CN113721526A - Remote operation control method of hexapod robot applied to time delay changing condition - Google Patents

Remote operation control method of hexapod robot applied to time delay changing condition Download PDF

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CN113721526A
CN113721526A CN202111022406.6A CN202111022406A CN113721526A CN 113721526 A CN113721526 A CN 113721526A CN 202111022406 A CN202111022406 A CN 202111022406A CN 113721526 A CN113721526 A CN 113721526A
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energy
communication link
time delay
slave
active
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尤波
于波
李佳钰
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Harbin University of Science and Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention belongs to the technical field of foot type robot teleoperation. The invention discloses a remote operation control method of a hexapod robot applied to a time delay variable condition. The invention provides a wave impedance updating rule, which is used for adjusting wave impedance in real time, seeking reasons of system activity by analyzing the activity of a communication link and an environment end, uniformly monitoring the active performance quantity overflowing after wave transformation compensation and the active performance quantity of the environment end based on an inactive observer, and designing an inactive controller to accurately dissipate the energy to ensure that the system presents inactivity constantly. The invention can effectively solve the defects that the wave transformation is applied to the variable time delay condition and the problem of the overflow of the active performance of the hexapod robot under the complex working condition, and improves the transparency of the system while ensuring the stability of the system.

Description

Remote operation control method of hexapod robot applied to time delay changing condition
Technical Field
The invention belongs to the technical field of teleoperation of foot robots, and particularly relates to a time delay compensation control method for completing efficient and stable walking by teleoperation of a hexapod robot under a variable time delay condition.
Background
The foot type walking robot has stronger adaptive capacity and passing capacity than a wheel type or crawler type mobile robot when facing complex terrain, mainly because the foot type robot can select a foot falling point leisurely in the advancing process, and meanwhile, the stability of a machine body can be ensured through multi-dimensional pose adjustment. Due to the existence of the advantages, the hexapod robot is widely applied to the fields of disaster relief, sea and air exploration, exploration and the like. However, it should be appreciated that although the legged robot can replace human beings to appear in dangerous working environments, due to unpredictable complexity of a working site, if it is difficult to ensure that the robot autonomously adapts to task requirements under complicated and variable working conditions by simply depending on an intelligent control algorithm of the robot, the fluctuation of a machine body under the rugged terrain may cause a deficiency of stability margin of the robot. The teleoperation technology can integrate human perception and decision-making capability into the whole control system, ensure human safety and simultaneously meet the control requirement of the hexapod robot facing complex working conditions, so that the hexapod robot can better complete different tasks.
However, the problem of communication delay in the interactive remote teleoperation robot is inevitable, and researches show that even a small delay may cause the operation performance of the teleoperation robot system to be reduced, influence the transparency of the system and even cause the instability of the whole system. The wave transformation method is one of effective methods for ensuring the passivity of a communication link, and has the disadvantages that a wave impedance parameter is a fixed parameter selected according to the time delay, the traceability of a system can be greatly reduced for time-varying time delay, and the passivity of the communication link cannot be ensured. In addition, through research on the existing teleoperation control system, it is found that the environmental end is mostly assumed to be passive in the teleoperation control research, but the assumption is not satisfied in many applications, for example, the environmental end may be presented with the activity when the hexapod robot faces the sole slip under the complex condition. Therefore, the invention adjusts the wave impedance in real time based on the proposed wave impedance updating rule, improves the tracking performance of the system, establishes a unified form of communication link and environment end active energy by combining a time domain passivity method, dissipates the active energy and ensures the stability of the system.
Disclosure of Invention
The invention aims to provide a hexapod robot teleoperation control method applied to a variable time delay condition, provides a wave impedance online adjustment rule aiming at the problems of reduced variable time delay tracking performance and insufficient stability of a wave transformation control algorithm processing, and dissipates the active performance of a communication link and an environment end by combining a time domain passivity method so as to realize the stability and good transparency of the hexapod robot operation.
