack of relevant parameters in the stability analysis process of the control algorithm, and the stability of the robot system cannot be effectively analyzed.

Problem 3. It is impossible to design an effective quantitative index to select the controller parameters.

It is impossible to evaluate the advantages and disadvantages of the controller from multiple perspectives, and it is impossible to intuitively observe the influence of the controller parameters on the performance of the robot system.

In order to solve the above technical problem, an embodiment of the present invention provides a simulation method for a robot controller, which can quickly select appropriate controller parameters. As shown in Figure 1, the implementation process of the method is as follows:

Step 100: Determine the first simulator selected by the user and the simulator parameters input by the user, wherein the first simulator is used to determine the position information of the robot to be simulated according to the force parameters input by the user received during the simulation process, and the simulation The device parameters include attribute parameters characterizing the robot to be simulated and operating parameters required for the motion of the robot to be simulated;

The first simulator in the embodiment of the present invention is used to characterize the controller of the robot to be simulated, that is, the algorithm used by the first simulator is the same as the controller algorithm of the controller, and the first simulator uses the same algorithm as the controller algorithm of the controller. The operation of the controller of the robot to be simulated is simulated according to the controller algorithm of the robot to be simulated. The simulation method in the embodiment of the present invention is a set of independent simulation methods, which can simulate and test different controller algorithms used by the robot, and can input simulator parameters corresponding to different first simulators to simulate different controller parameters trajectory below.

Optionally, the controller algorithm of the robot controller in the embodiment of the present invention includes but is not limited to: a position control algorithm, a speed control algorithm, a torque control algorithm, a force-position hybrid control algorithm, an impedance control algorithm, and an admittance control algorithm. Different robots may use different controller algorithms, and the same robot may also use different controller algorithms in different scenarios, which is not limited in this embodiment of the present invention.

It should be noted that, in the simulation method of the embodiment of the present invention, a user can select a first simulator, where the first simulator includes but is not limited to: a simulation using a PID (proportional-integral-derivative) controller algorithm controller, simulator using proportional phase lag controller algorithm, simulator using impedance controller algorithm. It is easy to understand that the embodiments of the present invention can simulate any one or any of the following controllers: a PID controller, a proportional phase lag controller, and an impedance controller.

In this embodiment, there is a correspondence between the first simulator selected by the user and the input simulator parameters, that is, after the user selects one type of first simulator, only the simulator parameters corresponding to the selected first simulator can be input, and other The simulator parameters for the simulator cannot be entered.

During the simulation process, the robot will be simulated to move, and the force generated between the user and the robot when the user uses the robot for rehabilitation training is simulated according to the force parameters input by the user. parameters, and determine the position information of the robot under the first simulator and the simulator parameters, so as to simulate the motion situation of the robot.

The simulator parameters in the embodiment of the present invention include attribute parameters characterizing the robot to be simulated and operating parameters required for the motion of the robot to be simulated. The attribute parameter is used to characterize the material, weight and other characteristics of the robot to be simulated, and the operation parameter is used to characterize the controller parameter of the robot controller.

Optionally, the attribute parameters include but are not limited to: system inertia, system damping, and system stiffness; the operating parameters include but are not limited to: controller parameters mass, damping and stiffness corresponding to the impedance controller; proportional gain, zero point parameter and pole point parameter corresponding to the proportional phase lag controller; proportional parameter, integral parameter and differential parameter corresponding to the PID controller.

Step 101: In response to a data loading instruction, run the first simulator according to the simulator parameters, and convert the set of force parameters input by the user into trajectory information through the first simulator, where the trajectory information is used to represent The motion trajectory of the robot to be simulated under the simulator parameters.

Optionally, the set of force parameters received by the user during the simulation process in this embodiment of the present invention may be the set of force parameters determined according to the force parameters input by the user within the received preset time period, or may be directly received from the user. set of force parameters.

