CN117991706A - Industrial robot control process given signal correction device and control system - Google Patents
Industrial robot control process given signal correction device and control system Download PDFInfo
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Abstract
The invention discloses a given signal correction device and a control system in an industrial robot control process, wherein the given signal correction device comprises: the system comprises a first-order inertial filter, a third-order inertial filter, a subtracter, a negative proportion controller and an adder; the output end of the first-order inertial filter is respectively connected with the input end of the third-order inertial filter and the first input end of the subtracter, the output end of the third-order inertial filter is connected with the second input end of the adder, the output end of the subtracter is connected with the input end of the negative proportion controller, and the output end of the negative proportion controller is connected with the first input end of the adder. The invention uses a first-order inertial filter, a third-order inertial filter, a subtracter, a negative proportion controller and an adder module to correct a given signal in the control process of the industrial robot based on the functions of smoothing processing, difference calculation and inverse proportion control of the signal, thereby improving the control performance of the fastest control system of the industrial robot.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a given signal correction device and a control system in an industrial robot control process.
Background
In industrial process control practice, engineering researchers invented an accelerated engineering fastest Proportional-Integral (ACCELERATED ENGINEERING FASTEST pro-Integral, AEFPI) controller, which significantly improved feedback control performance. AEFPI are suitable for use alone, and the magnitude of the improvement in relative Proportional-Integral (PI) control performance is sufficient.
In practice, AEFPI control has been found to have a large process overshoot, an inherent characteristic of AEFPI control. However, in the control systems of the joint position, speed, moment and the like of the industrial robot, larger process overshoot is not allowed to occur, and a First order inertial filter (INERTIAL FILTER, FOIF) is usually connected to a process given end, so that the method has a better effect of inhibiting the process overshoot. However, this simple treatment significantly reduces the tuning performance of AEFPI controls. Therefore, there is a problem in that the adjustment performance is low when the signal correction is given in the industrial robot control process with respect to the prior art.
Therefore, there is a need for an industrial robot control process given signal correction strategy that solves the problem of low adjustment performance in the prior art when performing industrial robot control process given signal correction.
Disclosure of Invention
The embodiment of the invention provides a device and a system for correcting a given signal in an industrial robot control process, which are used for improving the adjustment performance of the given signal in the industrial robot control process.
In order to solve the above-mentioned problems, an embodiment of the present invention provides an apparatus for correcting a given signal in a control process of an industrial robot, comprising: the system comprises a first-order inertial filter, a third-order inertial filter, a subtracter, a negative proportion controller and an adder;
The output end of the first-order inertial filter is respectively connected with the input end of the third-order inertial filter and the first input end of the subtracter, the output end of the third-order inertial filter is connected with the second input end of the adder, the output end of the subtracter is connected with the input end of the negative proportion controller, and the output end of the negative proportion controller is connected with the first input end of the adder.
As an improvement of the above-described scheme, the present embodiment further includes: the input end of the first-order inertial filter and the second input end of the adder are used for receiving a process given signal, and the output end of the adder is used for outputting an industrial robot control system process given.
As an improvement of the above scheme, the process-given signal is specifically: the process of the industrial robot joint speed control system gives a signal.
As an improvement of the above-described scheme, the first-order inertial filter satisfies the following condition:
Wherein f FOIF:A(s) is the Laplacian transfer function of the first-order inertial filter; t FOIF:A is the time constant of the first order inertial filter in milliseconds (ms).
As an improvement of the above-described scheme, the third-order inertial filter satisfies the following condition:
Wherein f TOIF(s) is the Laplacian transfer function of the third-order inertial filter; t TOIF is the time constant of the third order inertial filter in milliseconds (ms).
As an improvement of the above-described scheme, the negative ratio controller satisfies the following conditions:
fNPCO(s)＝-KNPCO
wherein f NPCO(s) is the Laplace transfer function of the proportional controller; k NPCO is the gain of the proportional controller, and the unit is dimensionless.
As an improvement of the above scheme, the industrial robot control system process is given, and the following conditions are satisfied:
Wherein f AEFCSPG(s) is a Laplace transfer function given by an industrial robot control system process; f NPCO(s) is the Laplace transfer function of the negative ratio controller, K NPCO is the gain of the negative ratio controller, and the unit is dimensionless; f FOIF:A(s) is the Laplacian transfer function of the first order inertial filter, T FOIF:A is the time constant of the first order inertial filter, in ms; f TOIF(s) is the laplace transfer function of the third-order inertial filter, T TOIF is the time constant of the third-order inertial filter, in ms.
