CN111077775A - Two-degree-of-freedom control system, control method, control device, and storage medium - Google Patents
Two-degree-of-freedom control system, control method, control device, and storage medium Download PDFInfo
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Abstract
The invention relates to a two-degree-of-freedom control system, a control method, control equipment and a storage medium, wherein the system comprises: the track filter carries out primary filtering for preventing the original track from deforming according to the original track of an input instruction to obtain a first filtering track; the shaping filter carries out secondary filtering for inhibiting the residual vibration of the controlled object according to the first filtering track to obtain a second filtering track; obtaining a following error according to the second filtering track and the position of an encoder output by the controlled object, and obtaining a first control instruction by the feedback controller according to the following error; the feedforward controller obtains a second control instruction according to the first filtering track; and the controlled object is controlled to move according to the first control instruction and the second control instruction. The invention not only restrains the residual vibration of the controlled object through the track filter and the shaping filter, but also can ensure that the track is not deformed.
Description
Technical Field
The present invention relates to the field of controllers, and in particular, to a two-degree-of-freedom control system, a control method, a control device, and a storage medium.
Background
With the increasingly wide application of the alternating current servo system, the terminal actuating mechanism is often required to have strong rapid positioning capability in the automatic assembly and machining processes of the industrial production line. However, due to the flexible connection of the end effector, a long-time residual vibration occurs after the end of the movement, and the situation of high-speed and high-acceleration movement is more obvious, so that the positioning precision and the speed of the end effector are greatly reduced, and the stability of a control system is even affected. Meanwhile, some end effectors may change the mass or inertia of the workpiece being gripped, which may cause the frequency of the residual vibration to change.
The input command shaping filter is a control method capable of effectively inhibiting residual vibration at the tail end of an actuating mechanism, and is widely applied to industry because the structure of a system does not need to be changed and the stability of the system is not influenced. However, the introduction of the input command shaping filter can cause the input command to be deformed, and the influence on the point-to-point motion occasion is small; but for the case of teaching contour errors, the contour errors can be too large.
Disclosure of Invention
In view of the above, it is necessary to provide a new two-degree-of-freedom control system, a control method, a control device, and a storage medium for solving the problems of residual vibration at the end of an actuator and deformation of an input command.
A two degree-of-freedom control system comprising: trajectory filter, shaping filter, feedforward controller and feedback controller, wherein: the track filter performs first filtering for preventing the original track from deforming according to the original track of an input instruction to obtain a first filtering track; the shaping filter carries out secondary filtering for inhibiting the residual vibration of the controlled object according to the first filtering track to obtain a second filtering track; the two-degree-of-freedom control system obtains a following error of a current period according to the second filtering track and an encoder position output by the controlled object, and the feedback controller obtains a first control instruction for determining the following error of a next period according to the following error of the current period; the feedforward controller obtains a second control instruction for reducing the following error according to the first filtering track; and the controlled object is controlled to move according to the first control instruction and the second control instruction.
In one embodiment, the shaping filter is a minimum phase system and the transfer function of the trajectory filter is the inverse of the transfer function of the shaping filter.
In one embodiment, the transfer function of the shaping filter is:
wherein: d is the number of lagging servo cycles, BcIs a molecular expression ofcIs a denominator expression:
wherein: m is the order of the numerator, n is the order of the denominator, b0、b1、……、bmIs the coefficient of molecular weight, a1、a2、……、anIs each coefficient of denominator;
the transfer function of the trajectory filter is:
in one embodiment, the model of the feedforward controller is an inverse of the model of the controlled object.
In one embodiment, the controlled object is an end effector.
A two degree-of-freedom control method, the method comprising:
according to an input instruction original track, carrying out first filtering for preventing the original track from deforming to obtain a first filtering track;
carrying out secondary filtering for inhibiting residual vibration of the controlled object according to the first filtering track to obtain a second filtering track;
obtaining a following error of the current period according to the second filtering track and the position of an encoder output by the controlled object;
obtaining a first control instruction for determining the following error of the next period according to the following error of the current period;
obtaining a second control instruction for reducing the following error according to the first filtering track;
controlling the movement of the controlled object according to the first control instruction and the second control instruction;
and the controlled object outputs the encoder position according to the first control instruction and the second control instruction.
