CN107511830B - Adaptive adjustment realization method for parameters of five-degree-of-freedom hybrid robot controller - Google Patents
Adaptive adjustment realization method for parameters of five-degree-of-freedom hybrid robot controller Download PDFInfo
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Abstract
The invention discloses a method for realizing adaptive adjustment of parameters of a parallel mechanism controller in a five-degree-of-freedom hybrid robot, which comprises the following steps of: (1) constructing a node coordinate sequence; (2) constructing a node controller parameter sequence; (3) estimating and adjusting parameters of the controller on line; the invention has the beneficial effects that: the method adopts the strategy of obtaining a node controller parameter sequence by off-line setting and driving the joint motor controller parameter when the on-line estimation reference point is positioned at any point. The controller parameter estimation algorithm is simple, occupies less hardware resources, is mutually independent of the servo control algorithm, and can realize the self-adaptive adjustment of the controller parameters on the premise of ensuring the stability of the servo control.
Description
Technical Field
The invention relates to a method for realizing high-speed and high-precision motion control of a five-degree-of-freedom hybrid robot in a working space of the five-degree-of-freedom hybrid robot, in particular to a method for realizing adaptive adjustment of parameters of a controller of the five-degree-of-freedom hybrid robot.
Background
For a hybrid robot system with a parallel mechanism, the load inertia converted into the driving joint of the parallel mechanism is coupled with external disturbance, and the deformation is carried out at any position. The fixed gain controller is difficult to meet the requirements of high-speed and high-precision motion of the robot in a working space, and the application of the fixed gain controller in occasions with higher motion precision requirements (such as machining) is restricted.
Aiming at the strong nonlinearity and time-varying characteristics of a robot system, intelligent control algorithms such as fuzzy logic, neural networks, genetic algorithms and the like have been proposed at present, but most of the algorithms are difficult to be put into practical application for the robot system with a parallel mechanism. For example, although fuzzy control does not need an accurate mathematical model, robustness is strong, fault tolerance is high, and linguistic rules are simple, it is difficult to formulate a reliable fuzzy rule and membership function because the load inertia converted into the parallel mechanism driving joint and external disturbance are mutually coupled. For another example, the neural network and the genetic algorithm are large in calculation amount and lack of hardware support, so that the requirements of online adaptive control are difficult to meet.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a five-degree-of-freedom hybrid robot controller parameter self-adaptive adjustment implementation method which is simple in algorithm, small in occupied hardware resource, high in updating speed, good in real-time performance and good in motion control precision.
The invention is realized by the following technical scheme:
a method for realizing adaptive adjustment of parameters of a parallel mechanism controller in a five-degree-of-freedom hybrid robot comprises the following steps:
(1) constructing a node coordinate sequence, which comprises the following specific steps:
selecting a midpoint P of a working space of a reference point according to the working space symmetry of a reference point P of a parallel mechanism moving platform of a five-degree-of-freedom hybrid robot containing a position type three-degree-of-freedom parallel mechanism1Taking the middle plane of the working space of the reference point as a symmetrical plane, symmetrically selecting 2p points in the working space range of the reference points on two sides of the middle plane as nodes together, setting numbers for all the nodes and recording the coordinates of the nodes corresponding to each number under a robot coordinate system to form a node coordinate sequence, wherein p is a positive integer;
(2) constructing a node controller parameter sequence, which comprises the following specific steps:
(a) moving reference point P to midpoint P of working space of reference point1Sequentially setting controller parameters of three driving joint motors of the parallel mechanism, and recording the obtained controller parameters according to node numbers;
(b) sequentially moving the reference point P to each node on one side of the midplane, sequentially setting controller parameters of each driving joint motor of the parallel mechanism, and recording the obtained parameters according to node numbers;