Correspondingly, an embodiment of the invention also provides a system for controlling the joint speed of the industrial robot at the highest speed, which comprises the following steps: the industrial robot control process comprises a given signal correction device, a feedback unit, an acceleration engineering fastest proportional-integral controller and a process device; wherein the industrial robot control process given signal correction device is applied with the industrial robot control process given signal correction device;
The input end of the industrial robot control process given signal correction device is connected with a process given signal, the output end of the industrial robot control process given signal correction device is connected with the feedback unit, the output end of the feedback unit is connected with the input end of the acceleration type engineering fastest proportional-integral controller, the output end of the acceleration type engineering fastest proportional-integral controller is connected with the process device, and the output end of the process device is connected with the feedback unit to form closed loop feedback.
As an improvement of the scheme, the accelerating engineering fastest proportional-integral controller meets the following conditions:
fAEFPI(s)＝KAEFPI[1+fAEFI(s)],
TAEFI＝TAEFTF
Wherein f AEFPI(s) is a transfer function of AEFPI, and K AEFPI cascade proportional control gain is provided in dimensionless units; f AEFI(s) is the transfer function of the acceleration engineering fastest integrator, and f AEFTF(s) is the transfer function of the acceleration engineering fastest tracking filter; t AEFI is the time constant of AEFI in ms; t AEFTF is the time constant of AEFTF in ms; n is the order, the unit is dimensionless; i and l are process variables, both being positive integers; quantitatively T AEFI＝TAEFTF.
As an improvement of the above scheme, the process device specifically comprises: a servo motor; the real-time servo motor satisfies the following conditions:
Wherein, P is SM(s) is a transfer function of the servo motor, s is Laplacian, K SM is a gain of the servo motor, and the unit is dimensionless; t sm1 and T sm2 are servo motor time constants in ms, respectively.
From the above, the invention has the following beneficial effects:
The invention provides a given signal correction device in an industrial robot control process, which comprises the following components: the system comprises a first-order inertial filter, a third-order inertial filter, a subtracter, a negative proportion controller and an adder; the output end of the first-order inertial filter is respectively connected with the input end of the third-order inertial filter and the first input end of the subtracter, the output end of the third-order inertial filter is connected with the second input end of the adder, the output end of the subtracter is connected with the input end of the negative proportion controller, and the output end of the negative proportion controller is connected with the first input end of the adder. The invention uses the first-order inertial filter, the third-order inertial filter, the subtracter, the negative proportion controller and the adder module, can realize the functions of signal filtering, difference calculation, inverse proportion operation and the like, improves the stability and the precision of a control system through the smooth processing, the difference calculation and the inverse proportion control of signals, and corrects the given signal in the control process of the industrial robot based on the functions of the smooth processing, the difference calculation and the inverse proportion control of the signals, thereby improving the control performance of the fastest control system of the industrial robot.
Drawings
FIG. 1 is a schematic diagram of a signal correction device for an industrial robot control process according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control system for controlling the joint speed of an industrial robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of simulation results of an industrial robot joint speed fastest control system without using a signal correction device for an industrial robot control process according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an industrial robot joint speed control system with a first-order inertial filter according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of simulation results of an industrial robot joint speed control system with a first-order inertial filter according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of simulation results of an industrial robot joint speed system employing a signal correction device for an industrial robot control process according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, fig. 1 is a schematic structural diagram of a given signal correction device in an industrial robot control process according to an embodiment of the present invention, as shown in fig. 1, including: a first-order inertial filter 101, a third-order inertial filter 102, a subtractor 103, a negative proportion controller 104, and an adder 105;
the output end of the first-order inertial filter 101 is respectively connected with the input end of the third-order inertial filter 102 and the first input end of the subtractor 103, the output end of the third-order inertial filter 102 is connected with the second input end of the adder 105, the output end of the subtractor 103 is connected with the input end of the negative proportion controller 104, and the output end of the negative proportion controller 104 is connected with the first input end of the adder 105.
