CN109001986B - Networked flexible mechanical arm control simulation platform and working method thereof - Google Patents
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Abstract
The invention relates to a networked flexible mechanical arm control simulation platform and a working method thereof, wherein the networked flexible mechanical arm control simulation platform comprises a flexible mechanical arm mathematical model, a controller, a parameter setting module and a remote monitoring system; the flexible mechanical arm mathematical model realizes data transmission through memory reading and writing, the controller and the parameter setting module are connected with the remote monitoring system through the Ethernet, and data sending and receiving work is carried out based on a TCP/IP communication protocol. A user inputs various control parameters and model parameters of a controller and parameter setting system on a human-computer interaction interface of the remote monitoring system, network communication is carried out by clicking various functional buttons, parameters of a mathematical model of the flexible mechanical arm are set remotely, a simulation system is operated, and the state of each parameter is monitored in real time through the remote monitoring system; the user can directly and locally operate the controller and the parameter setting system to perform simulation work.
Description
Technical Field
The invention relates to a simulation technology of a mechanical arm, in particular to a TCP/IP-based networked control simulation platform for a flexible mechanical arm and a working method thereof, belonging to the technical field of mobile communication.
Background
The flexible mechanical arm is used as the most direct application object for the dynamic analysis and control theory research of the flexible multi-body system, and has the characteristics of simple and clear physical model and easy realization of computer and physical model tests. Since the 90 s of the 20 th century, the modeling and simulation research of the flexible mechanical arm has attracted the extensive attention of experts and scholars at home and abroad. Research to date on rigid robotic arm control has led to a number of mature control theories.
The comprehensive development of the control theory provides a plurality of choices for the design of the flexible mechanical arm control algorithm, and particularly, the theories of nonlinear control such as neural network control, fuzzy control, hybrid intelligent control and the like are introduced into the design field of the flexible mechanical arm controller to different degrees. The traditional flexible mechanical arm needs to be tested for control effect for many times in the process of being developed into engineering practice in the earlier stage, the test period is long, the algorithm cannot be updated when the product cannot guarantee that the control method meets the requirements of safety and efficiency, and therefore resource waste is caused by the need of redesigning the flexible mechanical arm.
In recent decades, computer technology has become a necessary tool in many scientific research fields, and a method for performing experimental simulation research on an actual or assumed system by using a computer and various physical facilities as auxiliary equipment based on mathematical theory has gradually become the most common method in the research process of each academic field. By utilizing a computer simulation technology, parameters of a control system can be reset at any time in the early design process, the rationality of the design of the mechanical arm can be predetermined through a simulation result, and the method has long-term help in the aspect of theoretical research of the flexible mechanical arm.
Most of the methods for realizing the simulation of the flexible mechanical arm at present in China are directly modeled by software. For example, a physical model of a flexible mechanical arm is established in ADAMS software, and a controller is designed in an MATLAB/Simulink environment to realize joint simulation; or modeling the multi-flexible body system by adopting a finite segment method under the DADS software environment and realizing the dynamic simulation of the double-connecting-rod flexible mechanical arm; or a mapleSim multi-field simulation modeling platform is adopted on the flexible mechanical arm modeling, and the partial design of the flexible mechanical arm is realized by means of a Maple environment functional block programming mode. However, the flexible mechanical arm simulation system has the problems of complex structure, high difficulty in parameter resetting, poor interactivity and difficulty in observing and processing simulation data.
In summary, the flexible mechanical arm control simulation platform at the present stage mainly has the following problems:
1. the simulation platform has poor man-machine interaction and complex operation logic.
2. The simulation data volume is large, and the record of pure data is not easy to analyze.
3. The difficulty of parameter modification is large, and the simulation system needs to be redesigned.
4. The location of use is limited and only localized operations can be performed.
Disclosure of Invention
The invention aims to: aiming at the defects in the prior art, a networked flexible mechanical arm control simulation platform and a working method thereof are provided, wherein a graphical human-computer interaction interface is taken as a main form, and the flexible mechanical arm control algorithm selection, the remote parameter setting of a mathematical model, the remote real-time monitoring of a parameter state and a simulation curve are taken as main functions, so that the simulation platform for the rapid test of the flexible mechanical arm control algorithm is realized.
