CN115781688B - Robot control method and device, electronic equipment and storage medium - Google Patents
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Abstract
The invention discloses a robot control method, a robot control device, electronic equipment and a storage medium, wherein the robot control method comprises the following steps: determining a corresponding target communication time delay of the target robot in a high-voltage power grid environment according to a plurality of target signals received by a signal receiver in the target robot; acquiring a current motor rotating shaft angle corresponding to the target robot in real time, and determining a motor rotating shaft output quantity corresponding to the target robot according to the current motor rotating shaft angle, the target communication time delay and a pre-constructed dynamic equation; and determining a sliding mode surface corresponding to the target robot according to an error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft, and controlling the target robot to operate in a high-voltage power grid environment according to the sliding mode surface and a preset sliding mode control algorithm. The technical scheme of the embodiment can ensure the accuracy of the operation result of the robot in the high-voltage power grid environment and improve the execution efficiency of operation and maintenance work in the high-voltage power grid.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and apparatus for controlling a robot, an electronic device, and a storage medium.
Background
With the development of intelligent power grid in China, the existing power grid overhaul mode cannot meet the requirements of intelligent, safe and reliable power grid. The robot is used for realizing comprehensive on-site unmanned and intelligent operation and maintenance on each link of the power grid, and the operation and maintenance become a necessary trend.
At present, live working robots are widely applied to low-voltage distribution line terminals, but for high-voltage power grid environments, the problems of electric field environment interference and communication time delay of the high-voltage power grid environments are limited, and an effective technical means for controlling the robots to work is lacking in the prior art.
Disclosure of Invention
The invention provides a robot control method, a robot control device, electronic equipment and a storage medium, which can ensure the accuracy of a robot operation result in a high-voltage power grid environment.
In a first aspect, an embodiment of the present invention provides a robot control method, including:
determining a corresponding target communication time delay of the target robot in a high-voltage power grid environment according to a plurality of target signals received by a signal receiver in the target robot;
Acquiring a current motor rotating shaft angle corresponding to the target robot in real time, and determining a motor rotating shaft output quantity corresponding to the target robot according to the current motor rotating shaft angle, the target communication time delay and a pre-constructed dynamic equation;
The dynamic equation is constructed according to the motor rotating shaft angle corresponding to the target robot and the interference factor;
and determining a sliding mode surface corresponding to the target robot according to an error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft, and controlling the target robot to operate in a high-voltage power grid environment according to the sliding mode surface and a preset sliding mode control algorithm.
In a second aspect, an embodiment of the present invention provides a robot control device, including:
the time delay determining module is used for determining the corresponding target communication time delay of the target robot in the high-voltage power network environment according to a plurality of target signals received by the signal receiver in the target robot;
The angle acquisition module is used for acquiring the current motor rotating shaft angle corresponding to the target robot in real time, and determining the motor rotating shaft output quantity corresponding to the target robot according to the current motor rotating shaft angle, the target communication time delay and a pre-constructed dynamic equation;
The dynamic equation is constructed according to the motor rotating shaft angle corresponding to the target robot and the interference factor;
And the sliding mode control module is used for determining a sliding mode surface corresponding to the target robot according to an error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft, and controlling the target robot to operate in a high-voltage power grid environment according to the sliding mode surface and a preset sliding mode control algorithm.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the robot control method provided by any one of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium, where computer instructions are stored, where the computer instructions are configured to cause a processor to execute a method for controlling a robot according to any one of the embodiments of the present invention.
In a fifth aspect, an embodiment of the present invention provides a computer program product, characterized in that the computer program product comprises a computer program which, when executed by a processor, implements the robot control method provided by any of the embodiments of the present invention.
