CN115805590B - Disturbance compensation control method and device for mobile robot arm - Google Patents

Abstract

The application relates to the technical field of mechanical arm control, and discloses a disturbance compensation control method of a mobile mechanical arm, which comprises the steps of determining a fractional order model of the mobile mechanical arm when a mobile platform of the mobile mechanical arm operates according to structural parameters and operation parameters of the mobile mechanical arm; determining integrated disturbance when a mobile platform of the mobile mechanical arm operates, and determining an optimal control model under a limited data set when the mobile platform of the mobile mechanical arm operates; according to the integrated disturbance, determining a disturbance observation model of the mobile mechanical arm when the mobile platform runs, determining a disturbance convergence estimated value of the disturbance observation model when the disturbance observation model converges, and applying the disturbance convergence estimated value to an optimal control model to obtain a disturbance compensation control law of the mobile mechanical arm when the mobile platform runs; and controlling the operation of the mobile platform of the mobile mechanical arm according to the disturbance compensation control law. The application also provides a disturbance compensation control device of the mobile mechanical arm. The application improves the control stability and robustness of the mobile mechanical arm.

Description

Disturbance compensation control method and device for mobile robot arm

Technical Field

The present application relates to the technical field of robot arm control, and more specifically, to a disturbance compensation control method and device for a mobile robot arm.

Background Art

The mobile manipulator integrates the flexibility of the mobile robot chassis and the high precision of the multi-axis manipulator. As the most active research field of manipulators, mobile manipulators have been widely used in the logistics industry, service industry, and textile industry. The mobile manipulator can move its position within a large range, which makes it easy for the mobile manipulator to quickly reach the target point and realizes the rough positioning of the mobile manipulator within a large size range. At the same time, the mobile manipulator can utilize the high-speed and high-precision positioning characteristics of the manipulator within a small range to achieve precise operation within a small scale range and achieve precision compensation within a small size range. Through the movement of the mobile manipulator within a large size range and a small size range, the terminal efficient and precise operation in a large space scene is met.

The existing control method of the mobile robotic arm only controls the motion state of the mobile platform of the mobile robotic arm at the next moment based on the state of the current position, which leads to problems such as large control vibration and poor robustness of the mobile robotic arm. Generally, large vibration will be generated during the movement of the mobile robotic arm, and the smooth and fast operation of the mobile robotic arm cannot be achieved.

Summary of the invention

The purpose of this application is to provide a disturbance compensation control method and device for a mobile robotic arm, which solves the technical problems of large control vibration and poor robustness of the mobile robotic arm, and achieves the technical effect of reducing the control vibration of the mobile robotic arm and improving the robustness.

In a first aspect, an embodiment of the present application provides a disturbance compensation control method for a mobile robotic arm, comprising: determining a general motion model of a mobile platform of the mobile robotic arm when operating according to structural parameters and operating parameters of the mobile robotic arm, determining a state space model of the mobile platform of the mobile robotic arm when operating according to the general motion model, performing a first-order Taylor expansion on the state space model to obtain a linear motion model of the mobile platform of the mobile robotic arm when operating, and determining a fractional order model of the mobile platform of the mobile robotic arm when operating according to the linear motion model; determining an integrated disturbance when the mobile platform of the mobile robotic arm is operating, the integrated disturbance including a high-order residual disturbance of the Taylor expansion of the fractional order model, a model uncertainty disturbance and a parameter disturbance, and determining an optimal control model when the mobile platform of the mobile robotic arm is operating under a finite data set; determining a disturbance observation model when the mobile platform of the mobile robotic arm is operating according to the integrated disturbance, and determining a disturbance convergence estimate when the disturbance observation model converges, applying the disturbance convergence estimate to the optimal control model, and obtaining a disturbance compensation control law when the mobile platform of the mobile robotic arm is operating; and controlling the operation of the mobile platform of the mobile robotic arm according to the disturbance compensation control law.