In order to achieve the aim, the invention provides a networked flexible mechanical arm control simulation platform which comprises a flexible mechanical arm mathematical model (1), a controller and parameter setting module (2) and a remote monitoring system (3); the flexible mechanical arm mathematical model (1) realizes data transmission with the controller and parameter setting module (2) through the memory read-write (4), the controller and parameter setting module (2) is connected with the remote monitoring system (3) through the Ethernet, and data sending and receiving work is carried out based on a TCP/IP communication protocol (5);
the mathematical model of the flexible mechanical arm is a mathematical model of a controlled object built on the basis of Simulink, and comprises a mathematical expression of the flexible mechanical arm and a data sending and receiving module; the controller and parameter setting module comprises a parameter setting module and a control scheme selecting and realizing module, a user sets control parameters and model parameters according to actual needs and selects a corresponding control method, and the control method comprises but is not limited to PID control, neural network control, sliding mode control, fuzzy control, robust control, self-adaptive control, predictive control and the like; the remote monitoring system gives various parameters of the controller and the parameter setting module through remote communication and carries out real-time monitoring on the parameter state and the simulation condition of the mathematical model of the flexible mechanical arm.
The further limited technical scheme of the invention is as follows: the mathematical model of the flexible mechanical arm is a mathematical model expression of the controlled flexible mechanical arm, and the mathematical model of the flexible mechanical arm with two degrees of freedom is established by utilizing a mechanical relationship, wherein the expression is as follows:
wherein q and qmRepresenting the angular positions of the connecting rod and the rotor, respectively; i and J respectively represent the moment of inertia of the connecting rod and the rotor; k represents a joint stiffness coefficient; m, g and l respectively represent the mass of the connecting rod, the gravity acceleration and the length from the center of the connecting rod to the joint; u represents the motor torque input. The flexible mechanical mathematical model comprises a model mathematical expression of the flexible mechanical arm and a data sending and receiving module, wherein the mathematical expression is stored as a single file in an S function mode and is responsible for a simulation task, and the data sending and receiving module is responsible for a sending task of simulation result data which is linked with a main interface of the simulation platform.
Further, the controller and parameter setting system comprises a control scheme selection and realization module, an expected track setting module and a parameter setting module; the control scheme selection and implementation module is responsible for determining a used control algorithm, the expected trajectory setting module is responsible for giving a simulation motion trajectory of a controlled object, and the parameter setting module is responsible for giving various control parameters and model parameters of a simulation system.
The controller and parameter setting system is based on a program written by GUI and comprises a control scheme selection and realization module and a parameter setting module; the control scheme selection and implementation module is provided with a control algorithm which needs to be used, and the control algorithm comprises but is not limited to PID control, neural network control, sliding mode control, fuzzy control, robust control, self-adaptive control and predictive control; the parameter setting module provides setting interfaces of various control parameters and model parameters.
Furthermore, the remote monitoring system comprises a remote parameter giving module and a parameter state display module, wherein the parameter remote giving module is responsible for establishing communication with the controller and the parameter setting module, and realizing remote giving of control parameters and model parameters and real-time receiving of simulation data; and the parameter state display module is responsible for realizing the real-time display of various parameters and simulation curve real-time states of the simulation system.
The remote monitoring system is based on various parameters of an Ethernet remote given controller and a parameter setting system, displays the values of various input parameters in a numerical mode, and displays various observed state quantities in a dynamic drawing mode, wherein the curves comprise curves of a control law, an output state value of a simulation control system and an output value of an observer, and real-time monitoring of various parameters and simulation results of the simulation system is realized.
