CN113433820B - Control system of six-rotor spherical robot and trajectory control method thereof - Google Patents
Control system of six-rotor spherical robot and trajectory control method thereof Download PDFInfo
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- CN113433820B CN113433820B CN202110800514.5A CN202110800514A CN113433820B CN 113433820 B CN113433820 B CN 113433820B CN 202110800514 A CN202110800514 A CN 202110800514A CN 113433820 B CN113433820 B CN 113433820B
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- 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.
Abstract
The invention discloses a control system of a six-rotor spherical robot, which is characterized by comprising a position controller, an attitude controller, a control distributor and a spherical rolling dynamics module, wherein the position controller is connected with the control distributor through a control signal line; the position controller inputs the track waypoint and the current position information received by the sensor, calculates deviation, outputs expected rolling angular velocity and transmits the expected rolling angular velocity to the attitude controller; the attitude controller inputs the expected rolling angular speed and the angular speed data measured by the sensor, calculates the angular speed deviation, outputs the expected driving moment and transmits the expected driving moment to the control distributor; the control distributor resolves the expected driving torque into a control signal of the motor according to the spatial configuration of the motor arrangement in the six-rotor spherical robot and the current attitude information. The invention adopts the cascade PID algorithm to carry out the track control, solves the control problem of the six-rotor spherical robot, and realizes the complex track tracking and the accurate and stable control of the spherical robot.
Description
Technical Field
The invention relates to the technical field of spherical robot control, in particular to a control system of a six-rotor spherical robot and a speed and position control method thereof.
Background
The existing spherical robot control technology is mostly based on a gravity pendulum type and driving wheel type driving mode, and adopts a control strategy of linear rolling and yaw steering decoupling, so that the problem of complex track tracking exists, and the accurate and stable control effect is difficult to realize.
Disclosure of Invention
The invention aims to: aiming at the existing problems, the control system of the six-rotor spherical robot and the track control method thereof are provided, so that the six-rotor spherical robot can be accurately and stably controlled.
The technical scheme adopted by the invention is as follows:
the invention relates to a control system of a six-rotor spherical robot, which comprises a position controller, an attitude controller and a control distributor, wherein the position controller is connected with the attitude controller;
the position controller inputs the track waypoint and the current position information received by the sensor, calculates deviation, outputs expected rolling angular velocity and transmits the expected rolling angular velocity to the attitude controller;
the attitude controller inputs the expected rolling angular speed and the angular speed data measured by the sensor, calculates the angular speed deviation, outputs the expected driving moment and transmits the expected driving moment to the control distributor;
the control distributor resolves the expected driving torque into a control signal of the motor according to the spatial configuration of the motor arrangement in the six-rotor spherical robot and the current attitude information.
Preferably, the system further comprises a spherical rolling dynamics module, and the spherical rolling dynamics module outputs the position information, the angular velocity data and the attitude information measured by the corresponding sensors to the position controller, the attitude controller and the control distributor respectively.
The invention also discloses a track control method of the six-rotor spherical robot, which is based on the control system of the six-rotor spherical robot and adopts a cascade PID algorithm to carry out track control.
Preferably, the cascade PID algorithm specifically includes the following steps:
the method comprises the following steps: acquiring track waypoints and position information obtained by a position sensor as primary PID input, and performing integral separation by using a PID algorithm to obtain an expected rolling angular velocity;
step two: taking the expected rolling angular speed and the measured angular speed data as the input of a second-stage PID, calculating the angular speed deviation, and outputting expected driving torque;
step three: according to the spatial configuration of the arrangement of the motors in the six-rotor spherical robot and the detected current attitude information, the expected driving torque is resolved into control signals of the six motors.
Preferably, the position information obtained by the position sensor in the first step is sequentially subjected to mean filtering processing and kalman filtering processing.
Preferably, in the first step, integration and separation are performed by using a PID algorithm, so as to obtain the desired roll angular velocity: and replacing the original differential by the product of the proportional coefficient and the derivative value of the input value, performing integral separation on the deviation differential, and outputting the expected rolling angular speed based on the calculation result.