In implementation, the set of force parameters input by the user is converted into trajectory information through a transfer function, wherein the transfer function is used to characterize the relationship between the force parameters and the position information of the robot. It is easy to understand that the transfer function is determined based on different controllers, that is, the transfer functions corresponding to different controller algorithms are different, but no matter which transfer function is used to characterize the relationship between the force and the position , the embodiment of the present invention does not limit the transfer function used in this embodiment too much.

As an optional implementation manner, in this embodiment of the present invention, after the set of force parameters input by the user is converted into trajectory information through the first simulator, it can also be displayed in response to a user instruction, and the specific steps are as follows:

In response to the user instruction, determine the display content corresponding to the user instruction according to the trajectory information, and display it through the display interface, wherein the display content is used to represent the trajectory information of the robot to be simulated under the simulator parameters relationship with the simulator performance.

It should be noted that the embodiment of the present invention can provide a visual analysis method, which simulates the performance of the robot controller and represents the relationship between the trajectory information of the robot to be simulated and the performance of the simulator through the display content of the display interface, thereby The user can determine the simulator parameters corresponding to the appropriate trajectory information through the displayed content, so as to quickly select the robot controller parameters, wherein the appropriate trajectory information includes the trajectory information corresponding to the simulator performance that meets the performance requirements.

As an optional implementation manner, in this embodiment of the present invention, the display content corresponding to the user instruction may be determined in any one or more of the following manners, and the specific determination manner is as follows:

Mode 1: In response to a user's drawing instruction, determine a response curve corresponding to the drawing instruction according to the trajectory information;

The response curve is used to represent the relationship between the position information in the trajectory information and a preset variable; optionally, the response curve includes any one or more of the following: a Bode plot curve; a step response curve; impulse response curve.

Optionally, the preset variable in this embodiment of the present invention may be time or frequency, which is not limited in this embodiment of the present invention.

If the preset variable is time, the response curve is a step response curve or an impulse response curve, wherein the step response curve is used to perform time domain analysis on the position information obtained by the simulator operation by sending a step signal so as to determine the range of simulator parameters corresponding to the step response curve; similarly, the impulse response curve is used to perform time domain analysis on the position information obtained by the simulator operation by sending pulse signals tracking, so as to determine the range of simulator parameters corresponding to the impulse response curve;

If the preset variable is frequency, the response curve is a Bode plot curve, wherein the Bode plot curve is used to estimate the amplitude margin and the phase margin, so as to determine the amplitude margin and the phase margin according to the It is determined whether the simulator parameters corresponding to the Bode plot curve meet the preset requirements.

Mode 2: In response to a user's indicator analysis instruction, determine a performance indicator value corresponding to the indicator analysis instruction according to the trajectory information;

The performance index value is used to represent the index value determined when the trajectory information satisfies a preset performance condition.

In implementation, the performance index value is used to represent the index value determined when the response curve determined according to the relationship between the position information in the trajectory information and the preset variable satisfies the preset performance condition. The index values are the amplitude margin and the phase margin, so that it is determined whether the corresponding simulator parameters meet the preset requirements according to the amplitude margin and the phase margin.

Mode 3: In response to a user's drawing instruction and an index analysis instruction, determine a response curve corresponding to the drawing instruction according to the trajectory information, and determine a performance index value corresponding to the index analysis instruction according to the trajectory information;

The response curve is used to represent the relationship between the position information in the trajectory information and a preset variable, and the performance index value is used to represent the index value determined when the trajectory information satisfies a preset performance condition.

In the implementation, the response curve can be determined first, which is used to determine the range of the simulator parameters according to the response curve, and then the performance index value is determined, which is used to determine whether the simulator parameters within the range meet the preset requirements according to the performance index value. .