A working method of a networked flexible mechanical arm control simulation platform comprises the following steps,
step 1, starting a remote monitoring system and operating a main interface; clicking a remote control button of the controller and the parameter setting system and a link button of the remote monitoring system to start a remote working mode, or directly starting a local working mode by using the controller and the parameter setting system; wherein the steps 2 to 6 are in a remote working mode;
and 6, repeating the above processes until the process is finished.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects: the invention takes a graphical human-computer interaction interface as a main form, takes the selection of a flexible mechanical arm control algorithm, the parameter setting of a mathematical model, the real-time display of a parameter state and a simulation curve as main functions, and realizes a simulation platform for the rapid test of the flexible mechanical arm control algorithm.
The invention can enable a user to arbitrarily set the motion expected track of the flexible mechanical arm according to the design requirement and set each control parameter and model parameter of the simulation platform; the use of the simulation platform is not limited by time and place, and a user can carry out simulation work at any time according to needs; a user can select various control algorithms to carry out a simulation experiment, so that the test time of the control algorithms is shortened; the user can verify the reliability of the control system design, and the problems of resource waste and designer safety caused by the wrong design of the parameters of the flexible mechanical arm are avoided.
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The invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The embodiment provides a networked flexible mechanical arm control simulation platform, which is based on a TCP/IP communication protocol and comprises a flexible mechanical arm mathematical model 1, a controller and parameter setting module 2 and a remote monitoring system 3.
The flexible mechanical arm mathematical model realizes data transmission with the controller and the parameter setting module through the memory read-write module 4, the controller and the parameter setting module are connected with the remote monitoring system through the Ethernet, and the data sending and receiving work is carried out based on a TCP/IP communication protocol 5.
Meanwhile, the mathematical model of the flexible mechanical arm is a mathematical model of the controlled flexible mechanical arm built based on Simulink, and comprises a model mathematical expression of the flexible mechanical arm and a data sending and receiving module. The mathematical expression is stored as a single file in an S function mode and is responsible for a mathematical simulation task, and the data sending and receiving module is responsible for linking with a main interface of the simulation platform to realize a transmission task of simulation result data.
The controller and parameter setting system comprises a control scheme selection and realization module, an expected track setting module and a parameter setting module. The control scheme selection and realization module is responsible for determining the used control algorithm, such as PID control, sliding mode control and the like, the expected track setting module is responsible for giving the simulation motion track of the controlled object, and the parameter setting module is responsible for giving various control parameters and model parameters of the simulation system.
The remote monitoring system comprises a remote parameter setting module and a parameter state display module, can set various parameters of the controller and the parameter setting system through remote communication, and monitors the parameter state and the simulation condition of the mathematical model of the flexible mechanical arm in real time.
The module embodiments of the invention are as follows:
1. working principle of flexible mechanical arm mathematical model
A mathematical model of the flexible mechanical arm is established based on a Simulink programming environment, and the mathematical model is responsible for data processing work in the form of an S function. The processing function and the input and output of the data included in the module are realized by the instruction corresponding to the M file. The mathematical model equation is as follows:
wherein q and qmRepresenting the angular positions of the connecting rod and the rotor, respectively; i and J respectively represent the moment of inertia of the connecting rod and the rotor; k represents a joint stiffness coefficient; m, g and l respectively represent the mass of the connecting rod, the gravity acceleration and the length from the center of the connecting rod to the joint; u represents the motor torque input.
2. Working principle of controller and parameter setting system
The controller and parameter setting system comprises a control scheme selection and realization module, an expected track setting module and a parameter setting module. The invention comprises two major categories and four categories of control methods which can be selected, including state feedback control, output feedback control, robust state feedback control and robust output feedback control. The selection of the control scheme can be completed by selecting the subsystem interface to be used.
The control scheme selection and implementation module source codes are as follows:
set_param('chap8_2sim/Constant','value','1')；
load_system('chap8_2sim')；
sim('chap8_2sim')；
set_param('chap8_2sim','StopTime','0')；
the expected track setting module provides a method for setting a target motion track of the flexible mechanical arm for a user, the set of the simulation expected track of the flexible mechanical arm is realized by selecting a used track mathematical function, the user can change a function generation module of Simulink according to the simulation requirement, and the expected track is set into track waveforms such as square waves, triangular waves and the like. The present item is preset to be sinusoidal.