Preferably, the desired roll angular velocity is calculated by the formula:
wherein, KpIs a proportionality coefficient, KIIs the integral coefficient, KDIs the differential coefficient, e is the deviation of the desired position from the actual position,
is the desired roll angular velocity.
Preferably, the second step specifically comprises: construction of angular velocity control signals described under inertial frame by PI controller
Wherein the content of the first and second substances,
for desired roll angular velocity, ωeA description of the angular velocity data measured for the sensor in an inertial coordinate system; the ω iseThe calculation formula of (2) is as follows:
ωe＝Rb2eωB
wherein, ω isBThe angular velocity data measured for the sensor are described in the body coordinate system as a reference system, c stands for cos, s stands for sin,
theta, psi are 3 Euler angles;
angular acceleration control signal described under inertial coordinate system
Resolving into a drive torque control signal described in a body coordinate system
Where I is the inertia matrix.
Preferably, the third step specifically comprises: let the speed of rotation of rotor i (i ═ 1,2, …,6) reach ωiThe action effect is decomposed into a lifting force F in the axial direction of the motoriAnd a rotational moment Mi，Fi＝kFωi 2，Mi＝kMωi 2Wherein k isFIs the coefficient of rotation of the motor, kMIs the motor rotation torque coefficient;
the control distributor is designed as follows:
wherein L is the wheel base between two motors arranged in the same direction,
for the drive torque control signal described in the body coordinate system,
the desired roll angular velocities for the six motors.
Preferably, a torque-driven control distribution strategy is adopted in the third step, that is, two motors arranged on the same diameter adopt control signals with equal size and the same direction.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention realizes the control of the six-rotor spherical robot. Firstly, inputting the acquired track navigation and position information acquired by a position sensor into a position controller to obtain an expected rolling angular velocity; inputting the expected rolling angular speed and the measured angular speed data into an attitude controller, calculating angular speed deviation, and outputting expected driving moment; the control distributor calculates the expected driving torque into control signals of the six motors according to the spatial configuration of the arrangement of the motors in the six-rotor spherical robot and the detected current attitude information, so that the spherical robot is driven to move according to a preset track through the control of the motors.
2. The invention simplifies the control model and reduces the control difficulty. According to the spatial configuration arrangement of the motors, in order to avoid the phenomenon that the model coupling is too strong due to the reaction torque generated by the rotors in the rotating process, the invention adopts a torque-driven control distribution strategy, namely two motors arranged on the same diameter adopt control signals with equal size and the same direction, and under the control distribution strategy, the control signals of 6 rotors can be practically equivalent to 3 paths of rotating speed control signals, so that the simplification effect is achieved.
3. According to the invention, a control strategy for motors is designed according to the spatial configuration of the arrangement of the motors in the six-rotor spherical robot, and different actions of the robot are realized through the control coordination among the motors, so that the six-rotor spherical robot is accurately controlled.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic diagram of the overall structure of a hardware platform six-rotor spherical robot on which the present invention is based.
Fig. 2 is a layout diagram of motors and rotors in a six-rotor spherical robot.
Fig. 3 is a schematic diagram of a control system of a six-rotor spherical robot in an embodiment of the present invention.
Fig. 4 is a schematic diagram of the inertial coordinate system and the body coordinate system established in the present invention.
Fig. 5 is a graph of the effect of the trajectory control achieved by the present invention.
Fig. 6 is a graph showing the effect of the pitch channel control in practical tests of the present invention.
Fig. 7 is a graph showing the effect of the roll channel control in the practical test of the present invention.
The labels in the figure are: the structure of the robot comprises a spherical shell 1, an upper hemispherical shell 10, a lower hemispherical shell 11, a hole 12, an X-axis support 20, a Y-axis support 21, a Z-axis support 22, a lower motor 40, an upper motor 41, a right motor 42, a left motor 43, a front motor 44, a rear motor 45, a rotor 5 and a blade 6.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
As shown in fig. 1, the housing of the six-rotor spherical robot is a spherical housing 1, and a hole 12 is formed on the spherical housing 1; in the embodiment, a hollow spherical shell is preferred, and the hollow design is adopted, so that the air flow of the paddle can conveniently pass through. The spherical shell is divided into two hemispherical shells, an upper hemispherical shell 10 and a lower hemispherical shell 11, which can be conveniently opened and closed.