(c) the motor of the driving joint, which is positioned in a plane in a reference point working space by a hinge connecting the driving joint and a static platform, is a No. 1 motor, the motors symmetrically distributed on the left side and the right side of the middle plane are respectively No. 2 and No. 3 motors, the controller parameters of the No. 2 and No. 3 motors are also symmetrical according to the plane symmetry of the reference point working space and the characteristic that the configuration change of the parallel mechanism in the working space is symmetrical about the middle plane, when the reference point of a movable platform is positioned at any node on one side of the middle plane, the controller parameter of the No. 2 driving joint motor is the controller parameter of the No. 3 driving joint motor at the node symmetrical to the node, the controller parameter of the No. 3 driving joint motor is the controller parameter of the No. 2 driving joint motor at the node symmetrical to the node, and the controller parameter of the No. 1 driving joint motor is unchanged, obtaining controller parameters of each driving joint motor when the reference point is positioned at a node on the other side of the midplane;
(d) forming a node controller parameter sequence from the parameters of the drive joint motor controllers at the nodes obtained in the steps (a), (b) and (c);
(e) defining the coordinates of each node as global variables and writing the global variables into a node coordinate sequence register, and defining the motor controller parameters of each driving joint of the parallel mechanism corresponding to each node as global variables and writing the global variables into a node controller parameter sequence register;
(3) the method comprises the following steps of on-line estimation and adjustment of controller parameters:
(a) taking a controller parameter obtained by setting when the moving platform reference point is positioned at the midpoint of the working space as an initial value, and writing the initial value into a controller parameter register;
(b) according to an NC numerical control machining program written by a user, a series of robot end pose instructions are generated through rough interpolation according to a given feed rate, and the rough interpolation cycle time required by the robot to move from one pose to the next pose is equal;
(c) in each coarse interpolation period, the terminal pose of the robot is calculated by a position inverse solution module to obtain a position instruction of a driving joint and the coordinates of a reference point of the movable platform, then the position instruction of the driving joint is sent to a control algorithm module, and the current coordinates of the reference point of the movable platform are written into a reference point coordinate register as global variables;
(d) judging the counting of the coarse interpolation number accumulator, if the counting reaches n times, clearing the accumulator and executing a controller parameter estimation module independent of the control algorithm module, calling data in a reference point coordinate register, data in a node coordinate sequence register and data in a node controller parameter sequence register, estimating by using an inverse distance weight method to obtain a motor controller parameter of a driving joint corresponding to the current coordinate of the reference point of the movable platform, and updating the current variable value in the controller parameter register;
the inverse distance weight method comprises the following steps: the motor controller parameter of the driving joint when the reference point of the movable platform is positioned at any point in the working space is the weighted estimation of the controller parameter of the motor at all node positions, the weight is inversely proportional to the current reference point position of the movable platform and the k-th power of the distance d between each node, therefore, under the coordinate system of the robot, the ith node coordinate is Pi(xi,yi,zi) And the coordinate of the position of the reference point is P (x, y, z), and the controller parameter of the jth driving joint motor is obtained by the following formula:
in the formula, Ki,jThe control parameter subsequence of the jth driving joint is represented at the ith node, and 2p +1 represents the number of the selected nodes, wherein i is 1, 2. J is 1,2, 3; k is 2; diRepresents the distance between the reference point P and the ith node, and is determined by the following formula:
(e) the control algorithm module reads the updated current values of the controller parameters of the motors in the controller parameter register, calculates and generates control signals of the motors of the driving joints, and sends the control signals to the servo system so as to control the motors to move;
(f) after the control algorithm module finishes one operation, the number of times of coarse interpolation is increased by the accumulator, and the next coarse interpolation period is entered, and the operations of the three steps (c), (d) and (e) are executed.
The invention has the beneficial effects that: the method adopts the strategy of obtaining a node controller parameter sequence by off-line setting and driving the joint motor controller parameter when the on-line estimation reference point is positioned at any point. The controller parameter estimation algorithm is simple, occupies less hardware resources, is mutually independent of the servo control algorithm, and can realize the self-adaptive adjustment of the controller parameters on the premise of ensuring the stability of the servo control.