As an improvement of the above-described scheme, the present embodiment further includes: the input end of the first-order inertial filter and the second input end of the adder are used for receiving a process given signal, and the output end of the adder is used for outputting an industrial robot control system process given.
As an improvement of the above scheme, the process-given signal is specifically: the process of the industrial robot joint speed control system gives a signal.
As an improvement of the above-described scheme, the first-order inertial filter satisfies the following condition:
Wherein f FOIF:A(s) is the Laplacian transfer function of the first-order inertial filter; t FOIF:A is the time constant of the first order inertial filter in milliseconds (ms).
In a specific embodiment, the first order inertial filter is a filter for filtering and smoothing the input signal.
As an improvement of the above-described scheme, the third-order inertial filter satisfies the following condition:
Wherein f TOIF(s) is the Laplacian transfer function of the third-order inertial filter; t TOIF is the time constant of the third order inertial filter in milliseconds (ms).
In a specific embodiment, the third order inertial filter is a higher order filter for further smoothing and filtering the signal.
As an improvement of the above-described scheme, the negative ratio controller satisfies the following conditions:
fNPCO(s)＝-KNPCO
wherein f NPCO(s) is the Laplace transfer function of the proportional controller; k NPCO is the gain of the proportional controller, and the unit is dimensionless.
In a specific embodiment, the negative ratio controller is a controller whose output signal is inversely proportional to the input signal.
As an improvement of the above scheme, the industrial robot control system process is given, and the following conditions are satisfied:
Wherein f AEFCSPG(s) is a Laplace transfer function given by an industrial robot control system process; f NPCO(s) is the Laplace transfer function of the negative ratio controller, K NPCO is the gain of the negative ratio controller, and the unit is dimensionless; f FOIF:A(s) is the Laplacian transfer function of the first order inertial filter, T FOIF:A is the time constant of the first order inertial filter, in ms; f TOIF(s) is the laplace transfer function of the third-order inertial filter, T TOIF is the time constant of the third-order inertial filter, in ms.
In a specific embodiment, the subtractor is a mathematical operator for calculating the difference between the two input signals.
Referring to fig. 2, fig. 2 is a schematic diagram of an industrial robot joint speed fastest control system according to an embodiment of the present invention, including: an industrial robot control process given signal correction device 201, a feedback unit 202, an acceleration type engineering fastest proportional-integral controller 203 and a process device 204; wherein the industrial robot control process given signal correction device 201 applies the industrial robot control process given signal correction device according to the present invention;
The input end of the industrial robot control process given signal correction device 201 is connected with a process given signal, the output end of the industrial robot control process given signal correction device 201 is connected with the feedback unit 202, the output end of the feedback unit 202 is connected with the input end of the acceleration type engineering fastest proportional-integral controller 203, the output end of the acceleration type engineering fastest proportional-integral controller 203 is connected with the process device 204, and the output end of the process device 204 is connected with the feedback unit 202 to form closed loop feedback.
In the feedback unit, only the signal output by the given control device of the industrial robot control process is taken as the subtracted number, and no subtracted number is input, so that the preset subtracted number (for example, zero, i.e., the output of the process device is 0) can be adopted in the primary operation; and after the feedback signals sequentially pass through the acceleration engineering fastest proportional-integral controller and the process device, inputting the signals output by the process device into the feedback unit to serve as a reduction number, so as to form closed loop feedback.
As an improvement of the scheme, the accelerating engineering fastest proportional-integral controller meets the following conditions:
fAEFPI(s)＝KAEFPI[1+fAEFI(s)],
TAEFI＝TAEFTF
Wherein f AEFPI(s) is a transfer function of AEFPI, and K AEFPI cascade proportional control gain is provided in dimensionless units; f AEFI(s) is the transfer function of the acceleration engineering fastest integrator, and f AEFTF(s) is the transfer function of the acceleration engineering fastest tracking filter; t AEFI is the time constant of AEFI in ms; t AEFTF is the time constant of AEFTF in ms; n is the order, the unit is dimensionless; i and l are process variables, both being positive integers; quantitatively T AEFI＝TAEFTF.
In one embodiment, an accelerated engineering fastest Proportional-Integral controller (ACCELERATED ENGINEERING FASTEST Proport-Integral, AEFPI), an accelerated engineering fastest integrator (accel. ENGINEERING FASTEST integrator, AEFI), and an accelerated engineering fastest tracking filter (accel. ENGINEERING FASTEST TRACKING FILTER, AEFTF).