A bracket is fixed in the spherical shell, and a driving mechanism for driving the spherical shell to roll forward, spin and balance left and right is arranged on the bracket; the driving mechanism comprises a motor and a rotor wing arranged on the motor. At least six driving mechanisms are mounted on the bracket, and the six driving mechanisms comprise six motors and six rotors; the rotor includes at least one blade. The support comprises an X-axis support, a Y-axis support and a Z-axis support which pass through the same middle point.
As shown in fig. 2, driving mechanisms are symmetrically mounted at both ends of the X-axis support 20, the Y-axis support 21 and the Z-axis support 22, respectively; the drive mechanism comprises an electric motor, and a rotor 5 mounted on the electric motor. A motor and a rotor wing 5 are respectively and reversely arranged on each X-axis bracket 20, each Y-axis bracket 21 and each Z-axis bracket 22, an upper motor 41 and a lower motor 40 are respectively arranged on each X-axis bracket 20, each upper motor 41 is provided with the rotor wing 5 to generate an upward acting force, each lower motor 40 is provided with the rotor wing 5 to generate a downward acting force, and the left and right leveling of the spherical robot is realized by controlling the upper and lower motors; a left motor 43 and a right motor 42 are respectively arranged on the Y-axis support 21, a rotor wing 5 is arranged on the left motor 43 to generate a leftward acting force, a rotor wing 5 is arranged on the right motor 42 to generate a rightward acting force, and the rotation of the spherical robot is realized by controlling the left motor and the right motor; the Z-axis bracket 22 is respectively provided with a front motor 44 and a rear motor 45, the front motor 44 is provided with a rotor wing 5 to generate a forward acting force, the rear motor 45 is provided with a rotor wing 5 to generate a backward acting force, and the front motor and the rear motor are controlled to realize the front-back rolling of the spherical robot.
And a camera is also arranged in the spherical shell and used as a payload to detect the surrounding environment. An autopilot, an electric regulator, a power supply, a position indicator and a task computer are also arranged in the spherical shell; the automatic pilot is used for controlling the movement of the spherical robot; the electric regulator is used for converting direct current provided by a power supply into alternating current of the driving motor; the positioning instrument is used for acquiring positioning information; and the task computer is used for acquiring, processing and transmitting the load data and realizing autonomous planning and re-planning tasks. And the spherical shell is also internally provided with a data transmission and an image transmission which are communicated with the ground station and used for image transmission.
As shown in fig. 3, the present invention provides a control system of a six-rotor spherical robot, comprising a position controller, an attitude controller, a control distributor and rigid body dynamics (spherical rolling dynamics module); the position controller inputs the track waypoint and the current position information received by the sensor, calculates deviation, outputs expected rolling angular velocity and transmits the expected rolling angular velocity to the attitude controller; the attitude controller inputs the expected rolling angular speed and the angular speed data measured by the sensor, calculates the angular speed deviation, outputs the expected driving moment and transmits the expected driving moment to the control distributor; the control distributor resolves the expected driving torque into a control signal of the motor according to the spatial configuration of the motor arrangement in the six-rotor spherical robot and the current attitude information; and the spherical rolling dynamics module outputs position information, angular velocity data and attitude information measured by corresponding sensors to the position controller, the attitude controller and the control distributor respectively.
The invention provides a track control method of a six-rotor spherical robot, which comprises the following steps:
acquiring waypoint data of a track planner and position information acquired by a position sensor as first-level input; performing integral separation by using a PID algorithm, and obtaining an expected rolling angular velocity through a position controller to be used as the input of a second-stage PID;
inputting expected rolling angular velocity and angular velocity data measured by a gyroscope into an attitude controller, calculating angular velocity deviation, outputting expected driving moment, and transmitting the expected driving moment to a control distributor;
the control distributor resolves the expected driving torque into control signals of the six motors according to the space configuration of the motor arrangement in the six-rotor spherical robot and the current attitude information;
based on a spherical rolling dynamics model, under the synergistic effect of six rotors, the spherical robot can realize accurate and stable control according to a preset track.
