CN108189036A - Torque control method and device, robot and storage medium - Google Patents
Torque control method and device, robot and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention discloses a torque control method, a torque control device, a robot and a storage medium. The torque control method comprises the following steps: acquiring a position error set, a speed error set and an expected running acceleration set of a motion control object at the current moment in the running process; determining a moment control parameter set according to the position error set and the speed error set, wherein the moment control parameter set comprises a robust compensation parameter set and a closed-loop feedback parameter set; and controlling the driving torque of the motion control object according to the torque control parameter set and the expected running acceleration set. By adopting the torque control method, the technical problem that the accuracy of the driving torque output by the mechanical arm is low due to the fact that dynamic errors cannot be adjusted in the prior art can be solved.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a torque control method and device, a robot and a storage medium.
Background
The mechanical arm is a mechanical electronic device simulating the functions of a human arm, a wrist and a hand. It can move any object or tool according to the time-varying requirement of space pose (position and posture), so as to meet the operation requirement of some industrial production. A typical robot arm is composed of several joints and links connected in series, each joint having one degree of freedom and being able to translate or rotate.
Generally, in the working process of the robot arm, the moving process of the robot arm is tracked and controlled to ensure the moving accuracy of the robot arm. When the mechanical arm is subjected to tracking control, the stability of a mechanical arm control system is measured through static errors and dynamic errors. Static error refers to the difference between the desired steady state output and the actual steady state output. The dynamic error is a function taking time as a variable, and can provide a rule that the control error changes along with time when the system is in a steady state. However, when the prior art performs tracking control on the mechanical arm, it is only ensured that the steady-state error of position tracking is small, and the dynamic error cannot be adjusted, so that the dynamic tracking precision is low, and the mechanical arm cannot be ensured to output accurate driving torque.
Disclosure of Invention
In view of this, embodiments of the present invention provide a torque control method and apparatus, a robot, and a storage medium, so as to solve the technical problem in the prior art that accuracy of driving torque output by a mechanical arm is low due to an inability to adjust a dynamic error.
In a first aspect, an embodiment of the present invention provides a torque control method, including:
acquiring a position error set, a speed error set and an expected running acceleration set of a motion control object at the current moment in the running process;
determining a moment control parameter set according to the position error set and the speed error set, wherein the moment control parameter set comprises a robust compensation parameter set and a closed-loop feedback parameter set;
controlling a drive torque of the motion controlled object in accordance with the set of torque control parameters and the set of desired operating accelerations.
In a second aspect, an embodiment of the present invention further provides a torque control device, including:
the parameter acquisition module is used for acquiring a position error set, a speed error set and an expected running acceleration set of the motion control object at the current moment in the running process;
the parameter determining module is used for determining a moment control parameter set according to the position error set and the speed error set, wherein the moment control parameter set comprises a robust compensation parameter set and a closed-loop feedback parameter set;
and the torque control module is used for controlling the driving torque of the motion control object according to the torque control parameter set and the expected running acceleration set.
In a third aspect, an embodiment of the present invention further provides a robot, including:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the torque control method according to the embodiment of the present invention.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a torque control method according to an embodiment of the present invention.
According to the torque control method, the torque control device, the robot and the storage medium, the torque control parameter set is determined through the position error set and the speed error set acquired by the motion control object in the operation process, and the driving torque of the motion control object is controlled according to the torque control parameter set and the expected acceleration set acquired in the operation process, so that the finally obtained driving torque is more accurate, the accuracy of dynamic tracking in double closed-loop control is ensured, and the external interference of a control system is avoided.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1a is a flowchart of a torque control method according to an embodiment of the present invention;
FIG. 1b is a schematic view of a robot with a motion control object installed thereon;
fig. 2a is a flowchart of a torque control method according to a second embodiment of the present invention;
FIG. 2b is a flow chart of a closed loop control method;
FIG. 2c is a schematic diagram of a data interaction structure;
FIG. 2d is an algorithmic schematic of the torque control method;
fig. 3 is a schematic structural diagram of a torque control device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a robot according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings.
Example one
Fig. 1a is a flowchart of a torque control method according to an embodiment of the present invention. The torque control method provided by the embodiment is suitable for the case where the drive torque of the motion control object is determined during the motion control object work. The torque control method provided by the embodiment can be executed by a torque control device, which can be implemented in a software and/or hardware manner and is integrated in a robot provided with a motion control object. The robot is a machine device that can automatically perform work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. For example, mobile forklift trucks and equipment with robotic arms are all robots.
Referring to fig. 1a, a torque control method provided in this embodiment specifically includes:
and S110, acquiring a position error set, a speed error set and an expected running acceleration set of the motion control object at the current moment in the running process.