In one embodiment, the step of obtaining a first filtered trajectory by performing a first filtering for preventing an original trajectory from being deformed according to an input instruction comprises:
according to an input instruction original track, carrying out first filtering for preventing the original track from deforming through a first transfer function to obtain a first filtering track;
the step of performing a second filtering for suppressing the residual vibration of the controlled object according to the first filtering trajectory to obtain a second filtering trajectory comprises:
carrying out secondary filtering for inhibiting residual vibration of the controlled object through a second transfer function according to the first filtering track to obtain a second filtering track;
wherein the first transfer function is the inverse of the second transfer function.
In one embodiment, the second transfer function is:
wherein: d is the number of lagging servo cycles, BcIs a molecular expression ofcIs a denominator expression:
wherein: m is the order of the numerator, n is the order of the denominator, b0、b1、……、bmIs the coefficient of molecular weight, a1、a2、……、anIs each coefficient of denominator;
the first transfer function is:
in one embodiment, the step of obtaining a second control instruction for reducing the following error according to the first filtered trajectory includes:
obtaining a second control instruction for reducing the following error through a first model according to the first filtering track;
the step of outputting the encoder position by the controlled object according to the first control instruction and the second control instruction comprises:
the controlled object outputs the position of the encoder according to the first control instruction and the second control instruction and through a second model;
wherein the first model is an inverse of the second model.
A two-degree-of-freedom control apparatus includes a storage unit in which a computer program executable by the processing unit is stored, and a processing unit that implements the steps of the two-degree-of-freedom control method as described above when executing the computer program.
A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the two degree-of-freedom control method as described above.
According to the two-degree-of-freedom control system, the control method, the control equipment and the storage medium, the track filter is used for carrying out primary filtering for preventing the original track from deforming to obtain the first filtering track, the shaping filter is used for carrying out secondary filtering for inhibiting the residual vibration of the controlled object according to the first filtering track, and then the feedforward controller and the feedback controller are used for controlling, so that the residual vibration of the controlled object is inhibited, the track is ensured not to deform, and the position of an encoder output by the controlled object has strong rapid positioning capability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a two degree-of-freedom control system provided by the present invention;
FIG. 2 is a schematic flow chart of a two-degree-of-freedom control method provided by the present invention;
fig. 3 is a schematic diagram of a two-degree-of-freedom control device provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, which is a schematic diagram of a two-degree-of-freedom control system provided by the present invention, the two-degree-of-freedom control system represents a control system including a feedback controller and a feedforward controller that can be adjusted simultaneously, and in one embodiment, the two-degree-of-freedom control system may specifically include: trajectory filter 100, shaping filter 200, feedforward controller 300 and feedback controller 400, wherein: the track filter 100 performs a first filtering for preventing the original track r from being deformed according to the original track r of the input instruction to obtain a first filtered track r1(ii) a The shaping filter 200 is based on the first filter trajectory r1Carrying out secondary filtering for inhibiting residual vibration of the controlled object P to obtain a second filtering track ry(ii) a The two-degree-of-freedom control system is based on the second filtering track ryAnd encoder bit output by controlled object PSetting y to obtain the following error e of the current periodyThe following error e of the feedback controller 400 according to the current cycleyObtaining a first control instruction u for determining a following error of a next cycleff(ii) a The feedforward controller 300 is based on the first filtered trajectory r1Obtaining for reducing the following error eySecond control instruction ufb(ii) a The controlled object P is controlled according to the first control instruction uffAnd a second control instruction ufbControlled motion, and outputs an encoder position y.
The two-degree-of-freedom control system provided in the above embodiment performs the first filtering for preventing the original trajectory from being deformed by the trajectory filter 100 to obtain the first filtering trajectory, performs the second filtering for suppressing the residual vibration of the controlled object by the shaping filter 200 according to the first filtering trajectory, and then performs the control by the feedforward controller 300 and the feedback controller 400, thereby suppressing the residual vibration of the controlled object, ensuring that the trajectory is not deformed, enabling the encoder position output by the controlled object to have a strong fast positioning capability, and enabling the encoder position to be coordinated with the expected input command in a dynamic state.
In one embodiment, the controlled object may be an end effector.
In one embodiment, the shaping filter 200 may be selected to be a reversible minimum phase system, such that the transfer function of the trajectory filter 100 is the inverse of the transfer function of the shaping filter 200.
In one embodiment, the transfer function of the shaping filter 200 may be:
wherein: d is the number of lagging servo cycles, BcIs a molecular expression ofcIs a denominator expression:
wherein: m is the order of the numerator, n is the denominatorOrder of (b)0、b1、……、bmIs the coefficient of molecular weight, a1、a2、……、anIs the coefficient of the denominator.