Drawings
FIG. 1 is a schematic diagram of parallel mechanism working space node selection and controller parameter adjustment in a parallel robot;
FIG. 2 is a block diagram of a controller parameter adaptive adjustment strategy;
fig. 3 is a flow chart of adaptive adjustment calculation of controller parameters.
Detailed Description
In order to make the technical scheme of the invention clearer, the invention is further described in detail below by combining the attached drawings, and the invention is suitable for controlling any parallel-connection and series-parallel-connection robot with the characteristic of the deformation of the load inertia of the driving joint motor along with the position. Specifically, reference may be made to "a five-degree-of-freedom hybrid robot including a multi-axis rotating support" disclosed in patent CN104985596A, it should be understood that the specific examples described herein are only for explaining the present invention and are not limited to the examples.
The invention discloses a method for realizing self-adaptive adjustment of parameters of a five-degree-of-freedom hybrid robot controller, which comprises the following steps of:
(1) constructing a node coordinate sequence, which comprises the following specific steps:
reference point P of parallel mechanism moving platform of five-degree-of-freedom hybrid robot based on position type three-degree-of-freedom parallel mechanism (disclosed in patent CN 104985596A)The reference point P of the parallel mechanism moving platform of the five-freedom-degree hybrid robot is taken as an example, the setting of the reference point can be customized according to different hybrid robot structures and is generally selected on the axis of a serial rotating head connected with the moving platform), and the midpoint P of the working space of the reference point is selected1And taking the middle plane of the working space of the reference point as a symmetrical plane, symmetrically selecting 2p (p is a positive integer) points in the working space range of the reference points on two sides of the middle plane as nodes together, setting numbers for all the nodes and recording the nodes corresponding to each number in a robot coordinate system (the robot coordinate system is usually established on a static platform, as shown in figure 1, the central point of a Hooke hinge connected with a rotating bracket and a driven branched chain of a robot parallel mechanism is taken as a coordinate origin B, and a Cartesian coordinate system B-x fixedly connected with the static platform is established0y0z0) Coordinates of lower, form a node coordinate series { Pi(xi,yi,zi) 1, 2.., 2p +1), as follows:
{Pi(xi,yi,zi)}＝{P1(x1,y1,z1)P2m(x2m,y2m,z2m)P2m(x2m+1,y2m+1,z2m+1)}
in the formula, m is more than or equal to 1 and less than or equal to P, P1Representing the working space midpoint, P2mAnd P2m+1Representing the 2m and 2m +1 nodes symmetric about the midplane.
(2) Constructing a node controller parameter sequence, which comprises the following specific steps:
(a) moving reference point P to midpoint P of working space of reference point1Sequentially setting controller parameters of three driving joint motors of the parallel mechanism, recording the obtained controller parameters according to node numbers, wherein the motors of the driving joints of which hinges connecting the driving joints and the static platform are positioned in a plane in a reference point working space are No. 1 motors, the motors symmetrically distributed on the left side and the right side of the middle plane are respectively No. 2 motors and No. 3 motors, and the { K is used1Indicates that the movable platform reference point is positioned at the midpoint P of the working space1As a result of setting of
{K1}＝{K1,1K1,2K1,3}
In the formula K1,1，K1,2，K1,3Respectively shown at the 1 st node P1Referring to controller parameters of No. 1, No. 2 and No. 3 driving joint motors, the controller parameter setting method of each driving joint motor can refer to purchased motor controller setting operation instructions;
(b) the reference point P is sequentially moved to each node P on one side of the midplane2m(m is more than or equal to 1 and less than or equal to p), sequentially setting the controller parameters of each driving joint motor of the parallel mechanism, recording the obtained parameters according to node numbers, and taking the { K as a reference2mIndicates that the moving platform reference point is located at point P2mAs a result of the setting of the process, then
{K2m}＝{K2m,1K2m,2K2m,3}
In the formula K2m,1，K2m,2，K2m,3Respectively representing controller parameters of No. 1, No. 2 and No. 3 driving joint motors at the No. 2m node;