In this embodiment, the motion control object comprises at least one movable motion control sub-object, each motion control sub-object being provided with a corresponding drive motor. Taking a motion control object as an example of a mechanical arm, the corresponding motion control sub-object consists of a joint and a corresponding connecting rod, and each joint is provided with a driving motor for controlling the translation or rotation of the joint. The position, speed and acceleration referred to in the present embodiment can be regarded as the operation angle, operation angular speed and operation acceleration of the corresponding motor. Fig. 1b is a schematic structural diagram of a robot with a motion control object installed, wherein the motion control object may be a mechanical arm, and then the robot includes an upper computer 11, a driver 12 and a mechanical arm body 13. The upper computer 11 may specifically include at least one processor and a memory, and is configured to execute the torque control method provided in this embodiment, and the driver 12 and the robot arm body 13 may be collectively referred to as a motion control device. Typically, the upper computer 11 is installed with a real-time Linux operating system and can communicate with the driver 12 through a portal using a real-time industrial fieldbus protocol. The real-time industrial fieldbus protocol may include: a high-level communication protocol (also called CANOpen) or an ethernet control automation technology (also called EtherCAT) protocol configured on a Controller Area Network (CAN). The driver 12 is connected to the upper computer 11 through a bus, and is configured to control the mechanical arm body 13 to move according to the driving torque determined by the upper computer 11, where the driver 12 and the mechanical arm body 13 may be connected through a bus or electrically, and fig. 1b illustrates electrical connection. Generally, the actuator 12 controls the robot arm body 13 to move, and controls the motor of the corresponding motion control sub-object to operate. Optionally, the robot arm body 13 further includes an encoder (not shown), which can read the operating position and speed of the motor and send the generated encoded data to the driver 12. The driver 12 measures and converts the readings of the encoder, and feeds back the converted results to the upper computer 11 through the bus. In general, the actual operating parameters measured by the encoder as referred to in the following embodiments are understood to be the data measured by the encoder. The robot described above is for explanation only, and is not intended to limit the robot to which the motion control object is attached in the present embodiment.
It should be noted that, in this embodiment, each value in the set corresponds to one motion control sub-object, and the positions of the values corresponding to the same motion control sub-object in each set are the same. For example, a first value in the set of position errors and a first value in the set of velocity errors correspond to the same motion control sub-object, a second value in the set of position errors and a second value in the set of velocity errors correspond to another motion control sub-object, and so on. In general, the motion control sub-objects are numbered and the order of the values in each set is determined according to the numbering order.
Typically, each value in the set of position errors represents a difference between an expected operating position and an actual operating position of the corresponding motion control sub-object at the current time. Each value in the speed error set represents a difference value between the expected running speed and the actually achieved running speed of the corresponding motion control sub-object at the current moment. Each value in the set of expected operating accelerations represents an expected acceleration of the corresponding control sub-object at the current time. The current time refers to the current operation time, and the operation process refers to a process of controlling the motion control object to move.
Optionally, when the motion control object initially runs, the motion control object is subjected to motion planning. The motion planning is to determine an expected operation parameter set expected to be reached by each operation time in the current motion process of the motion control object in an ideal state. Wherein the set of desired operating parameters includes: at least one of a set of desired operating speeds, a set of desired operating positions, and a set of desired operating accelerations. In general, motion planning for a motion control object refers to performing motion planning for each motion control sub-object in the motion control object, and grouping the motion planning results of each motion control sub-object into a desired operation parameter set. Specifically, the motion control object may be subjected to motion planning using an existing motion planning algorithm.
Further, the upper computer acquires an actual operation position set and an actual operation speed set of the motion control object at the current moment, which are sent by the driver. And simultaneously determining a set of expected operation positions, a set of expected operation speeds and a set of expected operation accelerations which are expected to be reached by the motion control object at the current moment according to the motion planning result. And determining a position error set at the current moment according to the actual operation position set and the expected operation position set, and determining a speed error set at the current moment according to the actual operation speed set and the expected operation speed set.
And S120, determining a moment control parameter set according to the position error set and the speed error set.
For example, the difference degree between the current expected operation state and the actual operation state of each motion control sub-object can be determined according to the position error set and the speed error set, and then the torque control parameter of each motion control sub-object is determined according to the difference degree to obtain a torque control parameter set, so as to control the driving torque of the corresponding motion control sub-object according to each torque control parameter, and further ensure the operation accuracy of the motion control object.
The torque control parameter set comprises a robust compensation parameter set and a closed-loop feedback parameter set.
Specifically, robustness is generally defined as a requirement that a control system needs to meet minimum requirements when performing operation control on a motion control object in order to ensure safety in an actual environment. The robust compensation parameter set is a control parameter set corresponding to each motion control sub-object determined to satisfy the robustness of the motion control object under the current error parameter. When the control is carried out according to the robust compensation parameter set, the robustness of the motion control object can be effectively ensured, and the influence caused by external interference is avoided. When the robust compensation parameter set is determined, the position error set and the speed error set may be calculated according to a set calculation rule.
Further, the closed-loop feedback parameter set refers to a control parameter set determined according to the position error set and the speed error set and used for correcting the current operation parameters. Position closed-loop control and speed closed-loop control can be achieved according to the closed-loop feedback parameter set, and the operation process of the motion control object is more accurate. The closed-loop feedback parameter set can be determined by performing proportional-integral control on the position error set and the speed error set.
And S130, controlling the driving torque of the motion control object according to the torque control parameter set and the expected running acceleration set.
For example, the driving torque refers to a torque for driving the motion control object to operate at the current moment. In general, the drive torques are in the form of a matrix, wherein the parameters on each diagonal in the matrix correspond to the drive torques of one motion controller object.
