CN103197540A - Control device and control method based on proportion integration differentiation (PID) self-adaption and robot applying same - Google Patents
Control device and control method based on proportion integration differentiation (PID) self-adaption and robot applying same Download PDFInfo
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Abstract
The invention discloses a control device and a control method based on proportion integration differentiation (PID) self-adaption and a robot applying the same. The control device comprises a digital signal processor (DSP) motor acquisition and controller and an acquisition card, wherein the DSP motor acquisition and controller serves as equipment for motor acquisition and controlling and achieves sampling of motor speed feedback signals; and communication between the acquisition card and the DSP motor acquisition and controller is achieved through a controller area network (CAN) bus. According to the control method, self-adapting PID parameters are adopted to adjust motor rotating speed, and a proportional element and an integration and differentiation element in the PID parameters are respectively adjusted. Compared with habitual use, the control device, the control method and the robot have the advantages that speediness is achieved, two motors adopt proportional elements, and parameter setting of the motors is designed using a difference between an actual output and an expected output as reference, so desynchrony of the two motors can be quickly reduced; stabilization is achieved, so chattering phenomenon does not exist in two mechanical arms after adjustment; and robustness is good.
Description
Technical field
The present invention relates to the control technology field of servo-link, specifically, refer to a kind ofly based on the adaptive control device of PID, control method and use its robot, it is applicable to two arm synchro control of chip transmission mechanical arm.
Background technology
Clean robot is a kind of integrated circuit manufacturing industry that is applied to, and is used for silicon chip carries out high efficiency of transmission and location between processes modules different on the production line special purpose robot.Because silicon chip is thinner and frangible, in the silicon slice transmission course, any slight vibrations all may cause damage to silicon chip, and this has just proposed high requirement to the stationarity of clean robot mechanical arm arm in operational process.A kind of frog-leg type vacuum mechanical-arm is arranged in the middle of various clean robots, and its shape and mechanical property are similar to the leg of frog, and two arms are arranged, and by two motors it are controlled respectively.Because the influence of factors such as mechanical friction, mechanism design, use material, the mechanical property of two arms can not be identical.When simultaneously two motors being applied identical control action, nonsynchronous situation may appear in the operation of two arms, causes the terminal pallet of arm shake to occur, even can landing damage silicon chip.How to reduce in the frog-leg type vacuum mechanical-arm operational process asynchronism, reduce the key issue that mechanical arm shake becomes the development of chip transmission mechanical arm.
Kinetic characteristic has strong coupling between two arms of frog-leg type vacuum mechanical-arm, i.e. the athletic meeting of an arm applies a certain size power for another arm, and interaction is arranged between them.In existing technology, document is called " research of fuzzy self-adaptive PID in the synchronized drive of dual linear motors system " (" Shenyang University of Technology's journal ", 2005, the 27th 1 phase of volume, the 34-37 page or leaf), the scheme that adopts fuzzy self-adaption to combine with traditional PID control has realized the on-line automatic of PID controller parameter adjusted, and the dual compensation of employing speed and acceleration.Document " application of single neuron PID in many motor synchronous controls " (" electromechanical engineering " by name, 2010, the 27th 8 phases of volume, the 14-18 page or leaf), adopt a kind of single neuron PID synchro control algorithm with self study and adaptive ability, the single neuron PID control algolithm can solve the problem that traditional PID control is difficult for online real-time setting parameter to a certain extent, realizes the synchro control of motor.Above synchronous control technique has certain correlativity, namely all is by detecting the variation of each motor speed and position at output terminal and compare, respectively the pid parameter of two motors being regulated after comparing again.But do not have strong coupling between the applied motor of above-mentioned algorithm, if be applied in the frog-leg type vacuum mechanical-arm, the situation of two arm shakes still can occur.
Summary of the invention
The object of the present invention is to provide a kind ofly based on the adaptive control device of PID, control method and use its robot, it can be realized two motor synchronous controls, reduce the shake of two mechanical arms.
For achieving the above object, the present invention adopts following technical scheme:
A kind of based on the adaptive control device of PID, it comprises: the collection of DSP motor and controller and capture card; Described DSP motor is gathered and the equipment of controller as motor collection and control, and two-way A/D is arranged, and realizes the sampling to the motor speed feedback signal; Described capture card, and between the collection of DSP motor and the controller, be to communicate by the CAN bus.
Preferably, above-mentioned DSP motor is gathered and controller, comprises control module, programmable CPLD, memory circuitry RAM, and RS232 interface and CAN bus interface, and described control module is in order to realize the driving control to motor-drive circuit.
Preferably, above-mentioned capture card is that employing is industrial-controlled general line with PC104.