(c) according to the plane symmetry of the reference point working space and the characteristic that the configuration change of the parallel mechanism in the working space is symmetrical about the middle plane, the controller parameters of the No. 2 and No. 3 motors symmetrically distributed on the left side and the right side of the middle plane are also symmetrical. After the setting results of each node on one side of the midplane are obtained, when the reference point of the movable platform is located at any node on the other side, the controller parameter of the No. 2 driving joint motor is the controller parameter of the No. 3 driving joint motor at the node symmetrical to the node, the controller parameter of the No. 3 driving joint motor is the controller parameter of the No. 2 driving joint motor at the node symmetrical to the node, the controller parameter of the No. 1 driving joint motor is unchanged, and the node P on the other side of the midplane where the reference point is located is obtained2m+1(m is more than or equal to 1 and less than or equal to p) as the controller parameter of each driving joint motor, and the number is { K }2m+1Indicates that the moving platform reference point is located at point P2m+1As a result of the setting of the process, then
{K2m+1}＝{K2m+1,1K2m+1,2K2m+1,3}＝{K2m,1K2m,3K2m,2}
In the formula K2m+1,1，K2m+1,2，K2m+1,3Respectively represents the controller parameters of No. 1, No. 2 and No. 3 driving joint motors at the 2m +1 node.
The method is suitable for any parallel mechanism with a symmetrical configuration and a plane-symmetrical working space, the controller parameters of the driving joint motor which are symmetrical about the middle plane and obtained by setting under the symmetrical nodes are symmetrical, and the controller parameters of the driving joint motor which is positioned in the middle plane are unchanged.
(d) Forming a node controller parameter sequence { K ] from the parameters of the drive joint motor controllers at the respective nodes obtained in steps (a), (b) and (c)iRepresents as follows:
the following describes the setting of the drive joint motor controller according to the present invention, taking the drive joint motor in patent CN104985596A as an example, the three drive joint motors are set by using a position feedback and velocity feedforward hybrid correction control strategy, and a parameter sequence { K } of the node controller is setiDescription is given: node controller parameter sequence { K }iThe subsequence corresponding to each node in the method comprises three PID driving joints, speed feedforward and acceleration feedforward controller parameters
{Ki,j}＝{Ki,j,1Ki,j,2Ki,j,3Ki,j,4Ki,j,5}
＝{Ki,j,PKi,j,IKi,j,DKi,j,vffKi,j,aff}
Wherein, { Ki,jDenotes a control parameter subsequence at the i (i) th node, 1, 2.., 2p +1), at which the j (j) th node drives a joint. Ki,j,P,Ki,j,I,Ki,j,D,Ki,j,vff,Ki,j,affRespectively representing the parameters of proportional, integral, differential, speed feedforward and acceleration feedforward controllers in the parameter sequence of the controller;
(e) and defining the coordinates of each node as global variables and writing the global variables into a node coordinate sequence register, and defining the motor controller parameters of each driving joint of the parallel mechanism corresponding to each node as global variables and writing the global variables into a node controller parameter sequence register.
(3) The method comprises the following steps of on-line estimation and adjustment of controller parameters:
(a) taking a controller parameter obtained by setting when the moving platform reference point is positioned at the midpoint of the working space as an initial value, and writing the initial value into a controller parameter register;
(b) according to an NC numerical control machining program written by a user, a series of robot end pose instructions are generated through rough interpolation according to a given feed rate, and the rough interpolation cycle time required by the robot to move from one pose to the next pose is equal;
(c) in each coarse interpolation period, the terminal pose of the robot is calculated by a position inverse solution module to obtain a position instruction of a driving joint and the coordinates of a reference point of the movable platform, then the position instruction of the driving joint is sent to a control algorithm module, and the current coordinates of the reference point of the movable platform are written into a reference point coordinate register as global variables;
(d) judging the counting of the coarse interpolation number accumulator, if the counting reaches n times, clearing the accumulator and executing a controller parameter estimation module independent of the control algorithm module, calling data in a reference point coordinate register, data in a node coordinate sequence register and data in a node controller parameter sequence register, estimating by using an inverse distance weight method to obtain a motor controller parameter of a driving joint corresponding to the current coordinate of the reference point of the movable platform, and updating the current variable value in the controller parameter register;
in one embodiment of the present invention, the calling period of the controller parameter estimation module is determined according to task requirements and hardware computing capability, and may be set to be an integer (n) times of the coarse interpolation period. Accordingly, the controller parameter estimation and updating are performed once every n coarse interpolation periods, and the value of the controller parameter is kept unchanged before the next estimation.