According to the technical scheme, the corresponding target communication time delay of the target robot in the high-voltage power network environment is determined according to a plurality of target signals received by the signal receiver in the target robot; acquiring a current motor rotating shaft angle corresponding to the target robot in real time, and determining a motor rotating shaft output quantity corresponding to the target robot according to the current motor rotating shaft angle, the target communication time delay and a pre-constructed dynamic equation; the dynamic equation is constructed according to the motor rotating shaft angle corresponding to the target robot and the interference factor; according to the error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft, a sliding mode surface corresponding to the target robot is determined, and according to the sliding mode surface and a preset sliding mode control algorithm, the technical means of the target robot operating in the high-voltage power grid environment is controlled, so that the accuracy of the operation result of the robot in the high-voltage power grid environment can be ensured, and the execution efficiency of operation and maintenance work in the high-voltage power grid is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a robot control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of another robot control method according to the second embodiment of the present invention;
fig. 3 is a schematic structural view of a robot control device according to a third embodiment of the present invention;
fig. 4 is a schematic structural view of an electronic device implementing a robot control method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a robot control method according to a first embodiment of the present invention, which is applicable to a case of controlling a robot to perform a job in a high-voltage power network environment, and the method may be performed by a robot control apparatus, which may be implemented in the form of hardware and/or software, and the apparatus may be configured in an electronic device (e.g., a terminal or a server).
As shown in fig. 1, the method specifically includes the following steps:
S110, determining the corresponding target communication time delay of the target robot in the high-voltage power network environment according to a plurality of target signals received by the signal receiver in the target robot.
In an embodiment, the target robot is a robot to be controlled. The target signal may be a signal received by a signal receiver in the target robot and sent by a signal source when the target robot operates in a high-voltage network environment.
In this step, optionally, after the signal receiver receives the plurality of target signals, a time interval between a transmission time and a reception time corresponding to each target signal may be calculated, and the target communication delay may be determined according to the time intervals respectively corresponding to the plurality of target signals.
S120, acquiring a current motor rotating shaft angle corresponding to the target robot in real time, and determining the output quantity of the motor rotating shaft corresponding to the target robot according to the current motor rotating shaft angle, the target communication time delay and a pre-constructed dynamic equation.
The dynamic equation is constructed according to the motor rotating shaft angle corresponding to the target robot and the interference factor.
In this embodiment, optionally, before determining the corresponding target communication delay of the target robot in the high-voltage network environment, a dynamic equation corresponding to the target robot may also be established. The dynamic equation is used for representing a functional relation between the current motor rotating shaft angle and the motor rotating shaft angle (namely the motor rotating shaft output quantity) at the next moment of the target robot under a preset interference factor.
The interference factor may be communication delay, or influence of a high-voltage electric field on rotation of a motor rotating shaft, etc.
In this step, optionally, the target communication delay may be used as an interference factor, and the current motor rotation axis angle and the target communication delay may be substituted into the above dynamic equation to obtain the motor rotation axis output corresponding to the target robot.
S130, determining a sliding mode surface corresponding to the target robot according to an error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft, and controlling the target robot to operate in a high-voltage power grid environment according to the sliding mode surface and a preset sliding mode control algorithm.
In this embodiment, the target spindle output result may be a desired spindle output of the target robot spindle. After obtaining an error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft, carrying out linear or nonlinear processing on the error value to obtain a sliding mode surface corresponding to the target robot.
The sliding mode control algorithm may be a spiral control algorithm or other second order sliding mode control algorithms with equal effect, which is not limited in this embodiment.
The method has the advantages that the target robot is controlled to operate in the high-voltage power grid environment by combining the corresponding target communication time delay of the target robot in the high-voltage power grid environment and the sliding mode control algorithm, so that on one hand, the problem that the operation result of the target robot is deviated due to communication delay can be avoided, and the accuracy of the operation result of the robot in the high-voltage power grid environment can be ensured; on the other hand, the influence of the jolt vibration generated by the operation movement of the robot on the robot can be effectively weakened, and the operation stability of the target robot is further improved.
According to the technical scheme of the embodiment, the corresponding target communication time delay of the target robot in the high-voltage power network environment is determined according to a plurality of target signals received by the signal receiver in the target robot; acquiring a current motor rotating shaft angle corresponding to the target robot in real time, and determining a motor rotating shaft output quantity corresponding to the target robot according to the current motor rotating shaft angle, the target communication time delay and a pre-constructed dynamic equation; the dynamic equation is constructed according to the motor rotating shaft angle corresponding to the target robot and the interference factor; according to the error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft, a sliding mode surface corresponding to the target robot is determined, and according to the sliding mode surface and a preset sliding mode control algorithm, the technical means for controlling the target robot to operate in a high-voltage power grid environment are provided, an effective mode for controlling the robot to operate in the high-voltage power grid environment is provided, the accuracy of the operation result of the robot in the high-voltage power grid environment can be ensured, and the execution efficiency of operation and maintenance work in the high-voltage power grid is improved.