The parameter setting module provides a setting window of each parameter of the flexible mechanical arm for a user, and the user inputs the value of each control parameter required by simulation at the parameter setting window of the controller and the parameter setting system to realize the setting of each parameter.
Control parameter setting module source code:
global Mgl
global I
global J
global K
global xite
Mgl＝get(handles.edit24,'string')；
goes＝'＝'；
wget1＝['xite',goes,get(handles.edit20,'string'),'；']；
wget2＝['I',goes,get(handles.edit21,'string'),'；']；
wget3＝['J',goes,get(handles.edit22,'string'),'；']；
wget4＝['K',goes,get(handles.edit23,'string'),'；']；
wget5＝['Mgl',goes,get(handles.edit24,'string'),'；']；
evalin('base',wget1)；
evalin('base',wget2)；
evalin('base',wget3)；
evalin('base',wget4)；
evalin('base',wget5)；
3. working principle of remote monitoring system 3
The remote monitoring system comprises a remote parameter setting module and a parameter state display module, can set various parameters of the controller and the parameter setting system through remote communication, and monitors the parameter state and the simulation condition of the mathematical model of the flexible mechanical arm in real time.
The design method of the remote parameter setting module is similar to that of a parameter setting module of a controller and a parameter setting system, TCP/IP remote communication is started after parameter setting is completed, and set parameters are sent to the controller and the parameter setting module to complete parameter assignment work; the parameter state display module is responsible for displaying the states of all parameters in a numerical form and displaying real-time values of state quantities such as control laws, observer errors and the like received by remote communication on a monitoring system interface so as to realize real-time monitoring of simulation data.
The source code of the parameter state display module is as follows:
set_param('lsim','StopTime',num2str(c))；
t＝evalin('base','t')；
simout＝evalin('base','simout')；
simout1＝evalin('base','simout1')；
simout2＝evalin('base','simout2')；
if(c＝＝0.1)
set(handles.axes6,'XTickLabel',{stra,”,”,”,”,”,”,”,”,”,”},'fontsize',8)；
temp＝stra；
end
while(1)
axis(handles.axes6,[b1 b2 -3 3])；
if(t(tl,1)＝＝b2-18)
set(handles.axes6,'XTickLabel',{temp,stra,”,”,”,”,”,”,”,”,”},'fontsize',8)；
temp1＝stra；
break；
end
……………………………………………………
break；
end
break；
end
if(t(tl,1)＝＝b2)
b1＝b1+20；
b2＝b2+20；
set(handles.axes6,'XTickLabel',{temp9,”,”,”,”,”,”,”,”,”,”},'fontsize',8)；
temp＝stra；
end
axes(handles.axes9)；
plot(t(tl,1),simout2(tl,1),'c.-','Linewidth',1.5)
hold on；
plot(t(tl,1),simout2(tl,2),'m.-','Linewidth',1.5)
grid on
in the TCP/IP communication protocol, the main mode of interaction between two processes of communication is the client/server mode, i.e. a client user makes a request to a server, and the server provides a corresponding service after receiving the request. The simulation platform is designed in such a mode that the controller and the parameter setting system are servers, and the remote control and monitoring system is a client. The service process comprises the following specific programming steps:
step 1, a TCP/IP communication channel is established, a variable representing TCP/IP is set at a Server and a client, respectively, a tcpip function in MATLAB is used to realize variable assignment, and a port number and an IP address are specified, for example, tc ═ tcpip (' localhost ',4012, ' NetworkRole ', ' Server ') is defined, a data variable tc is defined, an IP address of a local machine is called as a communication address, the called port number is ' 4012 ', and the Server ' defines the variable end as a Server.
And 4, returning after the communication is finished, and waiting for the next client request.
And 5, stopping the monitoring mode by using an fclose function, emptying the cache by using a delete function and a clear function, and releasing all resources occupied by the TCP/IP communication.
