CN115356927A - Three-closed-loop robust prediction function control method for robot - Google Patents
Three-closed-loop robust prediction function control method for robot Download PDFInfo
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Abstract
The invention discloses a three-closed-loop robust prediction function control method for a robot, which comprises the following steps: i. establishing a robot model; inputting a reference trajectory; selecting an objective function; calculating outer ring control calculation parameters, and inputting the outer ring control calculation parameters into an outer ring controller; v. calculating the control quantity of the outer ring and inputting the control quantity into the inner ring controller; deducing the output quantity of the inner ring controller; controlling the robot to move and measuring a motion variable; returning the actual tracking error to the outer ring controller, and adjusting an outer ring control quantity calculation formula; establishing a standard model of the tracking error; calculating a standard tracking error; returning error prediction feedback to the prediction control model, and optimizing a target function of the prediction control model; and xi, turning to the step i to be continuously executed until the error meets a preset standard. The invention applies the prediction function controller, the pole allocation and the robust inverse kinematics to a three-closed-loop control framework, and improves the anti-interference capability, the practicability and the reliability of the control system.
Description
Technical Field
The invention relates to a control method, in particular to a three-closed-loop robust prediction function control method of a robot.
Background
The inverse kinematics control of the robot is a classical robot motion and power control method, however, one disadvantage of the inverse kinematics control method implementing precise description is that system parameters must be definitely known, and if the parameters have uncertainty, for example, when a mechanical arm grabs an unknown load, it cannot be guaranteed that the inverse kinematics controller can achieve ideal performance, so a robot control method with strong robustness and capable of keeping the system stable under the interference of factors such as uncertainty of parameters, external interference and the like is required.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provide a robust prediction function control method of a three-closed-loop robot, which has strong robustness and is simple to execute.
In order to achieve the above purpose, the robot three-closed loop robust prediction function control method designed by the invention comprises an inner loop/outer loop control framework using a prediction function control method, pole allocation, robust inverse kinematics and the like, and comprises the following steps:
i. establishing a robot model, and simplifying the robot model into the form of an Euler-Lagrange motion equation:
inputting a reference trajectory c (k + i) at the time k + i to the predictive control model;
selecting an objective function of a predictive control model;
calculating an outer ring control calculation parameter delta a by the prediction control model, and inputting the outer ring control calculation parameter delta a into an outer ring controller; the objective function and the calculation mode adopted by the predictive control model are both in the prior art.
v. outer loop control quantity of
Inputting the outer ring control quantity into the inner ring controller; in the formula
Refers to a given angular acceleration of the joint.
vi, deducing the output quantity of the inner ring controller according to the robot model in the step i
Wherein
Etc. to
Form table ofThe parameters shown are calculated or characterized values of M, C, g, i.e. errors due to uncertainties in the system
The values indicated are only calculated values.
And vii, controlling the motion of the robot by using the output u of the inner ring controller, and measuring the motion variable q output by the robot,
Calculating actual tracking error
Returning the actual tracking error e to the outer ring controller, thereby realizing the adjustment of the calculation formula of the outer ring control quantity; in the formula
Eta is the uncertainty of the system,
building standard model of tracking error
e m (k+i)＝β k e m (k)+(1-β k ) C (k + i); wherein beta is a convergence rate coefficient of a reference track, and beta is more than or equal to 0 and less than or equal to 1;
x, inputting the outer ring control calculation parameter delta a calculated in the step iv into a standard model of the tracking error, and calculating to obtain a standard tracking error e m ；
xi, mixing e and e m Returning to the predictive control model as error predictive feedback, and optimizing the target function of the predictive control model;
turning to the step i, and continuously executing until the output motion variable q,
The error with the input reference trajectory satisfies a predetermined criterion.
The objective function of the predictive control model adopts a quadratic form objective function with the formula of
(i =0,1, \8230;, p-1), where p is the predicted step number.
The three-closed-loop robust prediction function control method of the robot, which is disclosed by the invention, applies the prediction function controller, the pole allocation and the robust inverse kinematics to the inner and outer loop control framework of the robot, so that the anti-interference capability, the practicability and the reliability of a robot control system are improved.
Drawings
FIG. 1 is a control block diagram of a three-closed loop robust prediction function control method of a robot.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
Example 1:
the three-closed loop robust prediction function control method for a robot described in this embodiment, as shown in fig. 1, includes an inner loop/outer loop control architecture using a prediction function control method, a pole configuration, robust inverse kinematics, and the like, and includes the following steps:
i. establishing a robot model, and simplifying the robot model into the form of an Euler-Lagrange motion equation:
inputting a reference trajectory c (k + i) at a time k + i to the prediction control model;
selecting an objective function of the predictive control model;
calculating an outer ring control calculation parameter delta a by the prediction control model, and inputting the outer ring control calculation parameter delta a into an outer ring controller; the objective function and the calculation mode adopted by the predictive control model are both in the prior art.
v. outer loop controlled quantity is
Inputting the outer ring control quantity into the inner ring controller; in the formula
It is meant that given the angular acceleration of the joint,
the outer loop control calculation parameter delta a can be used for overcoming potential unstable influences in the following uncertainty eta.
vi, deducing the output quantity of the inner ring controller according to the robot model in the step i
Wherein
Etc. to
Is a calculated or characteristic value of M, C, g, i.e. because of uncertainties in the system, resulting in errors, and therefore
Values represented are simply calculated or characterized values; in this example
Is a theoretical value obtained by calculation through the parameters of the robot.