The inverse distance weight method comprises the following steps: the motor controller parameter of the driving joint when the reference point of the movable platform is positioned at any point in the working space is weighted estimation of the controller parameter of the motor at all node positions, and the weight is inversely proportional to the current position of the reference point of the movable platform and the k power of the distance d between each node. Accordingly, under the robot coordinate system, the ith node coordinate is Pi(xi,yi,zi) And the coordinate of the position of the reference point is P (x, y, z), and the controller parameter of the jth driving joint motor is obtained by the following formula:
in the formula, Ki,jThe control parameter subsequence of the j-th driving joint is shown at the ith node, and 2p +1 shows the number of the selected nodes. 1, 2p + 1; j is 1,2, 3; diRepresents the distance between the reference point P and the ith node, and can be determined by the following equation:
in general, k may be 2.
(e) The control algorithm module reads the updated current values of the controller parameters of the motors in the controller parameter register, calculates and generates control signals of the motors of the driving joints, and sends the control signals to the servo system so as to control the motors to move;
(f) after the control algorithm module finishes one operation, the number of times of coarse interpolation is increased by the accumulator, and the next coarse interpolation period is entered, and the operations of the three steps (c), (d) and (e) are executed.
In summary, the method for realizing the self-adaptive adjustment of the parameters of the driving joint controller of the parallel mechanism in the five-degree-of-freedom hybrid robot disclosed by the invention adopts an inverse distance weighting method to estimate and update the parameters of the driving joint controller when the reference point of the movable platform is located at any point on line through the node coordinate sequence and the node controller parameter sequence constructed off line. The method has the advantages that the parameter estimation algorithm of the controller is simple and is mutually independent of the control algorithm, the self-adaptive adjustment of the parameters of the parallel mechanism driving joint controller can be realized on the premise of ensuring the control stability, and the improvement of the motion control precision of the robot system in the whole working space is facilitated.
Claims (1)
1. A method for realizing adaptive adjustment of parameters of a five-degree-of-freedom hybrid robot controller is characterized by comprising the following steps of:
(1) constructing a node coordinate sequence, which comprises the following specific steps:
selecting a midpoint P of a working space of a reference point according to the working space symmetry of a reference point P of a parallel mechanism moving platform of a five-degree-of-freedom hybrid robot containing a position type three-degree-of-freedom parallel mechanism1Taking the middle plane of the working space of the reference point as a symmetrical plane, symmetrically selecting 2p points in the working space range of the reference points on two sides of the middle plane as nodes together, setting numbers for all the nodes and recording the coordinates of the nodes corresponding to each number under a robot coordinate system to form a node coordinate sequence, wherein p is a positive integer;
(2) constructing a node controller parameter sequence, which comprises the following specific steps:
(a) moving reference point P to midpoint P of working space of reference point1Sequentially setting controller parameters of three driving joint motors of the parallel mechanism, and recording the obtained controller parameters according to node numbers;
(b) sequentially moving the reference point P to each node on one side of the midplane, sequentially setting controller parameters of each driving joint motor of the parallel mechanism, and recording the obtained parameters according to node numbers;
(c) the motor of the driving joint which is positioned in a plane in a reference point working space by a hinge connecting the driving joint and the static platform is a No. 1 driving joint motor, the motors symmetrically distributed at the left side and the right side of the middle plane are a No. 2 driving joint motor and a No. 3 driving joint motor respectively, the controller parameters of the No. 2 driving joint motor and the No. 3 driving joint motor also have symmetry according to the plane symmetry of the reference point working space and the characteristic that the configuration change of the parallel mechanism in the working space is symmetrical about the middle plane, when the reference point of the moving platform is positioned at any node at the other side after the setting result of each node at one side of the middle plane is obtained, the controller parameter of the No. 2 driving joint motor is the controller parameter of the No. 3 driving joint motor at the node symmetrical to the node, the controller parameter of the No. 3 driving joint motor is the controller parameter of the No. 2 driving joint motor at the node symmetrical to the node, the controller parameters of the No. 1 driving joint motor are unchanged, and the controller parameters of each driving joint motor are obtained when the reference point is located at the node on the other side of the midplane;