Preferably, above-mentioned motor comprises motor driver and coupled position and speed pickup.
A kind of based on the adaptive control method of PID, it adopts above-mentioned based on the adaptive control device of PID, and it may further comprise the steps:
1) according to the operation planning of robot, obtain the motor position expectation value, namely two motor shafts are in all expectation values of positions constantly of moving;
2) according to being located at two position and speed pickups on the motor, read the current actual position value of motor and velocity amplitude;
3) calculation procedure: the difference of calculating two motor physical locations and desired locations;
4) receiving step 3) in difference, the proportional component KP of two motors is set;
5) according to step 2) in positional value and velocity amplitude, carry out PID control, with integral element KI and the differentiation element KD that two motors are set;
6) proportional component KP, integral element KI and differentiation element KD are inputed to motor driver.
Above-mentioned based on the adaptive control method of PID, in step 4), two motor proportional component KP by two motors separately the difference of physical location and desired locations determine that the ratio of two proportional component KP is identical with the ratio of two differences, but direction is opposite.
Above-mentioned based on the adaptive control method of PID, in step 5), the integral element KI of two motors and differentiation element KD carry out the self-adaptation adjustment according to physical location, velocity amplitude and desired position value, and adjusted value is obtained by emulator.
Above-mentioned based on the adaptive control method of PID, between step 5) and step 6), also further include the detection step, whether meet the demands for detection of synchronous error, if do not meet the demands, return step 5), if meet the demands, then carry out step 6).
Above-mentioned based on the adaptive control method of PID, in detecting step, it is that an arm is wherein done disturbance, then, utilize frog-leg type vacuum mechanical-arm mechanical model, draw two arm load values, in this load value input emulator, simultaneously, with parameter and the proportional component KP of AC permanent magnet synchronous motor, integral element KI and differentiation element KD also import in the emulator, judged by emulator, whether the synchronous error of two arms meets the demands, and when not satisfying, returns step 5) and heavily should carry out PID control adjustment, when satisfying, just export current integral element KI and differentiation element KD and give motor driver.
A kind of robot, it also further includes above-mentioned based on the adaptive control device of PID.
After adopting technique scheme, control method of the present invention takes adaptive pid parameter that motor speed is regulated, and proportional component and integration and differentiation element are adjusted respectively in the pid parameter.Because proportional component KP effect is very fast, can eliminate the influence of interference fast, can utilize it rapidly the asynchronous of two motors to be reduced, its parameter is selected to determine with the difference of two motor physical locations and desired locations; Utilize then integral element and differentiation element to system dynamically and stable state well respond the shake of further eliminating mechanical arm, integral element and differentiation element parameter are dynamically adjusted by physical location, velocity amplitude and desired position value.Compare with commonly using, the present invention has the following advantages:
Fast: because two motors adopt proportional component, and its parameter setting serves as that reference designs with the difference of the actual output of two motors and desired output, can reduce the asynchronous of two motors fast;
Stable: after this method was regulated, two motors were realized synchronous requirement, and there is not jitter phenomenon in two mechanical arms;
Robustness is good: the mechanical arm of each robot is owing to can there are differences in manufacturing process, and the systematic parameter that makes two motors control is uncertain, and this method has excellent control effect for this random perturbation.
Description of drawings
Fig. 1 is the structured flowchart that the present invention is based on the adaptive control device of PID.
Fig. 2 is the structured flowchart of control method of the present invention.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the present invention, and be not used in restriction the present invention.
With reference to shown in Figure 1, the invention discloses a kind ofly based on the adaptive control device of PID, it comprises: the DSP motor is gathered and controller 1 and capture card 2, wherein:
The DSP motor is gathered and the equipment of controller 1 as collection and the control of motor 3, two-way A/D is arranged, realization is to the sampling of motor speed feedback signal, control module is arranged to realize the driving control to motor-drive circuit, its inner programmable CPLD, memory circuitry RAM in addition, and RS232 interface and CAN bus interface.
Motor 3 is two, and each motor 3 comprises motor driver 31 and position and speed pickup 32, and its input and output side is connected with controller 1 with the collection of DSP motor.
The invention also discloses a kind ofly based on the adaptive control method of PID, it may further comprise the steps:
1) according to the operation planning of robot, obtain the motor position expectation value, namely two motor shafts are in all expectation values of positions constantly of moving;
2) according to being located at two position and speed pickups 32 on the motor, read the current actual position value of motor and velocity amplitude;
3) calculation procedure: the difference of calculating two motor physical locations and desired locations;
4) receiving step 3) in difference, the proportional component KP of two motors is set;
In this step, two motor 3 proportional component KP by two motors separately the difference of physical location and desired locations determine that the ratio of two proportional component KP is identical with the ratio of two differences, but direction is opposite.