In an embodiment, a trajectory control method of a six-rotor spherical robot is disclosed, comprising the following steps:
s101: acquiring waypoint data and position information obtained by a position sensor as first-stage input, performing integral separation by using a PID algorithm, and obtaining an expected rolling angular velocity through a position controller as second-stage PID input;
the method specifically comprises the following steps: and the waypoint data is obtained by discretizing a preset track, and the tracking process of switching to the next navigation section when the current position of the target waypoint on each navigation section crosses the navigation method plane where the waypoint is located. The position sensor obtains position information by using an indoor optical motion capture system OptiTrack, and the position sensor needs to be subjected to mean value filtering processing due to certain fluctuation; and the processed data is subjected to Kalman filtering, so that the position data is more real and reliable. Then, a discretized position type PID algorithm is used for controlling the expected rolling angular speed, integral separation is used for avoiding integral saturation, and the calculation formula is as follows:
wherein, KpIs a proportionality coefficient, KIIs the integral coefficient, KDIs the differential coefficient, e is the deviation of the desired position from the actual position,
calculating a desired roll angular velocity for the position controller;
s102: inputting expected rolling angular velocity and angular velocity data measured by a gyroscope into an attitude controller, calculating angular velocity deviation, outputting expected driving moment, and transmitting the expected driving moment to a control distributor;
specifically, the spherical robot can be simplified into an under-actuated rolling sphere with two orthogonal inputs, as shown in fig. 4, an inertial coordinate system oexyz and a body coordinate system CX of the spherical robot are established respectively with a motion origin O and a sphere center point C as originsBYBZB5 parameters can be selected to describe the pure rolling motion of the spherical robot along a smooth horizontal plane: coordinates of the sphere center C (x, y) and 3 Euler angles:
θ、ψ。
the expected rolling angular velocity data calculated by the position controller is based on the inertial coordinate system OXYZ as a reference system and is recorded as
The angular velocity data measured by the gyro sensor is the airframe coordinate system CX where the flight control itself is locatedBYBZBAs a reference system, denoted as ωB(ii) a Constructing angular acceleration control signals through PI controllers
Wherein, the first and the second end of the pipe are connected with each other,
desired roll angular velocity, ω, calculated for the position controllereThe calculation formula is described in an inertial coordinate system for the angular velocity data measured by the gyroscope sensor, and the calculation formula is as follows:
ωe＝Rb2eωB
wherein c represents cos and s represents sin.
According to the kinematic characteristics of the sphere, the angular acceleration control signal described in the inertial coordinate system is resolved into a driving torque control signal described in the body coordinate system
Wherein I is an inertia matrix;
s103: the control distributor resolves the expected driving torque into control signals of the six motors according to the space configuration of the motor arrangement in the six-rotor spherical robot and the current attitude information;
specifically, the control distribution is performed according to the motor space arrangement configuration of the six-rotor spherical robot shown in fig. 1 and 2. For a six-rotor spherical robot, our control means is to control the rotation speed of six rotors. First, the effect of the rotational speed ω is analyzed, and it is assumed that the rotational speed of the rotor i (i is 1,2, …,6) is desired to be ωiThen its effect can be resolved into the lifting force F in the axial direction of the motoriAnd a rotational moment MiThe relationship is:
Fi＝kFωi 2
Mi＝kMωi 2
wherein k isFIs the coefficient of rotation of the motor, kMIs the motor rotation torque coefficient.
According to the spatial configuration arrangement of the motors, in order to avoid the phenomenon that the model coupling is too strong due to the reaction torque generated by the rotors in the rotating process, the invention adopts a torque-driven control distribution strategy, namely two motors arranged on the same diameter adopt control signals with equal size and the same direction, under the control distribution strategy, the control signals of 6 rotors can be practically equivalent to 3 paths of rotating speed control signals, and the control distribution device is designed as follows:
wherein, L is the wheel base between two motors arranged in the same direction.
As shown in FIG. 5, the invention achieves very good track control effect in practical test, and improves the control precision of the spherical robot. As shown in fig. 6, the difference between the pitch input angular rate and the actual angular rate is small, which proves that the pitch channel control effect of the invention is good in the actual test. As shown in FIG. 7, the roll input angular rate and the actual angular rate are compared and are relatively close to each other, which shows that the roll channel control effect of the present invention is good in practical test. Through actual tests, test results prove that under the control of the track control method, the six-rotor spherical robot can realize accurate and stable control according to a preset track.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.