(d) forming a node controller parameter sequence from the parameters of the drive joint motor controllers at the nodes obtained in the steps (a), (b) and (c);
(e) defining the coordinates of each node as global variables and writing the global variables into a node coordinate sequence register, and defining the motor controller parameters of each driving joint of the parallel mechanism corresponding to each node as global variables and writing the global variables into a node controller parameter sequence register;
(3) the method comprises the following steps of on-line estimation and adjustment of controller parameters:
(a) taking a controller parameter obtained by setting when the moving platform reference point is positioned at the midpoint of the working space as an initial value, and writing the initial value into a controller parameter register;
(b) according to an NC numerical control machining program written by a user, a series of robot end pose instructions are generated through rough interpolation according to a given feed rate, and the rough interpolation cycle time required by the robot to move from one pose to the next pose is equal;
(c) in each coarse interpolation period, the terminal pose of the robot is calculated by a position inverse solution module to obtain a position instruction of a driving joint and the coordinates of a reference point of the movable platform, then the position instruction of the driving joint is sent to a control algorithm module, and the current coordinates of the reference point of the movable platform are written into a reference point coordinate register as global variables;
(d) judging the counting of the coarse interpolation number accumulator, if the counting reaches n times, clearing the accumulator and executing a controller parameter estimation module independent of the control algorithm module, calling data in a reference point coordinate register, data in a node coordinate sequence register and data in a node controller parameter sequence register, estimating by using an inverse distance weight method to obtain a motor controller parameter of a driving joint corresponding to the current coordinate of the reference point of the movable platform, and updating the current variable value in the controller parameter register;
the inverse distance weight method comprises the following steps: the motor controller parameter of the driving joint when the reference point of the movable platform is positioned at any point in the working space is the weighted estimation of the controller parameter of the motor at all node positions, the weight is inversely proportional to the current position of the reference point of the movable platform and the k-th power of the distance d between each node, therefore, under the coordinate system of the robot, the ith node coordinate is Pi(xi,yi,zi) And the coordinate of the position of the reference point is P (x, y, z), and the controller parameter of the jth driving joint motor is obtained by the following formula:
in the formula, Ki,jThe control parameter subsequence of the jth driving joint is represented at the ith node, and 2p +1 represents the number of the selected nodes, wherein i is 1, 2. J is 1,2, 3; k is 2; diRepresents the distance between the reference point P and the ith node, and is determined by the following formula:
(e) the control algorithm module reads the updated current values of the controller parameters of the motors in the controller parameter register, calculates and generates control signals of the motors of the driving joints, and sends the control signals to the servo system so as to control the motors to move;
(f) after the control algorithm module finishes one operation, the number of times of coarse interpolation is increased by the accumulator, and the next coarse interpolation period is entered, and the operations of the three steps (c), (d) and (e) are executed.
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| CN101777189A (en) * | 2009-12-30 | 2010-07-14 | 武汉大学 | Method for measuring image and inspecting quantity under light detection and ranging (LiDAR) three-dimensional environment |
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