Example two
Fig. 2 is a flowchart of another robot control method according to the second embodiment of the present invention. The present embodiment is a further refinement of the foregoing technical solution, and the technical solution in this embodiment may be combined with each alternative solution in one or more embodiments described above.
As shown in fig. 2, the method specifically includes the following steps:
s201, constructing a kinetic equation according to a motor rotating shaft angle corresponding to the target robot, an interference factor, an inertia constant corresponding to the motor rotating shaft angle and preset self-adaptive control parameters.
In this embodiment, the inertia constant and the adaptive control parameter may be parameters obtained by mapping the angle of the motor shaft through a correlation function.
In a specific embodiment, the angle of the motor shaft may be represented by θ, the inertia constant corresponding to the angle of the motor shaft may be represented by J (θ), the interference factor may be represented by τd, and the adaptive control parameter may be represented byThe kinetic equation can be expressed by the following formula:
Wherein, Can be expressed as the first derivative of the angle of the motor shaft with respect to time,/>May be expressed as a second derivative of the angle of the motor shaft with respect to time, τm may be expressed as motor shaft output,/>Can be expressed as a friction variable corresponding to the motor shaft angle.
S202, according to a plurality of target signals received by a signal receiver in the target robot, determining the original time delay corresponding to the target robot by adopting a cross-correlation time delay estimation algorithm.
In this embodiment, since the homologous target signals received by the signal receiver in the target robot have a strong correlation, the original delays of the two homologous target signals can be calculated by the cross-correlation delay estimation algorithm. Wherein the homologous target signal may be a signal from the same signal source.
In a specific embodiment, the basic principle of the cross-correlation delay estimation algorithm may be: a sound source is preset, and a source signal emitted from the sound source may be set to s (n). Two sound receivers are preset, the sound signal received by the first sound receiver may be set to x 1 (n), and the sound signal received by the second sound receiver may be set to x 2 (n). The delay between the two signals may be set to t. The superimposed sound propagation noise in x 1 (n) may be set to y 1(n),x2 (n) and the superimposed sound propagation noise in y 2 (n), then x 2(n),x2 (n) may be expressed by the following formulas, respectively:
x1(n)＝α1s(n)+y1(n)
x2(n)＝α2s(n-t)+y2(n)
further, the cross-correlation function may be expressed by the following formula:
Further, it will And (3) unfolding:
Where τ may be represented as a time delay, E [ ] may be represented as an averaging operation, and the peak of the cross-correlation function may be a time delay.
S203, determining the reference time delay corresponding to the target robot by adopting a minimum Mean Square error self-adaptive time delay estimation algorithm (Least-Mean-Square TIME DELAY ESTIMATE, LMS) according to a plurality of target signals received by a signal receiver in the target robot.
In this embodiment, alternatively, two signal output ports may be provided on the signal source, where one signal output port is connected to a phase shift filter, and a signal sent by the signal output port may be set as a reference signal, and the reference signal is sent to the signal receiver after being processed by the phase shift filter. The other signal output port is directly connected with the signal receiver, and the signal transmitted by the signal output port is used as a direct signal. A finite unit pulse filter (Finite Impulse Response, FIR) is provided in the signal receiver, and the FIR filter can take the direct signal and the reference signal as target signals and process them. The mean square error between the direct signal and the reference signal is minimized by adjusting the coefficients of the FIR filter. At this time, peak detection is performed by the LMS adaptive delay estimation circuit, so that the reference delay can be obtained.
In an optional implementation manner of the embodiment of the present invention, according to a plurality of target signals received by a signal receiver in a target robot, determining a reference delay corresponding to the target robot by using an LMS adaptive delay estimation algorithm includes: inputting a plurality of target signals received by a signal receiver into an LMS self-adaptive time delay estimation circuit; and determining the reference time delay corresponding to the target robot through the LMS self-adaptive time delay estimation circuit, the preset noise reduction circuit and a self-adaptive algorithm matched with the noise reduction circuit.