In order to solve the problems, the invention is realized by the following technical scheme:
a hexapod robot teleoperation control method applied to a time-delay-variable condition specifically comprises the following steps:
step 1: performing dynamic modeling on the master-end robot, and performing kinematic modeling on the slave-end robot;
step 2: designing a time delay predictor to estimate the time delay; designing an online wave impedance adjustment rule, and adjusting the wave impedance in real time;
and step 3: acquiring speed information and force information of a master end and a slave end in real time, and calculating inflow and outflow energy of each port of a communication link and an environment end in real time in an accumulation mode;
and 4, step 4: analyzing passivity of a communication link and an environment end, and further establishing a unified mode of active performance compensation of the communication link and the environment end;
and 5: designing a passive observer at a master end and a slave end to monitor required energy information;
step 6: designing a master-slave passive controller, and respectively controlling the working states of a PC1 and a PC2 by PO1 and PO2 so as to realize accurate dissipation of active energy of a master-slave subsystem;
and 7: and designing a control algorithm of the teleoperation system, and analyzing the stability of the system based on the Llewellyn criterion.
The invention has the beneficial effects that:
the method for remotely controlling the hexapod robot under the condition of variable time delay establishes a wave impedance online adjustment rule on one hand, and applies the wave impedance online adjustment rule to a time-varying time delay system to improve the trackability of the system; and on the other hand, the communication link active performance and the environment end active performance are analyzed, the reason that the communication link and the environment end generate the active energy is analyzed, the active performance is monitored based on a passive observer, a unified expression form of the communication link and the environment end active energy is established, and the passive controller is used for accurately dissipating the active performance, so that the energy loss is reduced, the stable operation of the system is ensured, and the transparency of the system is improved.
Drawings
FIG. 1 is a schematic view of the structure of a hexapod robot
FIG. 2 is a diagram of a wave variable control structure of a teleoperation system
FIG. 3 is a diagram of a delay estimator structure
FIG. 4 is an overall block diagram of a teleoperation system
FIG. 5 is a flow chart of the control system
FIG. 6 is a diagram of a master-side module dual port network
FIG. 7 is a diagram of a slave-side module dual port network
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples.
One embodiment of the invention: a hexapod robot teleoperation control method applied to a time delay variable condition comprises the following steps:
step 1: performing dynamic modeling on the master-end robot, and performing kinematic modeling on the slave-end robot; the specific implementation mode is as follows:
the main-end robot dynamics model is as follows:
Figure BDA0003242018060000031
wherein M ismRepresenting the mass of the master robot, BmRepresenting the damping coefficient, FhRepresenting the force of the operator on the main-end robot, umControl law representing the master robot, qmRepresenting the position command of the master end robot.
When the body speed of the hexapod robot is tracked, in order to ensure the operability of the main-end subsystem, a new control variable is introduced into the original dynamic equation of the main-end robot
Figure BDA0003242018060000032
The damping term is added into the original position variable to ensure the output passivity of the main terminal subsystem, and the corrected main terminal control law is
Figure BDA0003242018060000033
In the formula
Figure BDA0003242018060000034
Figure BDA0003242018060000035
Respectively a local control law and a global control law, an
Figure BDA0003242018060000036
In the formula
Figure BDA0003242018060000037
The corrected main-end robot dynamic model is as follows:
Figure BDA0003242018060000038
the slave robot configuration is as shown in fig. 1, a hexapod robot single-leg coordinate system is established, and then the single-leg positive kinematic expression is as follows:
Figure BDA0003242018060000039
further, the single-leg inverse kinematics expression can be obtained as follows:
Figure BDA0003242018060000041
wherein
Figure BDA0003242018060000042
Step 2: firstly, a control structure based on a traditional wave variable is established, a communication link established by the control structure is shown in fig. 2, a wave impedance updating rule is provided aiming at the defects of the traditional wave transformation structure, a time delay predictor is designed, the structure of the time delay predictor is shown in fig. 3, the time delay change rate is estimated based on the time delay predictor, so that the wave impedance b is adjusted on line, and the specific updating rule of the wave impedance is as follows:
b(0)＝b
b(1)＝b(0)-α(T1+T2-Tf)
Figure BDA0003242018060000043
…
Figure BDA0003242018060000044
in the formula, TfThe average value of the round trip delay of a plurality of times of test of the system is shown, the initial value b of the wave impedance is selected according to the average value,
Figure BDA0003242018060000045
and the mean value of the time delay change rates of the forward channel and the reverse channel is represented, and alpha > 0 represents a proportional mapping coefficient between wave impedance and time delay.