As an optional implementation manner, the embodiment of the present invention also provides a stability analysis method for performing stability analysis on a specific controller. The specific implementation steps of the method are as follows:

Step 1. Determine the number of variables selected by the user and the input non-variable parameters and variable ranges in response to the stability analysis instruction of the user, wherein the stability analysis instruction is used to instruct the stability of the second simulator to be analyzed;

It should be noted that the stability analysis may be performed on a specific controller, and the first simulator and the second simulator in the embodiment of the present invention may be the same simulator or different simulators. This embodiment of the present invention does not limit too much.

Optionally, in this embodiment of the present invention, stability analysis may be performed on a proportional phase lag controller, that is, the second simulator is a simulator using a proportional phase lag controller algorithm, and the variables include but are not limited to any of the following or Any number of:

Proportional gain Kdc, zero parameter z, pole parameter p. For example, if the variable is the proportional gain Kdc, the non-variable is the zero-point parameter z and the pole parameter p; if the variable is the zero-point parameter z, the non-variable is the proportional gain Kdc and the pole parameter p; if the The variable is the pole parameter p, and the non-variable is the proportional gain Kdc and the zero parameter z.

Step 2. In response to the variable data loading instruction, run the second simulator according to the variable range and the non-variable parameters, and convert the set of force parameters input by the user into trajectory information through the second simulator;

It is easy to understand that the determination of the trajectory information is determined in the process of changing the variables, and the stability of the simulator in the process of changing the variables can be judged according to the trajectory information.

Step 3: Determine the stability of the second simulator within the variable range according to the trajectory information.

It can be understood that the stability test in the simulation method of the embodiment of the present invention is based on the relationship between the variable and the stability, and in the process of the variable changing within a certain range, the stability can be judged according to the trajectory information.

As an optional implementation manner, in this embodiment of the present invention, the stability of the preset simulator within the variable range is determined according to the trajectory information. The specific implementation manner is as follows:

In response to a user's stability drawing instruction, a stability image is generated according to the relationship between the variable and the stability and displayed through the image display interface, wherein the stability image is used to represent the change of the variable within the variable range the stability of the second simulator.

Optionally, the stabilization image in this embodiment of the present invention includes any one or more of the following:

If the number of variables is one, the stability image is a one-dimensional curve image; or,

If the number of variables is two, the stability image is a two-dimensional image; or,

If the number of variables is three, the stability image is a three-dimensional image.

The embodiment of the present invention also provides a selection input interface to determine the first simulator selected by the user and the parameters of the simulator input by the user, and provides operation keys for the user to load data through the selection input interface, so as to respond to the data loading instruction.

As shown in Figure 2, the selection input interface includes six parts, as follows:

The first part is the simulator selection part, including MIT controller (proportional phase lag controller), NG1 controller (proportional-integral-derivative controller) and impedance controller (which can be understood as basic controller and MIT controller or NG1 It can also be used in conjunction with the controller, and it can also be a default option).

The second part is the system parameters System Parmeters, including system inertia Inertia, system damping Damping and system stiffness Stiffness.

The third part is the Impedance Controller, which contains the controller parameters Mass, Damper and Stiff.

The fourth part is the MIT controller, which includes proportional gain Kdc, zero parameter z and pole parameter p.

The fifth part is the NG1 controller, which includes proportional parameter Kp, integral parameter Ki and differential parameter Kd.

The sixth part is the operation part, including data loading Data Loading, system Bode plot curve drawing BodePlot, system step response Step Response and impulse response Impulse Response.

The specific implementation steps of a simulation method for a robot controller provided by an embodiment of the present invention are described below by drawing:

As shown in Figure 3, the selected simulator and the input simulator parameters are determined. The simulator selected by the user can be determined by checking in front of the simulator name, as shown in Figure 3, check MIT Controller and Imp Controller, and input simulator parameters corresponding to the MIT Controller.

As shown in Figure 4, in response to the data loading command, the user can send the data loading command by clicking the Data Loading button. If the data loading is completed, the Status indicator will change color (for example, from red before loading to green), indicating that the data is loaded correctly. .