And vii, controlling the motion of the robot by using the output u of the inner ring controller, and measuring the motion variable q output by the robot,
The motion variables respectively represent displacement, speed and acceleration, and when the motion variables are applied to the mechanical arm, a measurement object is the tail end of the mechanical arm;
calculating actual tracking error
Returning the actual tracking error e to the outer ring controller, thereby realizing the adjustment of the calculation formula of the outer ring control quantity; in the formula
Eta is the uncertainty of the system and is,
namely, it is
In the same way;
building standard model of tracking error
At the same time, e is obtained from the standard model m (k) And the set value c (k + i), the following e is obtained m (k+i)，e m (k+i)＝β k e m (k)+(1-β k ) C (k + i); wherein beta is a reference track convergence speed coefficient, and beta is more than or equal to 0 and less than or equal to 1;
x, inputting the outer ring control calculation parameter delta a calculated in the step iv into a standard model of the tracking error, and calculating to obtain a standard tracking error e m ；
xi, reacting e and e m (k + i) as error prediction feedback, returning the error prediction feedback to the prediction control model, and optimizing a target function of the prediction control model;
turning to the step i, and continuously executing until the output motion variable q,
The error with the input reference trajectory satisfies a predetermined criterion.
The objective function of the predictive control model adopts a quadratic form objective function with the formula
(i =0,1, \8230;, p-1), where e (k + i) is the e returned in step xi.
The three-closed-loop robust prediction function control method for the robot provided by the embodiment applies the prediction function controller, the pole configuration and the robust inverse kinematics to the inner and outer loop control framework of the robot, and improves the anti-interference capability, the practicability and the reliability of the robot control system.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (2)
1. A three-closed loop robust prediction function control method of a robot comprises an inner loop/outer loop control framework using a prediction function control method, pole allocation and robust inverse kinematics, and is characterized by comprising the following steps:
i. establishing a robot model, and simplifying the robot model into an Euler-Lagrange motion equation form;
inputting a reference trajectory c (k + i) to a predictive control model;
selecting an objective function of the predictive control model;
calculating an outer ring control calculation parameter delta a by the prediction control model, and inputting the outer ring control calculation parameter delta a into an outer ring controller;
v. outer loop controlled quantity is
Inputting the outer ring control quantity into the inner ring controller;
vi, deducing the output u of the inner ring controller according to the robot model in the step i;
and vii, controlling the motion of the robot by using the output u of the inner ring controller, and measuring the motion variable q output by the robot,
Calculating the actual tracking error
Returning the actual tracking error e to the outer ring controller, thereby realizing the adjustment of the calculation formula of the outer ring control quantity;
building standard model of tracking error
x, inputting the outer ring control calculation parameter delta a calculated in the step iv into a standard model of the tracking error, and calculating to obtain a standard tracking error e m ；
xi, mixing e and e m Returning to the predictive control model as error predictive feedback, and optimizing the target function of the predictive control model;
turning to the step i, and continuously executing until the output motion variable q,
The error with the input reference trajectory satisfies a predetermined criterion.
2. The method as claimed in claim 1, wherein the objective function of the predictive control model is a quadratic objective function.
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| US20190049999A1 (en) * | 2017-08-10 | 2019-02-14 | Mitsubishi Electric Research Laboratories, Inc. | Model predictive control of spacecraft |
| CN114179089A (en) * | 2021-12-27 | 2022-03-15 | 四川大学华西医院 | Robust region tracking control method for mechanical arm |
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| US20100250001A1 (en) * | 2009-03-24 | 2010-09-30 | Disney Enterprises | Systems and methods for tracking and balancing robots for imitating motion capture data |
| CN107121977A (en) * | 2017-06-02 | 2017-09-01 | 南京邮电大学 | Mechanical arm actuator failures fault-tolerant control system and its method based on double-decker |
| US20190049999A1 (en) * | 2017-08-10 | 2019-02-14 | Mitsubishi Electric Research Laboratories, Inc. | Model predictive control of spacecraft |
| CN107479381A (en) * | 2017-08-29 | 2017-12-15 | 沈阳工业大学 | Each axle tracking error optimal preventive control method of redundancy rehabilitation ambulation training robot |
| US20220152817A1 (en) * | 2020-11-18 | 2022-05-19 | Dibi (Chongqing) Intelligent Technology Research Institute Co., Ltd. | Neural network adaptive tracking control method for joint robots |
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