CN113031622A - Accurate positioning control method for large-inertia float-cleaning robot - Google Patents
Accurate positioning control method for large-inertia float-cleaning robot Download PDFInfo
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- CN113031622A CN113031622A CN202110310643.6A CN202110310643A CN113031622A CN 113031622 A CN113031622 A CN 113031622A CN 202110310643 A CN202110310643 A CN 202110310643A CN 113031622 A CN113031622 A CN 113031622A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004140 cleaning Methods 0.000 title claims description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 6
- 230000001133 acceleration Effects 0.000 claims abstract description 5
- 238000013459 approach Methods 0.000 claims description 4
- 238000004061 bleaching Methods 0.000 claims description 4
- 230000000750 progressive effect Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000033764 rhythmic process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Numerical Control (AREA)
Abstract
A precise positioning control method for a large-inertia rinsing robot adopts speed closed-loop control, the robot runs progressively and quickly in an acceleration stage, the robot runs slowly in a deceleration stage based on an S-shaped curve, a speed planning strategy corresponds to a position target, the robot is adjusted progressively and quickly when approaching the target position, the vibration is inhibited and the area near the target position is eliminated, the large-inertia rinsing robot sets control instructions and parameters of an electric control driver, and full closed-loop motion control of a motor on a current loop, the position loop and a speed loop is realized, so that precise positioning of a tail end executing mechanism of the rinsing robot is realized, and the running stability is improved under the condition of large inertia heavy load.
Description
Technical Field
The invention belongs to the technical field of positioning of a rinsing robot, and relates to a precise positioning control method of a high-inertia rinsing robot.
Background
The demands of various fields on robot automation are gradually increased, and the laws and regulations of environmental protection and personal protection are increasingly perfected, so that the demands of accurate automatic positioning appear in a plurality of large-inertia and heavy-load application occasions. Although the application cases of the robot automation equipment are mature in small inertia and light load, reliable application technologies are lacked in the field, and most of the application cases are limited to the theoretical stage.
At present, in the field of robot automation, the application conditions of various industries are combined, a motion control product with small load and high dynamic response is mainly used, a rinsing robot is involved, the automatic control requirement of large inertia and heavy load is mostly not realized, and the precise positioning is mainly involved and difficult to overcome, so that under the background, the problem that the automatic control of the large inertia and heavy load is realized by combining an automatic control theory and engineering actual application is solved, and the problem that the precise control is realized is currently faced to solve.
Disclosure of Invention
The invention aims to solve the technical problem of providing a precise positioning control method of a large-inertia rinsing robot, which adopts speed closed-loop control, progressively and rapidly operates in an acceleration stage, slowly operates based on an S-shaped curve in a deceleration stage, a speed planning strategy corresponds to a position target, progressively and rapidly adjusts when the robot approaches the target position, inhibits oscillation and eliminates the area near the target position, the large-inertia rinsing robot sets control instructions and parameters of an electric control driver, and the full closed-loop motion control of a motor in a current loop, the position loop and the speed loop is realized, so that the precise positioning of a tail end actuating mechanism of the rinsing robot is realized, and the stability during operation is improved under the condition of large inertia heavy load.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a precise positioning control method for a large inertia float-garbage cleaning robot is characterized in that the speed of the large inertia float-garbage cleaning robot is controlled in a closed loop mode; and in the acceleration stage, the operation is performed progressively and quickly, in the deceleration stage, the operation is performed slowly based on the S-shaped curve, and the speed planning strategy corresponds to the position target.
And the position closed-loop motion control of the large-inertia float cleaning robot is realized, and when the robot approaches to a target position, progressive quick adjustment is realized, and the vibration is inhibited and the area near the target position is eliminated.
The large-inertia float-garbage cleaning robot sets control instructions and parameters of the electric control driver, and realizes full closed-loop motion control of the motor in a current loop, a position loop and a speed loop, so that the tail end actuating mechanism of the float-garbage cleaning robot is accurately positioned.
In the practical application of the invention, the aim of +/-1 mm of repeated positioning precision of the large-inertia heavy-duty robot is finally realized by adjusting parameters such as total inertia of the frequency converter, bandwidth of the speed regulator, proportional gain of the speed regulator, integral gain of the speed regulator, proportional gain of the position regulator, integral gain of the position regulator and the like, and meanwhile, the dynamic performance and steady-state error of a motion axis of the robot are well expressed, so that the requirement of process rhythm is completely met.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is an exploded view of a control algorithm shown in the precise positioning control method of the present invention.
Fig. 2 is a schematic front view of the bleaching robot of the present invention.
Fig. 3 is a side view schematic diagram of the cleaning and bleaching robot of the invention.
In the figure: the robot comprises a robot body 1, a PLC control system 2, an encoder 3, a motor 4, a laser ranging sensor 5 and a controlled object 6.
Detailed Description
As shown in fig. 1-3, a method for accurately positioning and controlling a large-inertia rinsing robot, the large-inertia rinsing robot performs speed closed-loop control; and in the acceleration stage, the operation is performed progressively and quickly, in the deceleration stage, the operation is performed slowly based on the S-shaped curve, and the speed planning strategy corresponds to the position target.
And the position closed-loop motion control of the large-inertia float cleaning robot is realized, and when the robot approaches to a target position, progressive quick adjustment is realized, and the vibration is inhibited and the area near the target position is eliminated.