In the implementation, in response to the user's drawing instruction, the response curve corresponding to the drawing instruction is determined according to the trajectory information. If the drawing instruction is a Bode plot curve drawing instruction, the response curve is as shown in FIG. 5 . If the drawing instruction is a step response curve drawing instruction, the response curve is as shown in FIG. 6 , and if the drawing instruction is an impulse response curve drawing instruction, the response curve is as shown in FIG. 7 .

In the implementation, in response to the user's index analysis instruction, determine the performance index value corresponding to the index analysis instruction according to the trajectory information, and analyze the description under the simulator parameters through the selected simulator and the input simulator parameters. The performance indicators of the simulator, through the quantitative performance indicators, the quality of the simulator algorithm (ie the controller algorithm) can be observed more intuitively.

As shown in Figure 8, the performance index value is displayed through the display interface, wherein the performance index value includes two parts, the frequency domain performance index and the time domain performance index. In addition, the stable performance can be visually judged through the Stable indicator. The frequency domain performance indicators include but are not limited to: amplitude cutoff frequency, amplitude margin, phase cutoff frequency and phase margin. Time domain performance indicators include but are not limited to: rise time, settling time, overshoot and peak time.

Optionally, through the Calculate button of the performance indicator calculation, the value of each performance indicator is determined in response to the indicator analysis instruction of the user.

In implementation, as shown in FIG. 9 , in response to the stability analysis instruction of the user, the number of variables selected by the user and the input non-variable parameters are determined. Optionally, the number of variables can be 1, 2, or 3, and the variable range can be set. Users can observe the impact of variable changes on stability according to the stability image corresponding to the set variable range. Through the change of the number of variables, the system stability curve under different states is drawn to observe the range of instability and stability, so as to select appropriate parameters.

It is easy to understand that when there are three variables, it is impossible to determine which variable has a greater impact on the system stability. Therefore, in this embodiment, by fixing different numbers of variables, it is determined that one or several variables affect the system stability. The influence of each variable on the stability of the system can be determined more quickly.

It should be noted that both the variable and non-variable parameters in the embodiments of the present invention are greater than zero.

As shown in Figure 10, the number of variables selected is 1Varibale, that is, one variable is selected, and the other two variables are fixed parameters. As shown in Figure 11, in response to the variable data load instruction, after the data is loaded successfully, the Status indicator will change color (for example, from red to green). In response to the user's stability drawing instruction, optionally, the user can click the Stability Plot drawing button to perform stability drawing, as shown in Figure 12, if the variable is a single variable, the stability image is a one-dimensional image, where The horizontal axis represents variables, the vertical axis represents stability, o represents stable, and × represents unstable; as shown in Figure 13, if there are two variables, the stability image is a two-dimensional image, where the horizontal axis is a two-dimensional image. represents the first variable, the vertical axis represents the second variable, o represents stability, and × represents instability; as shown in Figure 14, if the number of variables is 3, the stability image is a three-dimensional image, where X Axis, Y-axis and Z-axis respectively represent three variables, o means stable and × means unstable.

As shown in FIG. 15 , an embodiment of the present invention also provides a specific simulation method for a robot controller. The specific implementation process of the method is as follows:

Step 1500, determining the first simulator selected by the user and the simulator parameters input by the user;

The first simulator is used to determine the position information of the robot to be simulated according to the force parameters input by the user received during the simulation process, and the simulator parameters include attribute parameters characterizing the robot to be simulated and the motion of the robot to be simulated required operating parameters;

Step 1501, in response to a data loading instruction, run the first simulator according to the simulator parameters, and convert the set of force parameters input by the user into trajectory information through the first simulator;

The trajectory information is used to represent the motion trajectory of the robot to be simulated under the simulator parameters.

Step 1502, in response to a user's drawing instruction, determine a response curve corresponding to the drawing instruction according to the trajectory information;

wherein the response curve is used to represent the relationship between the position information in the trajectory information and a preset variable;

Wherein, through steps 1500-1502, the user can determine a larger range of simulator parameters according to the response curve, that is, determine a larger range of controller parameters;

Step 1503: In response to the indicator analysis instruction of the user, determine the performance indicator value corresponding to the indicator analysis instruction according to the trajectory information;

The performance index value is used to represent the index value determined when the trajectory information satisfies a preset performance condition.