Specifically, the direct signal and the reference signal can be input into an LMS self-adaptive time delay estimation circuit added with a noise reduction circuit, then the noise reduction circuit is used for carrying out noise suppression on the direct signal and the reference signal, and finally the direct signal and the reference signal subjected to noise suppression are detected, so that the reference time delay subjected to noise suppression is obtained.
The noise reduction circuit may include an adaptive filter and a controller, among other things. The self-adaptive filter is used for generating noise with opposite phases, and the self-adaptive filter counteracts the original noise by utilizing the superposition principle, so that the effect of noise suppression is achieved. An adaptive algorithm is arranged in the controller and is used for adjusting the weight of the adaptive filter. The adaptive algorithm may employ a normalized variable step maximum correlation entropy (normalized version of Filter-x maximum correntropy criterion, fxnMCC) algorithm.
S204, taking the difference value between the original time delay and the reference time delay as the corresponding target communication time delay of the target robot in the high-voltage power grid environment.
In this embodiment, assuming that the original delay is denoted by τ 1 and the reference delay is denoted by τ m, the target communication delay τ 0 can be calculated by the following formula:
τ0＝τ1-τm
The method has the advantages that the influence of noise in the high-voltage power network environment on the target communication delay estimation can be well avoided by combining the LMS self-adaptive delay estimation algorithm with the cross-correlation delay estimation algorithm, so that the accuracy of the target communication delay is ensured, and the accuracy of the operation result of the robot in the high-voltage power network environment is improved.
S205, acquiring a current motor rotating shaft angle corresponding to the target robot in real time, and inputting the current motor rotating shaft angle and the target communication time delay into a dynamics equation to obtain a control signal corresponding to the target robot.
In this embodiment, the kinetic equation can also be expressed asWherein, H is a control signal corresponding to the target robot, and specifically, H may be expressed by the following formula:
In this step, the target communication delay may be substituted as an interference factor into the above formula, and a control signal corresponding to the target robot may be calculated.
S206, determining the output quantity of the motor rotating shaft corresponding to the target robot according to the current motor rotating shaft angle, the control signal and the self-adaptive control parameter.
In this step, H calculated in the above step may be substituted intoAnd obtaining the output quantity of the motor rotating shaft corresponding to the target robot.
S207, determining a sliding mode surface corresponding to the target robot according to an error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft and a preset constant control parameter.
In this embodiment, the error value may be denoted as e, the constant control parameter may be denoted as δ, the target spindle output result may be denoted as ζ 0, and the error value e=ζ 0-τm. The slip-form surface s corresponding to the target robot can be expressed by the following formula:
s＝δe2
S208, controlling the target robot to operate in a high-voltage power grid environment according to the sliding mode surface and a preset sliding mode control algorithm.
In this step, optionally, the sliding surface s, the corresponding derivative of the sliding surface may be usedAnd a preset sliding mode control algorithm for controlling the target robot to operate in the high-voltage power grid environment. Wherein/>
According to the technical scheme of the embodiment, a kinetic equation is constructed according to the motor rotating shaft angle corresponding to the target robot, the interference factor, the inertia constant corresponding to the motor rotating shaft angle and the self-adaptive control parameter; determining an original time delay by adopting a cross-correlation time delay estimation algorithm according to a plurality of target signals received by a signal receiver in a target robot; determining reference time delay by adopting an LMS self-adaptive time delay estimation algorithm according to a plurality of target signals received by a signal receiver in a target robot; taking the difference value between the original time delay and the reference time delay as the corresponding target communication time delay of the target robot in the high-voltage power network environment; inputting the current motor rotating shaft angle and the target communication time delay into a dynamic equation to obtain a control signal corresponding to the target robot; determining the output quantity of the motor rotating shaft corresponding to the target robot according to the current motor rotating shaft angle, the control signal and the self-adaptive control parameter; determining a sliding mode surface corresponding to the target robot according to an error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft and a constant control parameter; according to the sliding mode surface and the sliding mode control algorithm, the technical means of controlling the target robot to operate in the high-voltage power grid environment can ensure the accuracy of the operation result of the robot in the high-voltage power grid environment, and the execution efficiency of operation and maintenance work in the high-voltage power grid is improved.