Generally, the driving moment is determined by an inertia matrix, a coriolis force matrix, a gravity matrix, and a friction matrix of the motion controller sub-object, which is specifically to add the inertia matrix, the coriolis force matrix, the gravity matrix, and the friction matrix, and use the obtained calculation result as the driving moment. And the friction force matrix is a set of joint friction forces in the running process of each motion control sub-object. The dimensions of the above parameters are all related to the number of motion control sub-objects. In practical application, when the driving torque is determined according to the parameters, the external disturbance error is not considered and the dynamic tracking error is not adjusted, so that the finally obtained driving torque is not accurate, and when the motion control object is controlled to move according to the driving torque, the accuracy of dynamic tracking cannot be ensured, namely, the motion control object cannot accurately move. In view of this, it is proposed in the present embodiment to control the drive torque of the motion controlled object by means of a set of torque control parameters and a set of desired running accelerations. The operation position error and the operation speed error are considered when the torque control parameter set is determined, the robust compensation parameter set for ensuring robustness and the closed-loop feedback parameter set determined in the tracking control process are included in the torque control parameter set, and the acceleration of the motion control object expected to operate can be determined according to the expected operation acceleration set, so that when the driving torque is controlled according to the torque control parameter set and the expected operation acceleration set, all current parameter types (position, speed and acceleration) can be considered to be fully considered, and the robustness of the system and the accuracy of double closed-loop control are ensured.
Specifically, the values in the torque control parameter set and the corresponding values in the expected operation acceleration set are added, and the addition result is expressed in a vector form. Further, the vector is multiplied by an inertia matrix, and the matrix obtained after multiplication is added with a Coriolis force matrix, a gravity matrix and a friction matrix to obtain a driving torque matrix. The drive torque matrix has diagonal values as the output torque of the motion control object, wherein the first value on the diagonal corresponds to the output torque of the first motion control sub-object and the last value on the diagonal corresponds to the output torque of the last motion control sub-object.
According to the technical scheme provided by the embodiment, the moment control parameter set is determined through the position error set and the speed error set acquired by the motion control object in the operation process, and the driving moment of the motion control object is controlled according to the moment control parameter set and the expected acceleration set acquired in the operation process, so that the finally obtained driving moment is more accurate, the accuracy of dynamic tracking in double closed-loop control is ensured, and the external interference of a control system is avoided.
Example two
Fig. 2a is a flowchart of a torque control method according to a second embodiment of the present invention. The present embodiment is embodied on the basis of the above-described embodiments. Referring to fig. 2a, the torque control method provided in this embodiment specifically includes:
s210, obtaining an initial parameter set of the initial running time of the motion control object.
Specifically, the initial parameter set includes: the initial position set, the initial speed set and the initial acceleration set of the motion control object actually running at the initial running time further comprise: ideally, the initial runtime moves the set of desired initial positions, the set of desired initial velocities, and the set of desired initial accelerations that the control object is expected to reach. The initial position set, the initial velocity set and the initial acceleration can be actually measured, and the expected initial position set, the expected initial velocity set and the expected initial acceleration set can be set according to actual conditions. Optionally, when the initial parameter set is obtained, a sampling period is determined synchronously, where the sampling period is a sampling interval for sampling each parameter in the operation process of the motion control object.
And S220, performing motion planning on the motion control object according to the initial parameter set so as to determine an expected operation parameter set corresponding to the current moment according to a motion planning result.
Specifically, the motion planning is performed on the current operation process of the motion control object in advance, an expected operation parameter set of the motion control object at each operation time can be determined according to the motion planning result, and then the difference degree between the actual operation and the expected operation of the motion control object at the corresponding time can be determined according to the expected operation parameter set.
For example, a plurality of motion planning methods may be used to plan the motion of the motion control object, and in this embodiment, a quintic polynomial method is selected for the motion planning. The following describes an exemplary motion planning based on the quintic polynomial method:
in this example, the motion planning process of the quintic polynomial method can be expressed as:
S(t)＝a0+a1t+a2t2+a3t3+a4t4+a5t5(1)
wherein, a0、a1、a2、a3、a4And a5And (t) is a planning coefficient, t is the current operation time of the motion control object, and S (t) is a motion planning result at the time t. As can be seen from the above formula, if it is desired to determine the motion planning result of the motion control object, it is necessary to specify the specific values of the planning coefficients, and the specific values of the planning coefficients may be determined according to the initial parameter set. Accordingly, an initial parameter set of the motion control object at the initial operation time needs to be obtained to determine the planning coefficient according to the initial parameter set.
The motion planning process is described below using a motion control sub-object as an example. Searching initial parameters corresponding to the current motion control sub-object in an initial parameter set, and setting a sampling period T, an initial position theta (0) and an initial speedInitial accelerationDesired initial position θ0Desired initial velocityAnd an expected initial accelerationThen it can be found that:
a0＝θ(0) (2-1)
further, after determining the planning coefficients, equation (1) can be expressed as:
θ1(t)＝a0+a1t+a2t2+a3t3+a4t4+a5t5(3)
wherein, theta1(t) represents the desired operating position of the motion control sub-object at operating time t. By performing a differential calculation on equation (3), it is possible to obtain:
wherein,representing the desired operating speed of the motion control sub-object at the operating time t. By performing a differential calculation on equation (4), it is possible to obtain:
wherein,representing the desired running acceleration of the motion control sub-object at the running time t.