Through step 1503, the user can determine the simulator parameters that meet the design requirements from the simulator parameters within the range, that is, determine the controller parameters that meet the design requirements;

Step 1504, in response to the user's stability analysis instruction, determine the number of variables selected by the user and the input non-variable parameters and variable ranges;

The stability analysis instruction is used to instruct to analyze the stability of the second simulator;

Step 1505: In response to the variable data loading instruction, run the second simulator according to the variable range and the non-variable parameters, and convert the set of force parameters input by the user into trajectory information through the second simulator;

Step 1506, in response to the user's stability drawing instruction, generate a stability image according to the relationship between the variable and the stability and display it through the image display interface;

wherein the stability image is used to characterize the stability of the second simulator when the variable varies within the variable range.

Through steps 1504 to 1506, the user can determine a smaller range of simulator parameters, that is, a smaller range of controller parameters, according to the stability image.

It should be noted that, in this embodiment of the present invention, steps 1500 to 1502 may be performed in parallel with steps 1504 to 1506, or may be performed sequentially, which is not limited in this embodiment of the present invention. If steps 1504 to 1506 are performed after steps 1500 to 1502, the user can further determine a smaller range of controller parameter sets from the larger range of controller parameter sets. Then step 1503 is performed, and the user can determine the controller parameters that meet the design requirements from a smaller range of controller parameter sets. It can effectively improve the simulation efficiency and quickly determine the controller parameters that meet the design requirements.

Example 2

Based on the same inventive concept, the embodiment of the present invention also provides a simulation device for a robot controller. Since the device is the device in the method in the embodiment of the present invention, and the principle of solving the problem of the device is similar to that of the method, Therefore, the implementation of the device may refer to the implementation of the method, and the repeated parts will not be repeated.

As shown in Figure 16, the device includes:

The selection input unit 1600 is used to determine the first simulator selected by the user and the simulator parameters input by the user, wherein the first simulator is used for determining the position information of the robot to be simulated according to the force parameters input by the user received during the simulation process , the simulator parameters include attribute parameters characterizing the robot to be simulated and operating parameters required for the motion of the robot to be simulated;

A trajectory determining unit 1601, configured to respond to a data loading instruction, run the first simulator according to the simulator parameters, and convert the set of force parameters input by the user into trajectory information through the first simulator, wherein the trajectory The information is used to characterize the motion trajectory of the robot to be simulated under the simulator parameters.

As an optional implementation manner, after the set of force parameters input by the user is converted into trajectory information by the first simulator, the trajectory determining unit is further configured to:

In response to the user instruction, determine the display content corresponding to the user instruction according to the trajectory information, and display it through the display interface, wherein the display content is used to represent the trajectory information of the robot to be simulated under the simulator parameters relationship with the simulator performance.

As an optional implementation manner, the determining track unit is further used for:

In response to a user's drawing instruction, determine a response curve corresponding to the drawing instruction according to the trajectory information, wherein the response curve is used to represent the relationship between the position information in the trajectory information and a preset variable; and/or ,

In response to a user's indicator analysis instruction, determine a performance indicator value corresponding to the indicator analysis instruction according to the trajectory information, wherein the performance indicator value is used to represent the indicator value determined when the trajectory information satisfies a preset performance condition.

As an optional implementation manner, the device further includes a stability analysis unit, which is specifically used for:

Determine the number of variables selected by the user and the input non-variable parameters and variable ranges in response to the stability analysis instruction of the user, wherein the stability analysis instruction is used to instruct to analyze the stability of the second simulator;

In response to the variable data loading instruction, run the second simulator according to the variable range and the non-variable parameters, and convert the set of force parameters input by the user into trajectory information through the second simulator;

The stability of the second simulator within the variable range is determined based on the trajectory information.