Example III
Fig. 3 is a schematic structural diagram of a robot control device according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes: a time delay determining module 310, an angle obtaining module 320, and a sliding mode control module 330, wherein:
the delay determining module 310 is configured to determine, according to a plurality of target signals received by a signal receiver in the target robot, a corresponding target communication delay of the target robot in the high-voltage network environment;
the angle acquisition module 320 is configured to acquire, in real time, a current motor rotation axis angle corresponding to the target robot, and determine a motor rotation axis output amount corresponding to the target robot according to the current motor rotation axis angle, the target communication delay, and a pre-constructed kinetic equation;
The dynamic equation is constructed according to the motor rotating shaft angle corresponding to the target robot and the interference factor;
the sliding mode control module 330 is configured to determine a sliding mode surface corresponding to the target robot according to an error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft, and control the target robot to perform operation in the high-voltage power grid environment according to the sliding mode surface and a preset sliding mode control algorithm.
Optionally, the delay determining module 310 includes:
The original time delay determining unit is used for determining the original time delay corresponding to the target robot by adopting a cross-correlation time delay estimation algorithm according to a plurality of target signals received by the signal receiver in the target robot;
the first reference time delay determining unit is used for determining the reference time delay corresponding to the target robot according to a plurality of target signals received by a signal receiver in the target robot and an LMS self-adaptive time delay estimation algorithm;
The processing unit of the time delay estimation circuit inputs a plurality of target signals received by the signal receiver into the LMS self-adaptive time delay estimation circuit;
The second reference time delay determining unit is used for determining the reference time delay corresponding to the target robot through the LMS self-adaptive time delay estimating circuit, the preset noise reduction circuit and a self-adaptive algorithm matched with the noise reduction circuit;
And the target communication time delay determining unit is used for taking the difference value between the original time delay and the reference time delay as the corresponding target communication time delay of the target robot in the high-voltage power network environment.
Optionally, the angle acquisition module 320 includes:
the control signal acquisition unit is used for inputting the current motor rotating shaft angle and the target communication time delay into a dynamic equation to obtain a control signal corresponding to the target robot;
and the motor rotating shaft output quantity determining unit is used for determining the motor rotating shaft output quantity corresponding to the target robot according to the current motor rotating shaft angle, the control signal and the self-adaptive control parameter.
Optionally, the sliding mode control module 330 includes:
and the sliding mode surface determining unit is used for determining the sliding mode surface corresponding to the target robot according to the error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft and a preset constant control parameter.
Optionally, the device further includes:
The dynamic equation construction module is used for constructing a dynamic equation according to the motor rotating shaft angle corresponding to the target robot, the interference factor, the inertia constant corresponding to the motor rotating shaft angle and preset self-adaptive control parameters before the target signals are received by the signal receiver in the target robot.
According to the technical scheme of the embodiment, the corresponding target communication time delay of the target robot in the high-voltage power network environment is determined according to a plurality of target signals received by the signal receiver in the target robot; acquiring a current motor rotating shaft angle corresponding to the target robot in real time, and determining a motor rotating shaft output quantity corresponding to the target robot according to the current motor rotating shaft angle, the target communication time delay and a pre-constructed dynamic equation; the dynamic equation is constructed according to the motor rotating shaft angle corresponding to the target robot and the interference factor; according to the error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft, a sliding mode surface corresponding to the target robot is determined, and according to the sliding mode surface and a preset sliding mode control algorithm, the technical means for controlling the target robot to operate in a high-voltage power grid environment are provided, an effective mode for controlling the robot to operate in the high-voltage power grid environment is provided, the accuracy of the operation result of the robot in the high-voltage power grid environment can be ensured, and the execution efficiency of operation and maintenance work in the high-voltage power grid is improved.
The robot control device provided by the embodiment of the invention can execute the robot control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in the embodiments of the present invention can be found in the methods provided in all the foregoing embodiments of the present invention.