Further, equations (3), (4) and (5) are motion planning equations for one motion control sub-object. According to the method, a motion planning formula of all the motion control sub-objects can be constructed. In practical application, each initial parameter set can be represented and calculated in a vector form, and each value in the vector corresponds to one motion control sub-object. Taking the initial position as an example, each value in the corresponding vector corresponds to the initial position of one motion control sub-object. This has the advantage that only one motion planning is needed to obtain the motion planning result for all motion control sub-objects. It should be noted that, in the actual process, at least one motion planning formula may be selectively constructed in the formula (3), the formula (4), and the formula (5) according to the actual situation, and an expected operation parameter set corresponding to the operation time is determined according to the constructed motion planning formula, where the expected operation parameter set includes: at least one of a set of desired operating speeds, a set of desired operating positions, and a set of desired operating accelerations.
And S230, acquiring an actual running position set and an actual running speed set of the motion control object at the current moment in the running process.
Specifically, the actual operating position and the actual operating speed of each motion control sub-object at the current moment are respectively obtained, and a corresponding actual operating position set and an actual operating speed set are formed.
And S240, determining an expected operation position set, an expected operation speed set and an expected operation acceleration set at the current moment according to the motion planning result.
Illustratively, the expected operating position, the expected operating speed and the expected operating acceleration of each motion control sub-object are determined by using formula (3), formula (4) and formula (5), respectively, and the corresponding expected operating position set, expected operating speed set and expected operating acceleration set are formed.
And S250, subtracting the values in the expected operation position set and the corresponding values in the actual operation position set to obtain a position error set.
Specifically, when the subtraction is performed, the first value in the expected operation position set and the first value in the actual operation position set are subtracted to determine the position error of the motion control sub-object with the number of 1 at the current time, and so on, and all the determined position errors form the position error set. Each value in the position error set represents a difference value between a position where the corresponding motion control sub-object is expected to run at the current time and an actual run position.
Wherein, the determination formula of the position error set is as follows:
e＝θ1(t)-θ(t) (6)
where e represents a set of position errors, t represents the current operating time, θ1(t) represents a set of desired operating positions at time t, and θ (t) represents a set of actual operating positions at time t.
And S260, subtracting each value in the expected running speed set and each corresponding value in the actual running speed set to obtain a speed error set.
For example, the determination method of the velocity error set is similar to the determination method of the position error set, and is not repeated here. Each value in the speed error set represents a difference value between the expected running speed and the actual running speed of the corresponding motion control sub-object at the current moment.
Wherein, the determination formula of the speed error set is as follows:
wherein,representing a set of speed errors, t representing the current operating instant,representing the set of desired operating speeds at time t,representing the set of actual operating speeds at time t.
And S270, performing preset calculation on the position error set and the speed error set to obtain a robust compensation parameter set.
Illustratively, the compensation control parameters meeting robustness when the motion control object controls the self-operation are determined according to the position error set and the speed error set, and the parameters are recorded as a robust compensation parameter set. Each datum in the robust compensation parameter set represents a robust compensation parameter of the corresponding motion control sub-object at the current moment.
Specifically, the steps specifically include:
obtaining a robust compensation parameter set by using the following formula:
wherein v represents a robust compensation parameter set, and e represents a position error set,Generally, ξ can be set as a practical matter and is greater than 0, and further,wherein α is a second setting constant, which can be set according to practical situations, and is greater than 0 | | η | | is a norm of η,β, and gamma is the fourth setting constant in this embodiment, β is set to 3 and gamma is set to 2.6, at which time the need for robustness of the motion control object has been met.
And S280, performing proportional integral control on the position error set and the speed error set to obtain a closed-loop feedback parameter set.
When the double closed-loop control is carried out on the motion control object, the position closed-loop control is firstly carried out, and the speed closed-loop control is realized according to the position closed-loop control result, so that the accuracy of the finally obtained closed-loop feedback parameters is ensured.
Referring to fig. 2b, the step specifically includes:
and S281, executing proportional integral control on each value in the position error set to obtain a position control parameter set.
Specifically, the difference value between the actual operation position and the expected operation position of each motion control sub-object at the current moment can be determined according to the position error set, and the control parameter when each motion control sub-object is operated to the expected operation position at the next moment can be adjusted according to the difference value, so that the operation position of each motion control sub-object at the next moment is more accurate, and further position closed-loop control is realized. When the control parameters of each motion control sub-object at the next moment are adjusted according to the difference value, a proportional integral control mode is adopted, and the adjustment result is determined as a position control parameter set.
Wherein, the proportional-integral control formula is as follows:
up＝kppe+kip∫edt (9)
wherein u ispRepresenting a set of position control parameters, e representing a set of position errors, kppIndicating the proportionality coefficient, ki, in closed-loop control of positionpRepresenting the integral coefficient for closed loop control of position. Wherein kppAnd kipThe specific value of (b) can be set according to actual conditions.
And S282, adding each value in the speed error set and each corresponding value in the position control parameter set to obtain a speed control parameter set.
Generally speaking, the difference value between the actual operation speed of each motion control sub-object at the current moment and the expected operation speed can be determined according to the speed difference value set, and the control parameter when each motion control sub-object is operated to the expected operation speed at the next moment can be adjusted according to the difference value, so as to realize the speed closed-loop control. When adjusting the control parameter related to the speed, not only the speed difference value at the current time but also the position difference value at the current time need to be considered. If the position difference value is not considered, even if the operation speed is corrected, the motion control object cannot be guaranteed to operate to an accurate position. Therefore, in this embodiment, each value in the velocity difference set and each corresponding value in the position control parameter set are subjected to addition calculation, so that the influence caused by the velocity difference value and the influence caused by the position difference value can be considered in the subsequent control, wherein a specific formula of the addition calculation is as follows:
wherein e isvWhich represents a set of speed control parameters,representing a set of velocity differences, upRepresenting a set of position control parameters.