As an optional implementation manner, the stability analysis unit is specifically used for:

In response to a user's stability drawing instruction, a stability image is generated according to the relationship between the variable and the stability and displayed through the image display interface, wherein the stability image is used to represent that the variable is within the variable range The stability of the second simulator when internal changes are made.

As an optional embodiment, the response curve includes any one or more of the following:

Bode plot curve;

Step response curve;

Impulse response curve.

Example 3

Based on the same inventive concept, the embodiment of the present invention also provides a simulation device of a robot controller, because the device is the device in the method in the embodiment of the present invention, and the principle of solving the problem of the device is similar to that of the method, Therefore, the implementation of the device may refer to the implementation of the method, and the repeated parts will not be repeated.

As shown in FIG. 17 , the device includes a processor 1700 and a memory 1701, the memory is used for storing a program executable by the processor, and the processor is used for reading the program in the memory and performing the following steps:

Determine the first simulator selected by the user and the simulator parameters input by the user, wherein the first simulator is used to determine the position information of the robot to be simulated according to the force parameters input by the user received during the simulation process, and the simulator parameters include Characterizing the attribute parameters of the robot to be simulated and the running parameters required for the motion of the robot to be simulated;

In response to the data loading instruction, the first simulator is run according to the simulator parameters, and the set of force parameters input by the user is converted into trajectory information through the first simulator, wherein the trajectory information is used to represent the to-be-to-be The motion trajectory of the simulated robot under the simulator parameters is simulated.

As an optional implementation manner, after converting the force parameter set input by the user into trajectory information through the first simulator, the processor is specifically further configured to execute:

In response to the user instruction, determine the display content corresponding to the user instruction according to the trajectory information, and display it through the display interface, wherein the display content is used to represent the trajectory information of the robot to be simulated under the simulator parameters relationship with the simulator performance.

As an optional implementation manner, the processor is further configured to execute:

In response to a user's drawing instruction, determine a response curve corresponding to the drawing instruction according to the trajectory information, wherein the response curve is used to represent the relationship between the position information in the trajectory information and a preset variable; and/or ,

In response to a user's indicator analysis instruction, determine a performance indicator value corresponding to the indicator analysis instruction according to the trajectory information, wherein the performance indicator value is used to represent the indicator value determined when the trajectory information satisfies a preset performance condition.

As an optional implementation manner, the processor is further configured to execute:

Determine the number of variables selected by the user and the input non-variable parameters and variable ranges in response to the stability analysis instruction of the user, wherein the stability analysis instruction is used to instruct to analyze the stability of the second simulator;

In response to the variable data loading instruction, run the second simulator according to the variable range and the non-variable parameters, and convert the set of force parameters input by the user into trajectory information through the second simulator;

The stability of the second simulator within the variable range is determined based on the trajectory information.

As an optional implementation manner, the processor is further configured to execute:

In response to a user's stability drawing instruction, a stability image is generated according to the relationship between the variable and the stability and displayed through the image display interface, wherein the stability image is used to represent that the variable is within the variable range The stability of the second simulator when internal changes are made.

As an optional embodiment, the response curve includes any one or more of the following:

Bode plot curve;

Step response curve;

Impulse response curve.

Based on the same inventive concept, an embodiment of the present invention also provides a computer storage medium on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented:

Determine the first simulator selected by the user and the simulator parameters input by the user, wherein the first simulator is used to determine the position information of the robot to be simulated according to the force parameters input by the user received during the simulation process, and the simulator parameters include Characterizing the attribute parameters of the robot to be simulated and the running parameters required for the motion of the robot to be simulated;

In response to the data loading instruction, the first simulator is run according to the simulator parameters, and the set of force parameters input by the user is converted into trajectory information through the first simulator, wherein the trajectory information is used to represent the to-be-to-be The motion trajectory of the simulated robot under the simulator parameters is simulated.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, optical storage, and the like.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce A device that implements the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising the instruction apparatus, the instructions The device implements the functions specified in the flow or flows of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims (9)