The transfer function of the trajectory filter 100 may be:
the two-degree-of-freedom control system provided by the above embodiment, through the introduction of the shaping filter 200, and setting the transfer function of the shaping filter 200 and the transfer function of the trajectory filter 100 to be inverse, avoids the problem that the input instruction is deformed due to the traditional control method that only inputs the shaping filter to suppress the residual vibration at the end of the actuator, suppresses the residual vibration of the controlled object, and ensures that the trajectory is not deformed, so that the encoder position output by the controlled object has a strong rapid positioning capability.
In one embodiment, the model of the feedforward controller 300 may preferably be the inverse of the model of the controlled object P, which essentially will enable the following error e to be made in advance based on the known input original trajectory ryReduced to minimum second control instruction ufbInput to the controlled object P.
The present invention further provides a two-degree-of-freedom control method, which is applicable to the two-degree-of-freedom control system, the two-degree-of-freedom control system may specifically include a trajectory filter, a shaping filter, a feedforward controller and a feedback controller, as shown in fig. 2, which is a schematic flow diagram of the two-degree-of-freedom control method provided by the present invention, and the two-degree-of-freedom control method may specifically include the following steps:
step S100: and performing first filtering for preventing the original track from deforming according to the original track of the input instruction to obtain a first filtering track. This step may be performed in the trajectory filter described above.
Step S200: and carrying out secondary filtering for inhibiting the residual vibration of the controlled object according to the first filtering track to obtain a second filtering track. This step may be performed in the shaping filter described above.
Step S300: and obtaining the following error of the current period according to the second filtering track and the position of the encoder output by the controlled object. This step may be performed in the two degree of freedom control system described above.
Step S400: a first control instruction for determining a following error of a next cycle is obtained based on the following error of the current cycle. This step may be performed in the feedback controller described above.
Step S500: and obtaining a second control instruction for reducing the following error according to the first filtering track. This step may be performed in the feedforward controller described above.
Step S600: and controlling the movement of the controlled object according to the first control instruction and the second control instruction. This step may be performed in the two degree of freedom control system described above.
Step S700: and the controlled object outputs the position of the encoder according to the first control instruction and the second control instruction.
According to the two-degree-of-freedom control method, the track filter is used for carrying out primary filtering for preventing the original track from deforming to obtain the first filtering track, the shaping filter is used for carrying out secondary filtering for inhibiting the residual vibration of the controlled object according to the first filtering track, and then the feedforward controller and the feedback controller are used for controlling, so that the residual vibration of the controlled object is inhibited, the track is ensured not to deform, the position of an encoder output by the controlled object has strong rapid positioning capability, and the position of the encoder is coordinated with an expected input instruction in a dynamic state.
In one embodiment, the step S100 may specifically include:
and performing first filtering for preventing the original track from deforming through a first transfer function according to the input command original track to obtain a first filtering track.
The step S200 may specifically include:
and carrying out secondary filtering for inhibiting the residual vibration of the controlled object through a second transfer function according to the first filtering track to obtain a second filtering track.
Wherein the first transfer function may be selected as the inverse of the second transfer function.
In one embodiment, the second transfer function may specifically be:
wherein: d is the number of lagging servo cycles, BcIs a molecular expression ofcIs a denominator expression:
wherein: m is the order of the numerator, n is the order of the denominator, b0、b1、……、bmIs the coefficient of molecular weight, a1、a2、……、anIs each coefficient of denominator;
i.e. the first transfer function may be:
in the two-degree-of-freedom control method provided by the embodiment, the first transfer function is selected as the inverse of the second transfer function, so that the problem of deformation of the input instruction caused by the traditional control method of only inputting the shaping filter to suppress the residual vibration at the tail end of the actuating mechanism is solved, the residual vibration of the controlled object is suppressed, the track is ensured not to be deformed, and the position of the encoder output by the controlled object has strong rapid positioning capability.
In one embodiment, the step S500 may specifically include:
and obtaining a second control instruction for reducing the following error through the first model according to the first filtering track.
The step S700 may specifically include:
and the controlled object outputs the position of the encoder according to the first control instruction and the second control instruction and through the second model.
The first model is the inverse of the second model, and the essence of the first model is that a second control command capable of reducing the following error to the minimum is input to the controlled object in advance according to the known input original track.