And S283, executing proportional integral control on each value in the speed control parameter set to obtain a closed loop feedback parameter set.
Specifically, a proportional-integral control mode is adopted to determine a feedback control parameter set obtained after adjusting the control parameters related to the running speed.
Wherein, the proportional-integral control formula is as follows:
upd＝kpvev+kiv∫evdt (11)
wherein u ispdRepresenting a set of feedback control parameters, evRepresenting a set of speed control parameters, kpvIndicating the proportionality coefficient during closed-loop control of speed, kivRepresenting the integral coefficient for closed-loop control of velocity. Wherein kpvAnd kivThe specific value of (b) can be set according to actual conditions. According to the above formula, the feedback control parameters for the next operation time and the closed-loop control of each motion control sub-object can be determined.
And S290, adding each value in the torque control parameter set and each corresponding value in the expected running acceleration set to obtain a torque control input vector.
For example, since the torque control parameter set includes the robust compensation parameter set and the closed-loop feedback parameter set, when the values in the torque control parameter set and the corresponding values in the expected operating acceleration set are added, the values in the robust compensation parameter set, the values in the closed-loop feedback parameter set, and the corresponding values in the closed-loop feedback parameter set may be added.
Wherein, the specific calculation formula is as follows:
wherein u represents a torque control input vector, t represents the current operating time,representing a set of expected running accelerations, updDenotes a set of feedback control parameters, and v denotes a set of robust compensation parameters.
According to the description, the torque control input vector not only comprises a robust compensation parameter set for ensuring the robustness of the control system and a feedback control parameter set for realizing closed-loop control, but also comprises an expected operation acceleration set determined based on a motion planning result, so that the accuracy of controlling the output torque according to the torque control input vector is ensured.
And S2100, multiplying the moment control input vector by the inertia matrix, adding the multiplication result to the Coriolis force matrix, the gravity matrix and the friction matrix to obtain a moment matrix, and taking the moment matrix as the driving moment of the motion control object.
Illustratively, according to the inverse robot dynamics model, the driving torque of the motion control object is related to an inertia matrix, a coriolis force matrix, a gravity matrix, and a friction torque matrix. In this embodiment, in order to ensure the accuracy of the driving torque, a torque control input vector is added to the inverse dynamics model. Specifically, controlling the output torque according to the torque control input vector is specifically controlling an inertia matrix according to the torque control input vector, and specifically multiplying the torque control input vector by the inertia matrix. And further, adding the multiplication result with a Coriolis force matrix, a gravity matrix and a friction force matrix to obtain a driving moment matrix. At this time, the formula of the corresponding inverse dynamics model is as follows:
where τ represents a drive torque matrix, M (θ) represents an inertia matrix, u represents a torque control input vector,indicating a coriolis force matrix, G (θ) indicating a gravity matrix, and f indicating a friction matrix.
Further, the values on the diagonal line of τ are sequentially used as the output torque of the motion control sub-object.
And S2110, taking the driving torque as the input of a low-pass filter, and taking the result obtained after filtering as the actual driving torque of the motion control object.
Specifically, in order to suppress the influence of high-frequency noise on the motion control target, in the present embodiment, the high-frequency noise in the driving torque is removed by a low-pass filter.
Specifically, a first-order low-pass filter is taken as an example for description:
the filtering formula of the first-order low-pass filter is as follows:
in the formula (14), λ is a cutoff frequency, s is an independent variable, and f(s) is a laplace transform amount. In practical applications, in order to simplify the computer implementation process, when filtering with a first-order low-pass filter, a differential difference equation is preferably used, which specifically includes:
Y(t)＝aX(t)+(1-a)Y(t-T') (15)
where T 'is a sampling frequency of the first-order low-pass filter, which may be the same as or different from a sampling period of the operating parameter, x (T) is an input signal of the first-order low-pass filter at the current time, i.e., a driving moment matrix τ, T is the current time, Y (T-T') is an output signal of the first-order low-pass filter corresponding to a previous sampling time based on the current time, a ═ λ · 2 π T ', λ is a cutoff frequency of the first-order low-pass filter, and Y (T) is an output signal of the current time, i.e., an actual driving moment, and is denoted as τ'.
When the motion control object is controlled based on the actual driving torque obtained by filtering, the influence of high-frequency noise on the control result can be suppressed to some extent.
In the technical scheme provided by this embodiment, a motion control object is subjected to motion planning, an expected operation speed set, an expected operation position set and an expected operation acceleration set at the current time are determined according to a motion planning result, an actual operation position set and an actual operation speed set at the current time are obtained, a position error set is determined according to the expected operation position set and the actual operation position set, a speed error set is determined according to the expected operation speed set and the actual operation speed set, a robust compensation parameter set and a closed-loop feedback parameter set are determined according to the position error set and the speed error set, a moment control input vector is determined according to the robust compensation parameter set, the closed-loop feedback parameter set and the expected operation acceleration set, so as to determine a driving moment through a moment control input vector, an inertia matrix, a coriolis force matrix, a gravity matrix and a friction force matrix, the technical scheme of low-pass filtering the driving torque to obtain the actual driving torque of the motion control object ensures the accuracy of the driving torque of the motion control object, realizes high-precision dynamic tracking of the motion control object, and effectively inhibits external errors and tracking errors in the tracking process.