Claims (8)
1. A track control method of a six-rotor spherical robot is characterized in that a cascade PID algorithm is adopted for track control; the cascade PID algorithm specifically comprises the following steps:
the method comprises the following steps: acquiring track waypoints and position information obtained by a position sensor as primary PID input, and performing integral separation by using a PID algorithm to obtain an expected rolling angular velocity;
step two: taking the expected rolling angular speed and the measured angular speed data as the input of a second-stage PID, calculating the angular speed deviation, and outputting expected driving torque;
step three: according to the spatial configuration of the arrangement of the motors in the six-rotor spherical robot and the detected current attitude information, the expected driving torque is resolved into control signals of the six motors;
the second step specifically comprises: constructing an angular velocity control signal described under an inertial coordinate system through a PI controller
Wherein the content of the first and second substances,
to roll as desiredDynamic angular velocity, omegaeA description of the angular velocity data measured by the sensor in an inertial coordinate system; the omegaeThe calculation formula of (2) is as follows:
ωe＝Rb2eωB
wherein, ω isBThe angular velocity data measured for the sensor are described in the body coordinate system as a reference system, c represents cos, s represents sin,
theta, psi are 3 Euler angles;
angular acceleration control signal described under inertial coordinate system
Resolving into a drive torque control signal described in a body coordinate system
Where I is the inertia matrix.
2. The trajectory control method of a six-rotor spherical robot according to claim 1, wherein the position information obtained by the position sensor in the first step is subjected to a mean filtering process and a kalman filtering process in this order.
3. The trajectory control method of a hexa-rotor spherical robot according to claim 1 or 2, wherein in the first step, the integration and separation are performed by using a PID algorithm, and the method for obtaining the desired rolling angular velocity is as follows: and replacing the original differential by the product of the proportional coefficient and the derivative of the input value, performing integral separation on the deviation differential, and outputting the expected rolling angular speed based on the calculation result.
4. The trajectory control method of a six-rotor spherical robot according to claim 3, wherein the desired roll angular velocity is calculated by the formula:
wherein, KpIs a proportionality coefficient, kIIs an integral coefficient, kDIs the differential coefficient, e is the deviation of the desired position from the actual position,
is the desired roll angular velocity.
5. The trajectory control method of a six-rotor spherical robot according to claim 1, wherein the third step specifically comprises: the rotating speed of the rotor wing i is set to reach omegaiI is 1,2, …,6, the action effect is decomposed into a lift force F in the axial direction of the motoriAnd a rotational moment Mi，Fi＝kFωi 2，Mi＝kMωi 2Wherein k isFIs the coefficient of rotation of the motor, kMIs the motor rotation torque coefficient;
the control distributor is designed as follows:
wherein L is the wheel base between two motors arranged in the same direction,
for the drive torque control signal described in the body coordinate system,
the desired roll angular velocities for the six motors.
6. The trajectory control method of a six-rotor spherical robot according to claim 1, wherein a torque-driven control distribution strategy is adopted in the third step, that is, two motors arranged on the same diameter adopt control signals with equal magnitude and the same direction.
7. A control system of a six-rotor spherical robot, characterized in that the trajectory control method of the six-rotor spherical robot according to any one of claims 1 to 6 is adopted, comprising a position controller, an attitude controller, a control distributor;
the position controller inputs the track waypoint and the current position information received by the sensor, calculates deviation, outputs expected rolling angular velocity and transmits the expected rolling angular velocity to the attitude controller;
the attitude controller inputs the expected rolling angular speed and the angular speed data measured by the sensor, calculates the angular speed deviation, outputs the expected driving moment and transmits the expected driving moment to the control distributor;
the control distributor is used for resolving the expected driving torque into a control signal of the motor according to the spatial configuration of the motor arrangement in the six-rotor spherical robot and the current attitude information.
8. The control system for a six-rotor spherical robot according to claim 7, further comprising a spherical rolling dynamics module for outputting position information, angular velocity data, and attitude information measured by the corresponding sensors to the position controller, the attitude controller, and the control distributor, respectively.
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