The large-inertia float-garbage cleaning robot sets control instructions and parameters of the electric control driver, and realizes full closed-loop motion control of the motor in a current loop, a position loop and a speed loop, so that the tail end actuating mechanism of the float-garbage cleaning robot is accurately positioned.
Preferably, the accurate positioning requirement of the large-inertia heavy-load robot is met, and the specific implementation method is to achieve the aim through the PLC control system 2, the electric control driver, the executing mechanism and the double closed-loop feedback element based on a mode of combining an automatic control theory and the electric control driver.
Preferably, the PLC control system 2 sends a target position instruction, the electric control driver finally loads different adjusting values to each phase of current of the motor 4 through a positioning control algorithm, and the controlled object 6 is driven to realize accurate positioning control. An encoder 3 is arranged at the tail end of the motor 4 for speed closed-loop feedback; the robot body 1 is provided with a laser ranging sensor 5 for position closed loop feedback.
Preferably, the invention utilizes a high-performance frequency converter to execute the realization of a precise positioning control algorithm, and a three-loop control system of a current loop, a speed loop and a position loop is built in the precise positioning control algorithm. The outermost ring is a position ring, and a target position command received from the PLC control system 2 is compared with a feedback value of the laser ranging sensor 5 to calculate an output value as the given value of the speed ring. The intermediate loop is a speed loop, the input of the speed loop is the output of the position loop, speed closed loop feedback is performed through the encoder 3, and the output value is calculated as the given value of the current loop. The current loop is internally calculated to finally output a value to each phase of current of the motor 4 for real-time adjustment. The internal calculation of each ring adopts a PID control algorithm, wherein the position ring mainly carries out P (proportion) regulation; the speed loop mainly performs PI (proportional and integral) regulation. The PID algorithm motion equation used for adjusting each ring is as follows:
m (t) -output signal;
e (t) -input signal;
Kp-an adjustable scaling factor;
Ti-an adjustable integration time constant;
τ — differential time constant;
each parameter is finally determined in the field debugging of the system. It should generally be that I (integration) occurs in the low frequency band of the system frequency characteristic to improve the steady state performance of the system; the D (differential) part is made to occur in the mid-band of the frequency characteristics of the system to improve the dynamic performance of the system.
In the practical application of the invention, the aim of +/-1 mm of repeated positioning precision of the large-inertia heavy-duty robot is finally realized by adjusting parameters such as total inertia of the frequency converter, bandwidth of the speed regulator, proportional gain of the speed regulator, integral gain of the speed regulator, proportional gain of the position regulator, integral gain of the position regulator and the like, and meanwhile, the dynamic performance and steady-state error of a motion axis of the robot are well expressed, so that the requirement of process rhythm is completely met.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.
Claims (3)
1. A precise positioning control method for a large-inertia float-garbage cleaning robot is characterized by comprising the following steps: the speed of the large-inertia rinsing robot is controlled in a closed loop mode; and in the acceleration stage, the operation is performed progressively and quickly, in the deceleration stage, the operation is performed slowly based on the S-shaped curve, and the speed planning strategy corresponds to the position target.
2. The accurate positioning control method of the large-inertia bleaching robot as claimed in claim 1, which is characterized in that: and the position closed-loop motion control of the large-inertia float cleaning robot is realized, and when the robot approaches to a target position, progressive quick adjustment is realized, and the vibration is inhibited and the area near the target position is eliminated.
3. The accurate positioning control method of the large-inertia bleaching robot as claimed in claim 1, which is characterized in that: the large-inertia float-garbage cleaning robot sets control instructions and parameters of the electric control driver, and realizes full closed-loop motion control of the motor in a current loop, a position loop and a speed loop, so that the tail end actuating mechanism of the float-garbage cleaning robot is accurately positioned.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110310643.6A CN113031622A (en) | 2021-03-24 | 2021-03-24 | Accurate positioning control method for large-inertia float-cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110310643.6A CN113031622A (en) | 2021-03-24 | 2021-03-24 | Accurate positioning control method for large-inertia float-cleaning robot |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643627A (en) * | 2014-11-12 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | Gain adjustment device and method for robot motion control |
| CN105676896A (en) * | 2016-01-06 | 2016-06-15 | 西安交通大学 | Feed-forward control method for robot servo system |
| CN109361333A (en) * | 2018-10-30 | 2019-02-19 | 深圳市汇川技术股份有限公司 | Online inertia identification method, system, electric machine controller and readable memory |
| CN109676634A (en) * | 2018-08-28 | 2019-04-26 | 杭州电子科技大学 | Automatic disturbance rejection controller and industrial robot |
-
2021
- 2021-03-24 CN CN202110310643.6A patent/CN113031622A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643627A (en) * | 2014-11-12 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | Gain adjustment device and method for robot motion control |
| CN105676896A (en) * | 2016-01-06 | 2016-06-15 | 西安交通大学 | Feed-forward control method for robot servo system |
| CN109676634A (en) * | 2018-08-28 | 2019-04-26 | 杭州电子科技大学 | Automatic disturbance rejection controller and industrial robot |
| CN109361333A (en) * | 2018-10-30 | 2019-02-19 | 深圳市汇川技术股份有限公司 | Online inertia identification method, system, electric machine controller and readable memory |
Non-Patent Citations (1)
| Title |
|---|
| 刘松国: "六自由度串联机器人运动优化与轨迹跟踪控制研究", 《中国博士学位论文全文数据库•信息科技辑》 * |
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Application publication date: 20210625 |