The method provided by the present embodiment is exemplarily described below, and in this example, a schematic structural diagram of a robot with a motion control object mounted thereon is referred to fig. 1 b. Specifically, the upper computer 11 executes the torque control method in this example, and when the upper computer executes the torque control method, the upper computer is divided into a motion planning algorithm module, a torque compensation algorithm module, and an EtherCAT master station module according to a data flow direction, and referring to fig. 2c, the modules interact with each other through data interfaces. This is described in connection with fig. 1b and 2c as an example:
specifically, the creating method of the motion planning algorithm module 21 may be to inherit the RTT:: TaskContext class of an Open Robot Control Software programming framework (oroco) from an Open source, and create a real-time module of the oroco. The interface 1 of the motion planning algorithm module 21 may be implemented based on an operation call method of the OROCOS, and is a function call interface. The interface 1 is used for triggering a control instruction response function of the motion planning when receiving the motion instruction, and calling an algorithm to calculate a corresponding track. The motion command may be a point-to-point motion, a linear motion, or the like. Taking point-to-point motion as an example, after receiving the point-to-point motion instruction, the interface 1 calls a quintic polynomial interpolation algorithm, so that the motion planning algorithm module 21 generates a point-to-point motion trajectory.
Further, the motion planning algorithm module 21 includes an UpdateHook () member function. When the motion planning algorithm module 21 is running, the UpdateHook () member function runs in real time, and calculates the expected running speed, the expected running position and the expected running acceleration of each joint of the mechanical arm body 13 at the current moment according to the determined motion trajectory with a set frequency, specifically referring to formula (3), formula (4) and formula (5), to form an expected running position set θ1(t), set of desired operating speedsAnd set of expected operating accelerationsThe specific value of the set frequency is not limited, such as 1000 Hz.
After the expected operation parameters are determined, interface 2 and interface 6 are implemented using the RTT:: Input and RTT:: Output methods of OROCOS. The interface 2 is specifically configured to send the desired operation speed, the desired operation position, and the desired operation acceleration of each joint to the torque compensation algorithm module 22 at a set interval, that is, the set interval is sent by θ1(t)、Andthe interface 6 is specifically configured to receive the actual operating position, the actual operating speed, and the actual operating acceleration of each joint at the current time, which are sent at intervals by the torque compensation algorithm module 22, that is, the set of actual operating positions θ (t) and the set of actual operating speeds are received at intervalsAnd set of actual operating accelerationsThe setting intervals corresponding to the interfaces 2 and 6 may be the same or different, and the specific values may be set according to actual conditions, for example, both are set to 1 ms.
The creating method of the moment compensation algorithm module 22 may be to inherit the RTT of OROCOS in the category of TaskContext, and create a real-time module of OROCOS.
Specifically, the moment compensation algorithm module 22 includes an UpdateHook () member function. When the torque compensation algorithm module 22 operates, the UpdateHook () function executes the torque control method provided in this embodiment at a set frequency, and determines a torque control command of the mechanical arm body 13. Wherein the torque control command includes a driving torque of the robot arm body 13. Further, the interface 2 and the interface 6 are realized by using the RTT:: Input and RTT:: Output method of OROCOS, wherein the specific functions of the interface 2 and the interface 6 are described in the motion planning algorithm module 22 for the interface 2 and the interface 6. Interface 3 and interface 5 are implemented using shared memory transmission. Wherein, interface 3 sends moment control command to EtherCAT master station module according to setting for the interval. The interface 5 receives theta (t) sent by the EtherCAT master station module according to the set interval,Andthe setting intervals corresponding to the interfaces 3 and 5 may be the same or different, and the specific values may be set according to actual conditions, such as setting to 1 ms.
Further, fig. 2d is a schematic block diagram of an algorithm of the moment compensation method during calculation of the UpdateHook () function. Referring to fig. 2d, when calculating the UpdateHook () function, the position error set e is determined using equation (6). Determining a set of velocity errors using equation (7)According to e andthe robust compensation parameter set v is determined using equation (8). E is subjected to proportional integral control by referring to a formula (9) to obtain a position control parameter set upAnd u is expressed according to the formula (10)pAndadding, using formula (11) to upAndthe addition result is subjected to proportional-integral control to obtain a feedback control parameter set upd. Further, u is expressed by equation (12)pdV andand adding the sum to obtain a moment control input vector u, inputting u into an inverse dynamic model of the mechanical arm, determining a driving moment matrix tau by using a formula (13), and obtaining the actual driving moment tau' of the mechanical arm by the tau through a low-pass filter. Wherein τ' is the specific content of the torque control command.
Specifically, the EtherCAT master station module 23 is implemented by using a real-time process of rt-preempt. The EtherCAT master station module 23 implements the interface 3 and the interface 5 by using the transmission of the shared memory. The specific functions of the interface 3 and the interface 5 are described in the torque compensation algorithm module for the interface 3 and the interface 5. Further, an EtherCAT communication protocol is adopted to realize the interface 4, and a torque control command is sent to each driver 12 corresponding to the manipulator body 13 through the interface 4, so that each driver 12 controls the manipulator body 13 to move according to the torque control command.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a torque control device according to a third embodiment of the present invention. Referring to fig. 3, the torque control device provided in this embodiment specifically includes: a parameter acquisition module 301, a parameter determination module 302, and a torque control module 303.