5) according to step 2) in positional value and velocity amplitude, carry out PID control, with integral element KI and the differentiation element KD that two motors are set;
In this step, the integral element KI of two motors 3 and differentiation element KD carry out the self-adaptation adjustment according to physical location, velocity amplitude and desired position value, and adjusted value can be obtained by emulator;
6) proportional component KP, integral element KI and differentiation element KD are inputed to motor driver 31.
Whether in implementation process, it also further includes detecting unit, meet the demands for detection of synchronous error, if do not meet the demands, returns step 5), if meet the demands, then carries out step 6).
When detecting, be that an arm is wherein done disturbance, then, utilize frog-leg type vacuum mechanical-arm mechanical model, draw two arm load values, in this load value input emulator, simultaneously, the parameter of AC permanent magnet synchronous motor and proportional component KP, integral element KI and differentiation element KD are also imported in the emulator, judge by emulator whether the synchronous error of two arms meets the demands, when not satisfying, return step 5) and heavily should carry out PID control adjustment, when satisfying, just export current integral element KI and differentiation element KD and give motor driver 31.Above-mentioned emulator is the MATLAB emulator.
Control method of the present invention takes adaptive pid parameter that motor speed is regulated, and proportional component and integration and differentiation element are adjusted respectively in the pid parameter.Because proportional component KP effect is very fast, can eliminate the influence of interference fast, can utilize it rapidly the asynchronous of two motors to be reduced, its parameter is selected to determine with the difference of two motor physical locations and desired locations; Utilize then integral element and differentiation element to system dynamically and stable state well respond the shake of further eliminating mechanical arm, integral element and differentiation element parameter are dynamically adjusted by physical location, velocity amplitude and desired position value.
The invention also discloses a kind of robot, it also has above-mentioned control device except the feature with existing robots, and has adopted above-mentioned control method.
In use, because factors such as mechanical friction, mechanism design, use materials, inconsistent at the mechanical characteristic of two arms of machine man-hour, variation has taken place to be equivalent to motor-driven load, and the power of two arms is interactional.Because clean robot will operate wafer, require it that good stability is arranged, need curb the arm shake that is caused by above-mentioned reason fast, proportional component KP in the pid parameter has very fast action effect, but only can't make control system stable with proportional component KP, also need to add integral element KI and differentiation element KD, three parameter actings in conjunction of PID just can make quick, stable the curbing of arm shake, realize the bi-motor synchro control.
Compare with commonly using, the present invention has the following advantages:
Fast: because two motors adopt proportional component, and its parameter setting serves as that reference designs with the difference of the actual output of two motors and desired output, can reduce the asynchronous of two motors fast;
Stable: after this method was regulated, two motors were realized synchronous requirement, and there is not jitter phenomenon in two mechanical arms;
Robustness is good: the mechanical arm of each robot is owing to can there are differences in manufacturing process, and the systematic parameter that makes two motors control is uncertain, and this method has excellent control effect for this random perturbation.
So-called robustness refers to that control system perturbs down in the parameter of certain (structure, size), keeps the characteristic of some performance.
The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (10)
1. one kind based on the adaptive control device of PID, and it is characterized in that: it comprises: the collection of DSP motor and controller and capture card; Described DSP motor is gathered and the equipment of controller as motor collection and control, and two-way A/D is arranged, and realizes the sampling to the motor speed feedback signal; Described capture card, and between the collection of DSP motor and the controller, be to communicate by the CAN bus.
2. according to claim 1 based on the adaptive control device of PID, it is characterized in that: described DSP motor is gathered and controller, comprise control module, programmable CPLD, memory circuitry RAM, and RS232 interface and CAN bus interface, described control module is in order to realize the driving control to motor-drive circuit.
3. according to claim 1 and 2 based on the adaptive control device of PID, it is characterized in that: described capture card is that employing is industrial-controlled general line with PC104.
4. according to claim 3 based on the adaptive control device of PID, it is characterized in that: described motor comprises motor driver and coupled position and speed pickup.
5. one kind based on the adaptive control method of PID, and it adopts claim 1～4 arbitrary described based on the adaptive control device of PID, and it is characterized in that: it may further comprise the steps:
1) according to the operation planning of robot, obtain the motor position expectation value, namely two motor shafts are in all expectation values of positions constantly of moving;
2) according to being located at two position and speed pickups on the motor, read the current actual position value of motor and velocity amplitude;
3) calculation procedure: the difference of calculating two motor physical locations and desired locations;
4) receiving step 3) in difference, the proportional component KP of two motors is set;
5) according to step 2) in positional value and velocity amplitude, carry out PID control, with integral element KI and the differentiation element KD that two motors are set;
6) proportional component KP, integral element KI and differentiation element KD are inputed to motor driver.