The specific working method of the embodiment comprises the following steps:
step 1, a user starts a simulation platform and then enters a remote monitoring system, selects a working mode according to actual needs, and determines whether to click a 'link' button of the remote monitoring system to start the remote working mode. Selecting a control algorithm, and clicking a corresponding 'GUI calling' button;
and 2, inputting model parameters and control parameters required to be set of the simulation model into a plurality of input windows of the remote monitoring system parameter setting module, wherein the model parameters and the control parameters comprise a time convergence coefficient, a rotor moment of inertia, a connecting rod moment of inertia, a joint rigidity coefficient, a connecting rod mass, a gravity acceleration and a length from a connecting rod center to a joint. The default value of the system design selected in the embodiment is input in the parameter setting module 5, and the xite represents a time convergence coefficient which is a unit-free constant; i and J respectively represent connecting rod moment of inertia and rotor moment of inertia, and the unit is kg.m2(ii) a K represents a joint stiffness coefficient (in N/m); m, g and l respectively represent the mass (unit kg) of the connecting rod, the gravity acceleration (unit N/kg) and the length (unit M) from the center of the connecting rod to the joint, and the given values of the parameters in the example are 20, 1, 40, 1, 10 and 0.5 in sequence; selecting Sine Wave signal of Simulink Source library in expected track setting module of controller and parameter setting system, setting phase to zero to generate Sine signal, and setting the phase to zero in controllerThe configuration M file of the system sequentially modifies the high-order derivative expression of the expected signal to complete the expected track configuration. In the embodiment, in the controller and parameter setting module 2, the expression of the control law u is deduced based on the sliding mode control method, and the expression is assigned to the control law output function in the configuration M file of the mathematical model 1, so that the selection of the control method is completed.
And 3, operating the simulation platform, receiving and storing the simulation data returned by the flexible mechanical arm mathematical model 1 by the remote monitoring system, and observing the real-time trends of the simulation curve, the control law state curve and the error value curve on a parameter state display module of the remote monitoring system.
And 4, returning to the upper-level main interface by clicking the 'return main interface'.
The invention realizes the following functions:
1. an operating mode selection function. The invention designs two working modes for users. A user can remotely access the controller and the parameter setting system through the remote monitoring system to realize remote simulation work; and the simulation work can also be directly carried out on a local controller and a parameter setting system.
2. A trajectory setting function is desired. The invention provides a function of selecting the expected movement track of the flexible mechanical arm for a user, and the user can select a proper mathematical function generator in the Simulink system module of the controller and the parameter setting system according to the simulation requirement, so that the expected movement track can be set for the simulation system.
3. A parameter setting function. The setting of control parameters is one of the core functions of the simulation platform. The remote monitoring system provides a function of remote parameter setting for a user; the parameters comprise time convergence coefficients, rotor rotational inertia, connecting rod rotational inertia, joint stiffness coefficients, gravity moment and design parameters of the observer, and the control parameter setting work can be finished by inputting expected parameter values in corresponding windows and clicking parameter transmission buttons. The user can suspend the system simulation work in the simulation process to adjust the control parameters, and can continue the simulation work, and the curve before adjustment and the curve after adjustment are displayed in the same display area to realize comparison with the same graph.
4. And displaying the function. In the parameter display area of the remote monitoring system, the real-time values of the observed state quantities, such as control laws, observer errors and the like, can be displayed in real time in a data or pre-form mode.
5. Other functions. The system sets the current system time as the scale of the abscissa axis of the curve of the image display area.