The parameter obtaining module 301 is configured to obtain a position error set, a speed error set, and an expected operating acceleration set of the motion control object at the current time in the operating process; a parameter determining module 302, configured to determine a torque control parameter set according to the position error set and the speed error set, where the torque control parameter set includes a robust compensation parameter set and a closed-loop feedback parameter set; and the torque control module 303 is used for controlling the driving torque of the motion control object according to the torque control parameter set and the expected running acceleration set.
According to the technical scheme provided by the embodiment, the moment control parameter set is determined through the position error set and the speed error set acquired by the motion control object in the operation process, and the driving moment of the motion control object is controlled according to the moment control parameter set and the expected acceleration set acquired in the operation process, so that the finally obtained driving moment is more accurate, the accuracy of dynamic tracking in double closed-loop control is ensured, and the external interference of a control system is avoided.
On the basis of the above embodiment, the parameter determining module 302 includes: the robust parameter determination submodule is used for carrying out preset calculation on the position error set and the speed error set to obtain a robust compensation parameter set; and the feedback control submodule is used for carrying out proportional integral control on the position error set and the speed error set so as to obtain a closed-loop feedback parameter set.
On the basis of the above embodiment, the robust parameter determination submodule is specifically configured to: using formulasObtaining a robust compensation parameter set, wherein v represents the robust compensation parameter set, e represents the position error set,Representing a set of speed errors, ξ is a first set constant,α is the second set constant, | η | | | is the norm of η,β is a third set constant and γ is a fourth set constant.
On the basis of the above embodiment, the feedback control sub-module includes: the position control unit is used for executing proportional-integral control on each value in the position error set to obtain a position control parameter set; the speed control unit is used for carrying out addition calculation on each value in the speed error set and each corresponding value in the position control parameter set to obtain a speed control parameter set; and the feedback control unit is used for executing proportional-integral control on each value in the speed control parameter set to obtain a closed-loop feedback parameter set.
On the basis of the above embodiment, the parameter obtaining module 301 includes: the actual parameter acquisition submodule is used for acquiring an actual operation position set and an actual operation speed set of the motion control object at the current moment in the operation process; the expected parameter acquisition submodule is used for determining an expected operation position set, an expected operation speed set and an expected operation acceleration set at the current moment according to the motion planning result; the position error determining submodule is used for carrying out subtraction calculation on each value in the expected operation position set and each value corresponding to the actual operation position set so as to obtain a position error set; and the speed error determination submodule is used for carrying out subtraction calculation on each value in the expected running speed set and each corresponding value in the actual running speed set so as to obtain a speed error set.
On the basis of the above embodiment, the method further includes: the initial parameter acquisition module is used for acquiring an initial parameter set of the motion control object at the initial running time before a position error set, a speed error set and an expected running acceleration set of the motion control object at the current time in the running process; and the motion planning module is used for performing motion planning on the motion control object according to the initial parameter set so as to determine an expected operation parameter set corresponding to the current moment according to a motion planning result, wherein the expected operation parameter set comprises an expected operation speed set, an expected operation position set and an expected operation acceleration set.
On the basis of the above embodiment, the torque control module 303 includes: the vector determination submodule is used for carrying out addition calculation on all values in the torque control parameter set and all corresponding values in the expected operation acceleration set to obtain a torque control input vector; and the driving moment determining submodule is used for multiplying the moment control input vector with the inertia matrix, adding the multiplication result with the Coriolis force matrix, the gravity matrix and the friction matrix to obtain a moment matrix, and taking the moment matrix as the driving moment of the motion control object.
On the basis of the above embodiment, the method further includes: and the low-pass filtering module is used for controlling the driving torque of the motion control object according to the torque control parameter set and the expected running acceleration set, then taking the driving torque as the input of the low-pass filter, and taking the result obtained after filtering as the actual driving torque of the motion control object.
The torque control device provided by the embodiment of the invention is suitable for the torque control method provided by any embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 4 is a schematic structural diagram of a robot according to a fourth embodiment of the present invention, as shown in fig. 4, the robot includes a processor 40, a memory 41, an input device 42, an output device 43, and a motion control device 44; the number of the processors 40 in the robot can be one or more, and one processor 40 is taken as an example in fig. 4; the processor 40, the memory 41, the input device 42, the output device 43 and the motion control device 44 in the robot may be connected by a bus or other means, and fig. 4 illustrates the connection by a bus as an example. Wherein the processor 40, when executing the program, implements a torque control method as in an embodiment of the present invention. The processor 40 and memory 41 may be collectively referred to as a host computer. The motion control device 44 is used for moving according to the moment vector determined by the moment control method, and comprises a motion control object and a driver for driving the motion control object to move, wherein the driver is electrically connected with the motion control object, the motion control object comprises at least two motion control sub-objects, and each motion control sub-object is provided with a rotatable motor.