6. according to claim 5 based on the adaptive control method of PID, it is characterized in that: in step 4), two motor proportional component KP by two motors separately the difference of physical location and desired locations determine, the ratio of two proportional component KP is identical with the ratio of two differences, but direction is opposite.
7. according to claim 5 or 6 described based on the adaptive control method of PID, it is characterized in that: in step 5), the integral element KI of two motors and differentiation element KD carry out the self-adaptation adjustment according to physical location, velocity amplitude and desired position value, and adjusted value is obtained by emulator.
8. according to claim 5 or 6 described based on the adaptive control method of PID, it is characterized in that: between step 5) and step 6), also further include the detection step, whether meet the demands for detection of synchronous error, if do not meet the demands, return step 5), if meet the demands, then carry out step 6).
9. according to claim 8 based on the adaptive control method of PID, it is characterized in that: in detecting step, it is that an arm is wherein done disturbance, then, utilize frog-leg type vacuum mechanical-arm mechanical model, draw two arm load values, in this load value input emulator, simultaneously, with parameter and the proportional component KP of AC permanent magnet synchronous motor, integral element KI and differentiation element KD also import in the emulator, judged by emulator, whether the synchronous mistake of two arms meets the demands, and when not satisfying, returns step 5) and heavily should carry out PID control adjustment, when satisfying, just export current integral element KI and differentiation element KD and give motor driver.
10. robot, it is characterized in that: it is arbitrary described based on the adaptive control device of PID that it also further includes claim 1～4.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109249396A (en) * | 2018-10-22 | 2019-01-22 | 四川大学 | Double link Mechanical arm control method |
| CN109465775A (en) * | 2018-12-25 | 2019-03-15 | 国网江苏省电力有限公司检修分公司 | A high-voltage electrical remote locking device and method |
| CN111103791A (en) * | 2019-12-26 | 2020-05-05 | 航天科工智能机器人有限责任公司 | Multi-electric rod synchronous control method |
| CN111290262A (en) * | 2020-03-12 | 2020-06-16 | 江苏酷卡德工智能科技有限公司 | Control method and device of electric steering engine |
| CN111522328A (en) * | 2020-04-23 | 2020-08-11 | 哈尔滨工业大学 | Method and device for self-tuning of servo system and servo system |
| CN112947045A (en) * | 2021-01-26 | 2021-06-11 | 华中科技大学 | Multi-axis synchronous motion control method |
| CN118024898A (en) * | 2024-04-10 | 2024-05-14 | 广汽埃安新能源汽车股份有限公司 | Motor control method and device for electric automobile |
| CN119596825A (en) * | 2025-02-08 | 2025-03-11 | 浙江禾川科技股份有限公司 | Control method, device, equipment and medium of full-automatic template sewing machine |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109249396A (en) * | 2018-10-22 | 2019-01-22 | 四川大学 | Double link Mechanical arm control method |
| CN109465775A (en) * | 2018-12-25 | 2019-03-15 | 国网江苏省电力有限公司检修分公司 | A high-voltage electrical remote locking device and method |
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| CN111103791A (en) * | 2019-12-26 | 2020-05-05 | 航天科工智能机器人有限责任公司 | Multi-electric rod synchronous control method |
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| CN111290262A (en) * | 2020-03-12 | 2020-06-16 | 江苏酷卡德工智能科技有限公司 | Control method and device of electric steering engine |
| CN111522328A (en) * | 2020-04-23 | 2020-08-11 | 哈尔滨工业大学 | Method and device for self-tuning of servo system and servo system |
| CN112947045A (en) * | 2021-01-26 | 2021-06-11 | 华中科技大学 | Multi-axis synchronous motion control method |
| CN112947045B (en) * | 2021-01-26 | 2022-04-29 | 华中科技大学 | Multi-axis synchronous motion control method |
| CN118024898A (en) * | 2024-04-10 | 2024-05-14 | 广汽埃安新能源汽车股份有限公司 | Motor control method and device for electric automobile |
| CN118024898B (en) * | 2024-04-10 | 2024-06-11 | 广汽埃安新能源汽车股份有限公司 | Motor control method and device for electric automobile |
| CN119596825A (en) * | 2025-02-08 | 2025-03-11 | 浙江禾川科技股份有限公司 | Control method, device, equipment and medium of full-automatic template sewing machine |
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Application publication date: 20130710 |