In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (3)
1. A working method of a networked flexible mechanical arm control simulation platform is characterized in that: comprises the following steps of (a) carrying out,
step 1, starting a remote monitoring system and operating a main interface; clicking a remote control button of the controller and the parameter setting system and a link button of the remote monitoring system to start a remote working mode, or directly starting a local working mode by using the controller and the parameter setting system; wherein the steps 2 to 6 are in a remote working mode;
step 2, selecting a control algorithm to be used, clicking a corresponding GUI calling button on the remote monitoring system, calling a corresponding sub-interface, and closing the current interface;
step 3, inputting various model parameters and control parameters of the simulation system through a remote parameter setting module in a subsystem interface of the remote monitoring system;
step 4, starting simulation, wherein a parameter state display module of the remote monitoring system is responsible for calling simulation data received by remote communication to draw various state quantities and simulation curves;
step 5, the user responds according to the feedback information to realize the required subsequent operation and returns to the upper-level main interface;
step 6, repeating the above processes until the process is finished;
the working method is realized by a networked flexible mechanical arm control simulation platform and comprises a flexible mechanical arm mathematical model (1), a controller and parameter setting module (2) and a remote monitoring system (3); the flexible mechanical arm mathematical model (1) realizes data transmission with the controller and parameter setting module (2) through the memory read-write (4), the controller and parameter setting module (2) is connected with the remote monitoring system (3) through the Ethernet, and data sending and receiving work is carried out based on a TCP/IP communication protocol (5);
the mathematical model of the flexible mechanical arm is a mathematical model of a controlled object built on the basis of Simulink, and comprises a mathematical expression of the flexible mechanical arm and a data sending and receiving module;
the controller and parameter setting module comprises a parameter setting module and a control scheme selecting and realizing module, a user sets control parameters and model parameters according to actual needs and selects a corresponding control method, and the control method comprises but is not limited to PID control, neural network control, sliding mode control, fuzzy control, robust control, self-adaptive control, predictive control and the like;
the controller and parameter setting system comprises a control scheme selection and realization module, an expected track setting module and a parameter setting module; the control scheme selection and implementation module is responsible for determining a used control algorithm, the expected trajectory setting module is responsible for giving a simulation motion trajectory of a controlled object, and the parameter setting module is responsible for giving various control parameters and model parameters of a simulation system; the controller and parameter setting system is based on a program written by GUI and comprises a control scheme selection and realization module and a parameter setting module; the control scheme selection and implementation module is provided with a control algorithm which needs to be used, and the control algorithm comprises but is not limited to PID control, neural network control, sliding mode control, fuzzy control, robust control, self-adaptive control and predictive control; the parameter setting module provides setting interfaces of various control parameters and model parameters;
the remote monitoring system gives various parameters of the controller and the parameter setting module through remote communication and monitors the parameter state and the simulation condition of the mathematical model of the flexible mechanical arm in real time; the remote monitoring system comprises a remote parameter giving module and a parameter state display module, wherein the remote parameter giving module is responsible for establishing communication with the controller and the parameter setting module to realize remote giving of control parameters and model parameters and real-time receiving of simulation data; the parameter state display module is responsible for realizing real-time display of various parameters and simulation curve real-time states of the simulation system; the remote monitoring system is based on various parameters of an Ethernet remote given controller and a parameter setting system, displays the values of various input parameters in a numerical mode, and displays various observed state quantities in a dynamic drawing mode, wherein the curves comprise curves of a control law, an output state value of a simulation control system and an output value of an observer, and real-time monitoring of various parameters and simulation results of the simulation system is realized.
2. The working method of the networked flexible mechanical arm control simulation platform according to claim 1, wherein the working method comprises the following steps: the mathematical model of the flexible mechanical arm is a mathematical model expression of the controlled flexible mechanical arm, and the mathematical model of the flexible mechanical arm with two degrees of freedom is established by utilizing a mechanical relationship, wherein the expression is as follows:
wherein,
and
representing the angular positions of the connecting rod and the rotor, respectively;IandJrepresenting the moment of inertia of the connecting rod and the rotor, respectively;Krepresents a joint stiffness coefficient;M，g，lrespectively representing the mass of the connecting rod, the gravity acceleration and the length from the center of the connecting rod to the joint;urepresenting motor torque input.
3. The working method of the networked flexible mechanical arm control simulation platform according to claim 2, wherein the working method comprises the following steps: the flexible mechanical mathematical model comprises a model mathematical expression of the flexible mechanical arm and a data sending and receiving module, wherein the mathematical expression is stored as a single file in an S function mode and is responsible for a simulation task, and the data sending and receiving module is responsible for a sending task of simulation result data which is linked with a main interface of the simulation platform.
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