The memory 41 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the torque control method in the embodiment of the present invention (for example, the parameter acquisition module 301, the parameter determination module 302, and the torque control module 303 in the torque control device, the processor 40 executes various functional applications and data processing of the robot by executing the software programs, instructions, and modules stored in the memory 41, so as to implement the torque control method.
The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the robot, and the like. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 41 may further include memory remotely located from the processor 40, which may be connected to the robot through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 42 may be used to receive input numeric or character information and to generate key signal inputs relating to user settings and function control of the robot. The output device 43 may include a display device such as a display screen.
The robot provided by the embodiment can be used for executing the moment control method provided by any embodiment, and has corresponding functions and beneficial effects.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a torque control method, where the torque control method includes:
acquiring a position error set, a speed error set and an expected running acceleration set of a motion control object at the current moment in the running process;
determining a moment control parameter set according to the position error set and the speed error set, wherein the moment control parameter set comprises a robust compensation parameter set and a closed-loop feedback parameter set;
and controlling the driving torque of the motion control object according to the torque control parameter set and the expected running acceleration set.
Of course, the storage medium provided by the embodiment of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the operations of the torque control method described above, and may also perform related operations in the torque control method provided by any embodiment of the present invention, and have corresponding functions and advantages.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a robot, a personal computer, a server, or a network device) to execute the torque control method according to the embodiments of the present invention.
It should be noted that, in the embodiment of the torque control device, the units and modules included in the embodiment are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A torque control method, comprising:
acquiring a position error set, a speed error set and an expected running acceleration set of a motion control object at the current moment in the running process;
determining a moment control parameter set according to the position error set and the speed error set, wherein the moment control parameter set comprises a robust compensation parameter set and a closed-loop feedback parameter set;
controlling a drive torque of the motion controlled object in accordance with the set of torque control parameters and the set of desired operating accelerations.
2. The torque control method of claim 1, wherein the determining a set of torque control parameters from the set of position errors and the set of velocity errors comprises:
performing preset calculation on the position error set and the speed error set to obtain a robust compensation parameter set;
and carrying out proportional integral control on the position error set and the speed error set to obtain a closed-loop feedback parameter set.
3. The torque control method according to claim 2, wherein the pre-setting calculation of the set of position errors and the set of velocity errors to obtain a set of robust compensation parameters comprises:
using formulasObtaining a robust compensation parameter set, wherein v represents the robust compensation parameter set, e represents the position error set,representing a set of speed errors, ξ is a first set constant,α is the second set constant, | η | | | is the norm of η,β is a third set constant and γ is a fourth set constant.
4. The torque control method of claim 2, wherein the proportional-integral controlling the set of position errors and the set of velocity errors to obtain a set of closed-loop feedback parameters comprises:
performing proportional-integral control on each value in the position error set to obtain a position control parameter set;
adding each value in the speed error set and each corresponding value in the position control parameter set to obtain a speed control parameter set;
and performing proportional integral control on each value in the speed control parameter set to obtain a closed-loop feedback parameter set.
5. The torque control method according to claim 1, wherein the obtaining a set of position errors, a set of velocity errors, and a set of expected operating accelerations for the motion control object at a current time during operation comprises:
acquiring an actual operation position set and an actual operation speed set of a motion control object at the current moment in the operation process;
determining an expected operation position set, an expected operation speed set and an expected operation acceleration set at the current moment according to a motion planning result;
subtracting each value in the expected operation position set and each corresponding value in the actual operation position set to obtain a position error set;
and subtracting each value in the expected running speed set and each corresponding value in the actual running speed set to obtain a speed error set.
6. The torque control method according to claim 5, wherein before acquiring the set of position errors, the set of velocity errors, and the set of expected operating accelerations of the motion control object at the current time during operation, further comprising:
acquiring an initial parameter set of an initial running time of a motion control object;
and performing motion planning on the motion control object according to the initial parameter set to determine an expected operation parameter set corresponding to the current moment according to a motion planning result, wherein the expected operation parameter set comprises an expected operation speed set, an expected operation position set and an expected operation acceleration set.
7. The torque control method according to claim 1, wherein the controlling the drive torque of the motion control object in accordance with the set of torque control parameters and the set of desired operating accelerations comprises:
adding each value in the torque control parameter set and each corresponding value in the expected running acceleration set to obtain a torque control input vector;
and multiplying the moment control input vector by an inertia matrix, adding the moment control input vector to a Coriolis force matrix, a gravity matrix and a friction matrix to obtain a moment matrix, and taking the moment matrix as the driving moment of the motion control object.
8. The torque control method according to claim 1, further comprising, after controlling the drive torque of the motion control object in accordance with the set of torque control parameters and the set of desired running accelerations:
and taking the driving torque as the input of a low-pass filter, and taking the result obtained after filtering as the actual driving torque of the motion control object.
9. A torque control device, comprising:
the parameter acquisition module is used for acquiring a position error set, a speed error set and an expected running acceleration set of the motion control object at the current moment in the running process;
the parameter determining module is used for determining a moment control parameter set according to the position error set and the speed error set, wherein the moment control parameter set comprises a robust compensation parameter set and a closed-loop feedback parameter set;
and the torque control module is used for controlling the driving torque of the motion control object according to the torque control parameter set and the expected running acceleration set.
10. A robot, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the torque control method of any of claims 1-8.
11. A storage medium containing computer-executable instructions for performing the torque control method of any of claims 1-8 when executed by a computer processor.
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