In one embodiment, n is 16, and AEFPI is AEFPI (Sixteen order AEFPI, SOAEFPI) at 16 th order expressed as:
fSOAEFPI(s)＝KSOAEFPI[1+fSOAEFI(s)],
TSOAEFI＝TSOAEFTF
Where f SOAEFPI(s) is a transfer function of the order 16 AEFPI, K SOAEFPI is a 16 order AEFPI cascade proportional control gain, f SOAEFI(s) is a transfer function of a 16 order accelerating engineering fastest integrator (Sixteen order acceleration ENGINEERING FASTEST integrator, SOAEFI), and f SOAEFTF(s) is a transfer function of a 16 order accelerating engineering fastest tracking filter (Sixteen order acceleration ENGINEERING FASTEST TRACKING FILTER, SOAEFTF); t SOAEFI is the time constant of SOAEFI in ms; t SOAEFTF is the time constant of SOAEFTF in ms; quantitatively T SOAEFI＝TSOAEFTF.
As an improvement of the above scheme, the process device specifically comprises: a servo motor; the real-time servo motor satisfies the following conditions:
Wherein, P is SM(s) is a transfer function of the servo motor, s is Laplacian, K SM is a gain of the servo motor, and the unit is dimensionless; t sm1 and T sm2 are servo motor time constants in ms, respectively.
In a specific embodiment, a Process, P, servomotor (SM).
In one embodiment, K SM＝1,Tsm1＝100ms,Tsm2 =30 ms, process device P is:
Where f P(s) is the transfer function of the process device P and s represents the Laplacian.
When the open loop system phase of the process device is equal to-135 degrees, the open loop system gain is equal to 0.5, and the optimal parameters of AEFPI are searched to obtain AEFPI parameters as follows: t AEFI＝141ms,KAEFPI = 3.528.
To better illustrate the benefits of this embodiment, three reference sets are provided for comparison:
Reference group one: before an industrial robot control process of this embodiment is given a signal correction device, the process is given as a unit step, and the simulation result is obtained, as shown in fig. 3, in which the process is overshot by 55.0% and the adjustment time is 620ms (the adjustment time refers to the time when the process enters less than 5% deviation).
Reference group two: before an industrial robot control process of the invention is not adopted to give a signal correction device, a First Order Inertial Filter (FOIF) is given to be connected to the process, and the structure is shown in fig. 4; wherein, the first order inertial filter is:
Wherein f FOIF(s) is the laplace transfer function of the first-order inertial filter; t FOIF is the time constant of the first order inertial filter in milliseconds (ms);
Setting the parameter T FOIF =68 ms, and obtaining a simulation result, as shown in fig. 5, the process is overshot to 23.9%, and the adjustment time is 522ms.
Reference group three: by adopting the signal correction device for the industrial robot control process, which is disclosed by the invention, the T FOIF:A＝38ms,TTOIF =28 ms is set, the K NPCO = -0.85 is set, the obtained simulation result is shown in fig. 6, the process overshoot is 2.0%, and the adjustment time is 218s.
Therefore, the given signal correction device for the industrial robot control process obviously reduces process overshoot, obviously reduces adjustment time and better eliminates the process oscillation problem. Compared with the method that a first-order inertial filter is connected to a given end of the industrial robot joint speed control system, the performance of the industrial robot joint speed control system is remarkably improved.
The embodiment has the following beneficial effects:
The system comprises a first-order inertial filter, a third-order inertial filter, a subtracter, a negative proportion controller and an adder; the output end of the first-order inertial filter is respectively connected with the input end of the third-order inertial filter and the first input end of the subtracter, the output end of the third-order inertial filter is connected with the second input end of the adder, the output end of the subtracter is connected with the input end of the negative proportion controller, and the output end of the negative proportion controller is connected with the first input end of the adder. The invention uses the first-order inertial filter, the third-order inertial filter, the subtracter, the negative proportion controller and the adder module, can realize the functions of signal filtering, difference calculation, inverse proportion operation and the like, improves the stability and the precision of a control system through the smooth processing, the difference calculation and the inverse proportion control of signals, and corrects the given signal in the control process of the industrial robot based on the functions of the smooth processing, the difference calculation and the inverse proportion control of the signals, thereby improving the control performance of the fastest control system of the industrial robot.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (10)
1. An industrial robot control process-given signal correction device, comprising: the system comprises a first-order inertial filter, a third-order inertial filter, a subtracter, a negative proportion controller and an adder;
The output end of the first-order inertial filter is respectively connected with the input end of the third-order inertial filter and the first input end of the subtracter, the output end of the third-order inertial filter is connected with the second input end of the adder, the output end of the subtracter is connected with the input end of the negative proportion controller, and the output end of the negative proportion controller is connected with the first input end of the adder.