The invention also provides two-degree-of-freedom control equipment, which is a schematic diagram of the two-degree-of-freedom control equipment provided by the invention as shown in FIG. 3; the two-degree-of-freedom control apparatus may specifically include a storage unit 500 and a processing unit 600, where the storage unit 500 stores therein a computer program executable by the processing unit 600, and the processing unit 600 implements the steps of the two-degree-of-freedom control method as described above when executing the computer program.
The present invention also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the two degree of freedom control method as described above.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A two degree-of-freedom control system, comprising: trajectory filter, shaping filter, feedforward controller and feedback controller, wherein: the track filter performs first filtering for preventing the original track from deforming according to the original track of an input instruction to obtain a first filtering track; the shaping filter carries out secondary filtering for inhibiting the residual vibration of the controlled object according to the first filtering track to obtain a second filtering track; the two-degree-of-freedom control system obtains a following error of a current period according to the second filtering track and an encoder position output by the controlled object, and the feedback controller obtains a first control instruction for determining the following error of a next period according to the following error of the current period; the feedforward controller obtains a second control instruction for reducing the following error according to the first filtering track; and the controlled object is controlled to move according to the first control instruction and the second control instruction.
2. The two degree-of-freedom control system of claim 1 wherein the shaping filter is a minimum phase system and the transfer function of the trajectory filter is the inverse of the transfer function of the shaping filter.
3. The two degree-of-freedom control system of claim 2 wherein the transfer function of the shaping filter is:
wherein: d is the number of lagging servo cycles, BcIs a molecular expression ofcIs a denominator expression:
wherein: m is the order of the numerator, n is the order of the denominator, b0、b1、……、bmIs the coefficient of molecular weight, a1、a2、……、anIs each coefficient of denominator;
the transfer function of the trajectory filter is:
4. the two degree of freedom control system of claim 2 wherein the model of the feedforward controller is the inverse of the model of the controlled object.
5. The two degree-of-freedom control system of claim 1 in which the controlled object is an end effector.
6. A two degree of freedom control method comprising:
according to an input instruction original track, carrying out first filtering for preventing the original track from deforming to obtain a first filtering track;
carrying out secondary filtering for inhibiting residual vibration of the controlled object according to the first filtering track to obtain a second filtering track;
obtaining a following error of the current period according to the second filtering track and the position of an encoder output by the controlled object;
obtaining a first control instruction for determining the following error of the next period according to the following error of the current period;
obtaining a second control instruction for reducing the following error according to the first filtering track;
controlling the movement of the controlled object according to the first control instruction and the second control instruction;
and the controlled object outputs the encoder position according to the first control instruction and the second control instruction.
7. The two-degree-of-freedom control method according to claim 6, wherein the step of obtaining a first filtered trajectory by performing a first filtering for preventing deformation of an original trajectory according to an input command comprises:
according to an input instruction original track, carrying out first filtering for preventing the original track from deforming through a first transfer function to obtain a first filtering track;
the step of performing a second filtering for suppressing the residual vibration of the controlled object according to the first filtering trajectory to obtain a second filtering trajectory comprises:
carrying out secondary filtering for inhibiting residual vibration of the controlled object through a second transfer function according to the first filtering track to obtain a second filtering track;
wherein the first transfer function is the inverse of the second transfer function.
8. The two degree-of-freedom control method of claim 7 wherein the second transfer function is:
wherein: d is the number of lagging servo cycles, BcIs a molecular expression ofcIs a denominator expression:
wherein: m is the order of the numerator, n is the order of the denominator, b0、b1、……、bmIs the coefficient of molecular weight, a1、a2、……、anIs each coefficient of denominator;
the first transfer function is:
9. the two-degree-of-freedom control method according to claim 7, wherein the step of obtaining a second control instruction for reducing a follow-up error from the first filtered trajectory includes:
obtaining a second control instruction for reducing the following error through a first model according to the first filtering track;
the step of outputting the encoder position by the controlled object according to the first control instruction and the second control instruction comprises:
the controlled object outputs the position of the encoder according to the first control instruction and the second control instruction and through a second model;
wherein the first model is an inverse of the second model.
10. A two-degree-of-freedom control apparatus comprising a storage unit and a processing unit, the storage unit having stored therein a computer program executable by the processing unit, and the processing unit implementing the steps of the two-degree-of-freedom control method according to any one of claims 6 to 9 when executing the computer program.
11. A storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the two degree-of-freedom control method according to any one of claims 6 to 9.
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