1. A method of simulating a robot controller, the method comprising:

determining a first simulator selected by a user and simulator parameters input by the user, wherein the first simulator is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in the simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated;

responding to a data loading instruction, operating the first simulator according to the simulator parameters, and converting an acting force parameter set input by a user into track information through the first simulator, wherein the track information is used for representing the motion track of the robot to be simulated under the simulator parameters;

responding to a stability analysis instruction of a user, and determining the number of variables selected by the user and input non-variable parameters and variable ranges, wherein the stability analysis instruction is used for indicating the stability of the second simulator to be analyzed;

responding to a variable data loading instruction, operating the second simulator according to the variable range and the non-variable parameters, and converting the acting force parameter set input by the user into track information through the second simulator;

and determining the stability of the second simulator in the variable range according to the track information.

2. The method of claim 1, wherein after converting the set of user-entered force parameters into trajectory information by the first simulator, further comprising:

responding to a user instruction, determining display content corresponding to the user instruction according to the track information, and displaying through a display interface, wherein the display content is used for representing the relation between the track information of the robot to be simulated under the simulator parameter and the performance of the simulator.

3. The method of claim 2, wherein determining, in response to a user instruction, display content corresponding to the user instruction from the trajectory information comprises:

responding to a drawing instruction of a user, and determining a response curve corresponding to the drawing instruction according to the track information, wherein the response curve is used for representing the relation between position information in the track information and a preset variable; and/or the presence of a gas in the gas,

and responding to an index analysis instruction of a user, and determining a performance index value corresponding to the index analysis instruction according to the track information, wherein the performance index value is used for representing an index value determined when the track information meets a preset performance condition.

4. The method of claim 1, wherein determining the stability of the second simulator over the range of variables from the trajectory information comprises:

and responding to a stability drawing instruction of a user, generating a stability image according to the relation between the variable and the stability, and displaying the stability image through an image display interface, wherein the stability image is used for representing the stability of the second simulator when the variable is changed in the variable range.

5. The method of claim 3, wherein the response curve comprises any one or more of:

a Bode plot curve;

a step response curve;

an impulse response curve.

6. A simulation apparatus of a robot controller, characterized by comprising:

the simulation system comprises a selection input unit, a simulation analysis unit and a simulation analysis unit, wherein the selection input unit is used for determining a first simulator selected by a user and simulator parameters input by the user, the first simulator is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in the simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated;

the track determining unit is used for responding to a data loading instruction, operating the first simulator according to the simulator parameters, and converting an acting force parameter set input by a user into track information through the first simulator, wherein the track information is used for representing the motion track of the robot to be simulated under the simulator parameters;

the stability analysis unit is used for responding to a stability analysis instruction of a user, determining the number of variables selected by the user and input non-variable parameters and variable ranges, wherein the stability analysis instruction is used for indicating the stability of the second simulator to be analyzed; responding to a variable data loading instruction, operating the second simulator according to the variable range and the non-variable parameters, and converting the acting force parameter set input by the user into track information through the second simulator; and determining the stability of the second simulator in the variable range according to the track information.

7. The apparatus of claim 6, wherein after converting the set of user-entered force parameters into trajectory information via the first simulator, the determine trajectory unit is further configured to:

responding to a user instruction, determining display content corresponding to the user instruction according to the track information, and displaying through a display interface, wherein the display content is used for representing the relation between the track information of the robot to be simulated under the simulator parameter and the performance of the simulator.

8. An emulation apparatus for a robot controller, comprising a processor and a memory, said memory storing a program executable by said processor, said processor being adapted to read said program from said memory and to perform the steps of the method of any of claims 1 to 5.

9. A computer storage medium having a computer program stored thereon, the program, when executed by a processor, implementing the steps of the method according to any one of claims 1 to 5.

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