And step 3: as shown in fig. 4, the teleoperation four-channel system architecture calculates the energy flowing in and out at two sides of the communication port as:
Figure BDA0003242018060000046
Figure BDA0003242018060000047
Figure BDA0003242018060000048
Figure BDA0003242018060000049
Figure BDA00032420180600000410
in the formula (I), the compound is shown in the specification,
Figure BDA0003242018060000051
Eethe energy of the communication link flowing into the main end, flowing out from the main end, flowing into the slave end and flowing out from the slave end of the port i and the energy of the communication link flowing into the slave end of the environment end are represented respectively, i is 1 and 2, the energy represents the corresponding control channel respectively, and:
Figure BDA0003242018060000052
Figure BDA0003242018060000053
Figure BDA0003242018060000054
Figure BDA0003242018060000055
in the formula
Figure BDA0003242018060000056
Representing the energy flowing into the communication link by the master,
Figure BDA0003242018060000057
representing the energy flowing out of the communication link to the master,
Figure BDA0003242018060000058
representing the energy flowing into the communication link from the end,
Figure BDA0003242018060000059
the energy flowing out from the communication link to the slave end is represented, and the requirement of ensuring the passivity of the communication link is met
Figure BDA00032420180600000510
And
Figure BDA00032420180600000511
and can be known from the energy accumulation formula
Figure BDA00032420180600000512
Thus can obtain
Figure BDA00032420180600000513
And
Figure BDA00032420180600000514
is a sufficient condition for communication link passivity.
And 4, step 4: in the step 2, the communication link established based on the wave variable can satisfy the stability of the system under any fixed time delay, but the problem of source energy overflow may occur under the condition of time-varying time delay, and according to the communication link control mechanism shown in fig. 2, the energy absorbed by the communication link can be represented as:
Figure BDA00032420180600000515
let sigma be tau-Ti(τ)
Further obtain the
Figure BDA00032420180600000516
As can be seen from the above formula, when T isiLess than or equal to 0 or TiWhen the pressure is higher than 1,
Figure BDA00032420180600000517
the communication link is passive, otherwise, when 0 < TiWhen the value is less than or equal to 1, the communication link may be rendered active.
From the kinematic point of view, the speed loss at the body is regarded as the comprehensive result of the action of the external force at the environment end on the hexapod robot system, and the specific form is as follows:
vd-vs＝δu
wherein v isdIndicating the desired velocity command, v, of the hexapod robot bodysRepresenting the actual speed, delta, of the body after the action of the environmentuRepresenting the equivalent force responsible for the body velocity difference.
Defining the body velocity shift rate as S ═ vd-vs)/vdThe force of the environmental end on the hexapod robot can be described as:
Figure BDA0003242018060000061
during the movement, the energy of the environment end can be described as:
Figure BDA0003242018060000062
it can be divided into two parts
Figure BDA0003242018060000063
And
Figure BDA0003242018060000064
when the foot end slips, the following 2 conditions can be divided:
(1) plantar glide results in increased body speed, causing the glide rate S to decrease, at which point
Figure BDA0003242018060000065
So that
Figure BDA0003242018060000066
Exhibit the activity of increasing body velocity but still allowing v if plantar glide results ind≥vsAt this time Ee2The passivity is still maintained at more than or equal to 0, otherwise, if the plantar slippage causes the increase of the body speed, the v is increasedd＜vsThen E ise2< 0 exhibits activity;
(2) plantar glide results in a decrease in body speed, causing an increase in glide rate S, at which point
Figure BDA0003242018060000067
It can be known that
Figure BDA0003242018060000068
Remain inactive, and Ee2< 0 exhibits the activity.