2. The industrial robot control process-given signal correction device according to claim 1, further comprising: the input end of the first-order inertial filter and the second input end of the adder are used for receiving a process given signal, and the output end of the adder is used for outputting an industrial robot control system process given.
3. The industrial robot control process given signal correction device according to claim 2, characterized in that the process given signal is in particular: the process of the industrial robot joint speed control system gives a signal.
4. An industrial robot control process given signal correction device according to claim 3, characterized in that the first order inertial filter satisfies the following condition:
Wherein f FOIF:A(s) is the Laplacian transfer function of the first-order inertial filter; t FOIF:A is the time constant of the first order inertial filter in milliseconds (ms).
5. The industrial robot control process-given signal correction device according to claim 4, wherein the third-order inertial filter satisfies the following condition:
Wherein f TOIF(s) is the Laplacian transfer function of the third-order inertial filter; t TOIF is the time constant of the third order inertial filter in milliseconds (ms).
6. The industrial robot control process given signal correction device according to claim 5, wherein the negative ratio controller satisfies the following condition:
fNPCO(s)＝-KNPCO
wherein f NPCO(s) is the Laplace transfer function of the proportional controller; k NPCO is the gain of the proportional controller, and the unit is dimensionless.
7. The industrial robot control process-given signal correction device according to claim 6, wherein the industrial robot control system process-given satisfies the following condition:
Wherein f AEFCSPG(s) is a Laplace transfer function given by an industrial robot control system process; f NPCO(s) is the Laplace transfer function of the negative ratio controller, K NPCO is the gain of the negative ratio controller, and the unit is dimensionless; f FOIF:A(s) is the Laplacian transfer function of the first order inertial filter, T FOIF:A is the time constant of the first order inertial filter, in ms; f TOIF(s) is the laplace transfer function of the third-order inertial filter, T TOIF is the time constant of the third-order inertial filter, in ms.
8. An industrial robot joint speed fastest control system, comprising: the industrial robot control process comprises a given signal correction device, a feedback unit, an acceleration engineering fastest proportional-integral controller and a process device; wherein the industrial robot control process-given signal correction device is applied with the industrial robot control process-given signal correction device according to any one of claims 1 to 7;
The input end of the industrial robot control process given signal correction device is connected with a process given signal, the output end of the industrial robot control process given signal correction device is connected with the feedback unit, the output end of the feedback unit is connected with the input end of the acceleration type engineering fastest proportional-integral controller, the output end of the acceleration type engineering fastest proportional-integral controller is connected with the process device, and the output end of the process device is connected with the feedback unit to form closed loop feedback.
9. The industrial robot joint speed fastest control system of claim 8, characterized in that the acceleration type engineering fastest proportional-integral controller satisfies the following condition:
fAEFPI(s)＝KAEFPI[1+fAEFI(s)],
TAEFI＝TAEFTF
Wherein f AEFPI(s) is a transfer function of AEFPI, and K AEFPI cascade proportional control gain is provided in dimensionless units; f AEFI(s) is the transfer function of the acceleration engineering fastest integrator, and f AEFTF(s) is the transfer function of the acceleration engineering fastest tracking filter; t AEFI is the time constant of AEFI in ms; t AEFTF is the time constant of AEFTF in ms; n is the order, the unit is dimensionless; i and l are process variables, both being positive integers; quantitatively T AEFI＝TAEFTF.
10. The industrial robot joint speed fastest control system of claim 9, characterized in that the process device is specifically: a servo motor; the real-time servo motor satisfies the following conditions:
Wherein, P is SM(s) is a transfer function of the servo motor, s is Laplacian, K SM is a gain of the servo motor, and the unit is dimensionless; t sm1 and T sm2 are servo motor time constants in ms, respectively.
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