Example IV
Fig. 4 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, such as a robot control method.
In some embodiments, the robot control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the robot control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the robot control method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A robot control method, comprising:
determining a corresponding target communication time delay of the target robot in a high-voltage power grid environment according to a plurality of target signals received by a signal receiver in the target robot;
acquiring a current motor rotating shaft angle corresponding to a target robot in real time, and determining a motor rotating shaft output quantity corresponding to the target robot according to the current motor rotating shaft angle, a target communication time delay and a pre-constructed dynamic equation;
the dynamic equation is constructed according to the motor rotating shaft angle corresponding to the target robot and the interference factor;
And determining a sliding mode surface corresponding to the target robot according to an error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft, and controlling the target robot to operate in a high-voltage power grid environment according to the sliding mode surface and a preset sliding mode control algorithm.
2. The method of claim 1, wherein determining a corresponding target communication delay of the target robot in the high-voltage network environment based on the plurality of target signals received by the signal receiver in the target robot comprises:
According to a plurality of target signals received by a signal receiver in the target robot, determining the corresponding original time delay of the target robot by adopting a cross-correlation time delay estimation algorithm;
According to a plurality of target signals received by a signal receiver in a target robot, determining a reference time delay corresponding to the target robot by adopting a minimum mean square error (LMS) self-adaptive time delay estimation algorithm;
And taking the difference value between the original time delay and the reference time delay as the corresponding target communication time delay of the target robot in the high-voltage power network environment.
3. The method of claim 2, wherein determining the reference delay corresponding to the target robot using a minimum mean square error LMS adaptive delay estimation algorithm based on the plurality of target signals received by the signal receiver in the target robot comprises:
inputting a plurality of target signals received by the signal receiver into an LMS self-adaptive time delay estimation circuit;
and determining the reference time delay corresponding to the target robot through the LMS self-adaptive time delay estimation circuit, the preset noise reduction circuit and a self-adaptive algorithm matched with the noise reduction circuit.
4. The method of claim 1, further comprising, prior to receiving the plurality of target signals from the signal receiver in the target robot:
And constructing the dynamics equation according to the motor rotating shaft angle corresponding to the target robot, the interference factor, the inertia constant corresponding to the motor rotating shaft angle and the preset self-adaptive control parameter.
5. The method of claim 4, wherein determining the motor shaft output corresponding to the target robot based on the current motor shaft angle, the target communication delay, and a pre-constructed kinetic equation, comprises:
Inputting the current motor rotating shaft angle and the target communication time delay into the dynamic equation to obtain a control signal corresponding to the target robot;
And determining the output quantity of the motor rotating shaft corresponding to the target robot according to the current motor rotating shaft angle, the control signal and the self-adaptive control parameter.
6. The method of claim 1, wherein determining a slip-form surface corresponding to the target robot based on an error value between the motor shaft output and a target shaft output comprises:
And determining a sliding mode surface corresponding to the target robot according to an error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft and a preset constant control parameter.
7. A robot control device, comprising:
the time delay determining module is used for determining the corresponding target communication time delay of the target robot in the high-voltage power network environment according to a plurality of target signals received by the signal receiver in the target robot;
The angle acquisition module is used for acquiring the current motor rotating shaft angle corresponding to the target robot in real time, and determining the motor rotating shaft output quantity corresponding to the target robot according to the current motor rotating shaft angle, the target communication time delay and a pre-constructed dynamic equation;
the dynamic equation is constructed according to the motor rotating shaft angle corresponding to the target robot and the interference factor;
and the sliding mode control module is used for determining a sliding mode surface corresponding to the target robot according to an error value between the output quantity of the motor rotating shaft and the output result of the target rotating shaft, and controlling the target robot to operate in a high-voltage power grid environment according to the sliding mode surface and a preset sliding mode control algorithm.
8. An electronic device, the electronic device comprising:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the robot control method of any one of claims 1-6.
9. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to implement the robot control method of any one of claims 1-6 when executed.
10. A computer program product, characterized in that the computer program product comprises a computer program which, when executed by a processor, implements the robot control method according to any of claims 1-6.
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