The coupling effect of the communication link on the active performance of the slave end and the active energy generated by the environment end can be specifically divided into 4 cases:
(1) the communication link and the environment end show passivity to the slave end, and the passive controller of the slave end stops dissipating energy at the moment;
(2) when the communication link active energy overflows to act on the slave end and the environmental port is inactive, if the communication link active energy overflows to act on the slave end, the environmental port is inactive
Figure BDA0003242018060000069
It means that the active capacity injected into the slave by the communication link can be consumed by the environment if it is
Figure BDA00032420180600000610
The active energy injected into the slave end by the communication link cannot be dissipated by the environment end, and the PC2 starts to work to dissipate the active energy;
(3) when the communication link is passive and the environmental port is active, if it is passive
Figure BDA0003242018060000071
It means that the part of active energy can be consumed by the communication link if
Figure BDA0003242018060000072
The active energy obtained from the end cannot be dissipated by the communication link, and the PC2 dissipates the active energy;
(4) when both the communication link and the environment are active, the whole energy is dissipated through the PC2 to keep the system inactive.
And 5: the passive observer at the master end and the slave end is designed as follows:
the main-end passive observer is designed in such a way that the energy flowing into the communication link from the end in steps of 0 to k-T/delta T is subtracted by the energy flowing out of the communication link from the main end in steps of 0 to k, and the energy generated by the main-end PC in steps of 0 to k-1 is added:
Figure BDA0003242018060000073
the passive observer at the slave end is designed to be that the energy flowing into the communication link from the master end in steps of 0 to k-T/delta T is subtracted by the energy flowing out of the communication link from the slave end in steps of 0 to k, and the sum of the energy generated by the environment end in steps of 0 to k and the energy generated by the PC at the slave end in steps of 0 to k-1 is added:
Figure BDA0003242018060000074
wherein
Figure BDA0003242018060000075
Step 6: when PO is negative, it shows that the port is active in the k step, the corresponding PC starts to work, and the damping coefficient alpha is usediTo dissipate this portion of active energy, otherwise the damping coefficient is set to 0, PC1 and PC2 are designed to:
Figure BDA0003242018060000076
Figure BDA0003242018060000077
and 7: the operation process is embodied in that an operator controls the master-end robot to send a control command r to the slave-end robotmThe expected speed is used as the expected speed of the body, and the actual speed v is automatically generated by the bottom layer control algorithm of the hexapod robotsThe control law of the system is as follows:
Figure BDA0003242018060000078
the invention adopts a passivity analysis method to design the control law of the master-slave end robot, so as to ensure the passivity of each module of the teleoperation system, the master end module can be described as a dual-port network, as shown in fig. 6, the mixed matrix model of the port is as follows:
Figure BDA0003242018060000081
the constraint condition that the absolute stability of the main end module can be obtained by using the Lleweilyns absolute stability criterion is as follows:
Figure BDA0003242018060000082
the slave-side module can be described as a two-port network, as shown in fig. 7, the hybrid control matrix model of the port is:
Figure BDA0003242018060000083
the constraint condition of absolute stability of the slave module can be obtained by using the Llewellyns absolute stability criterion as follows:
Figure BDA0003242018060000084

Claims (1)

1. a teleoperation control method of a hexapod robot applied to a time-delay-variable condition is characterized by comprising the following steps:
the method comprises the following steps: aiming at the problem of communication link originality caused by communication time delay in teleoperation control, a system is designed based on a wave transformation control algorithm, and meanwhile, a time delay predictor is designed to carry out online identification on time-varying time delay, so that an online wave impedance updating rule is provided, the real-time adjustment of wave impedance is realized, the control requirements of the wave impedance under different time delays are met, and the tracking performance of the system is improved;
step two: aiming at the problem of active performance overflow after the environment end activity and the time-varying delay presented by the complex working environment of the hexapod robot are compensated through wave transformation, respectively calculating the energy information of each port, analyzing the activity of a communication link and the environment end, establishing a unified expression form of the communication link and the environment end active energy, designing a master and slave passive observer (PO1 and PO2) and a master and slave passive controller (PC1 and PC2) according to the unified expression form, monitoring the active performance by the PO, accurately dissipating the overflowing active performance by the PC, and ensuring the stability of the system;
in the first step, time delay is identified on line based on a time delay predictor, and the wave impedance value is updated in real time according to the obtained time delay value, wherein the wave impedance updating rule is as follows:
b(0)＝b
b(1)＝b(0)-α(T1+T2-Tf)
Figure FDA0003242018050000011
…
Figure FDA0003242018050000012
in the formula, TfThe average value of the round trip delay of a plurality of times of test of the system is shown, the initial value b of the wave impedance is selected according to the average value,
Figure FDA0003242018050000013
and the mean value of the time delay change rates of the forward channel and the reverse channel is represented, and alpha > 0 represents a proportional mapping coefficient between wave impedance and time delay.
The energy of each port in the second step is calculated as follows:
Figure FDA0003242018050000014
Figure FDA0003242018050000015
Figure FDA0003242018050000016
Figure FDA0003242018050000017
Figure FDA0003242018050000018
in the formula (I), the compound is shown in the specification,
Figure FDA0003242018050000021
Eethe energy representing the communication link of the main end inflow, the main end outflow, the slave end inflow and the slave end outflow and the energy representing the communication link of the environment end inflow and the slave end inflow respectively, i is 1 and 2, the energy representing the corresponding control channel respectively, and:
Figure FDA0003242018050000022
in the second step, the communication link is active due to communication time delay, when the energy flowing out of the communication link from the slave end is greater than the energy flowing into the communication link from the master end, the communication link can inject active energy into the slave terminal system, and when the energy flowing out of the communication link from the master end is greater than the energy flowing into the communication link from the slave end, the communication link can inject active energy into the master terminal system;
in the second step, the environment end is active, in general, the environment end consumes energy of the slave terminal system, and when the sole of the hexapod robot slides on the ground under a complex working condition, the environment end can flow into the energy of the slave terminal system, so that the environment end is active;
the method for designing the passive observers at the master end and the slave end in the step two comprises the following steps: the method comprises the following steps that a main-end passive observer (PO1) monitors energy flowing out of a communication link from a main end and energy flowing into the communication link from the main end under a time delay condition, a secondary-end passive observer (PO2) monitors energy flowing out of the communication link from the secondary end, energy flowing into the communication link from the main end under the time delay condition and energy flowing into the communication link from an environment end, and the specific observed energy values are as follows:
Figure FDA0003242018050000023
Figure FDA0003242018050000024
wherein the content of the first and second substances,
Figure FDA0003242018050000025
and
Figure FDA0003242018050000026
representing the energy produced by PC1 and PC2 at steps 0 through k, respectively.
The passive controller in the step two: the PC1 is controlled by PO1, when the communication link injects active energy to the main end, the part of energy is dissipated, the PC2 is controlled by PO2, the communication link and the environment end are regarded as a whole and are uniformly represented, and the PC2 starts dissipating the part of active energy only when the whole active energy is presented in the process of interacting with the energy of the slave terminal system, so that the energy loss is reduced, and the PC1 and the PC2 are specifically designed as follows:
Figure FDA0003242018050000027
Figure FDA0003242018050000028
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