In a possible implementation of the first aspect, the general motion model is represented by the following formula:

in, represents the derivative of the coordinate x of the mobile platform of the mobile manipulator when it is running, represents the derivative of the coordinate y of the mobile platform of the mobile robot when it is running, represents the derivative of the angular velocity ω of the mobile platform of the mobile manipulator when it is in operation, and V represents the moving speed of the mobile platform of the mobile manipulator when it is in operation;

The state space model is expressed as follows:

Where X represents the state variable of the mobile platform of the mobile manipulator in the global coordinate system when it is running. represents the derivative of X, and U represents the control signal value input to the mobile platform of the mobile manipulator when it is running;

The linear motion model is expressed by the following formula:

Wherein, X _r represents the ideal state quantity of the ideal reference model when the mobile platform of the mobile manipulator is running, and U _r represents the ideal control signal value of the ideal reference model;

The fractional order model is expressed by the following formula:

Where D ^υ(t) represents the fractional order of change, υ _min represents the minimum value of the fractional order, and υ _max represents the maximum value of the fractional order. represents the first-order derivative of the state-space model f(X,U) at X _r , Represents the first-order derivative of the state-space model f(X,U) at _Ur .

In another possible implementation manner of the first aspect, the integrated disturbance is expressed by the following formula:

Wherein, d ₁ (t) represents the model uncertainty disturbance value, d ₂ (t) represents the control input disturbance value, ω(t) represents the parameter disturbance value, D(t) represents the total disturbance value received by the mobile platform of the mobile manipulator during operation, and t represents the sampling time.

In another possible implementation of the first aspect, the optimization control model is expressed by the following formula:

in, represents the intermediate variable value, represents the penalty term, τ represents the time factor value, R and Q both represent positive definite weight matrices, It represents the reference error value at time τ predicted at time t, represents the control signal fluctuation value at time τ calculated at time t, express Regarding the quadratic itemsets of the matrix R, express Regarding the quadratic itemsets of the matrix Q, represents the reference error value at time t+T predicted at time t, ρ represents the penalty factor, ρ∈(0,1), _Nc represents the control time domain, and _Np represents the prediction time domain;

The constraints of the optimization control model include:

Among them, _tk represents the prediction time, Indicates penalty item The derivative at time τ.

In another possible implementation of the first aspect, the disturbance observation model is expressed by the following formula:

Among them, α ₁ (X _r ) represents the gain value of the disturbance observation, represents the disturbance estimate, _y1 represents the intermediate variable value of the disturbance estimate, represents the derivative value of the intermediate variable of disturbance estimation, and δ ₁ (X _r ) represents the design function.

In another possible implementation of the first aspect, the convergence condition of the disturbance observation model is expressed by the following formula:

Among them, represents the positive coefficient value, δ ₁ (X _r ) represents the disturbance observation gain value, and η ₁ , η ₂ , and η ₃ represent the adjustment parameters of the disturbance observation gain value respectively.

In another possible implementation of the first aspect, the disturbance compensation control law is expressed by the following formula:

in, represents the optimal control sequence of the mobile platform of the mobile manipulator at time [t _k ,t _k+1 ] at time t _k , represents the first optimal control sequence of the mobile platform of the mobile manipulator at time t _k , represents the _Npth optimal control sequence of the mobile platform of the mobile manipulator at time _tk , represents the disturbance estimated at time t _k , and Υ represents the projection matrix for disturbance compensation.

In a second aspect, an embodiment of the present application further provides a disturbance compensation control device for a mobile robot arm, comprising a unit for executing any method as in the first aspect.

In the third aspect, an embodiment of the present application also provides a disturbance compensation control device for a mobile robotic arm, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a method as described in any one of the first aspects when executing the computer program.

In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of the first aspects is implemented.

Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

A control model of the motion of the mobile platform of the mobile robot is constructed by using the fractional order modeling method of Taylor expansion, thereby achieving accurate fitting of the control model of the motion of the mobile platform of the mobile robot with the actual motion process of the mobile robot, thereby accurately controlling the motion of the mobile platform of the mobile robot, and improving the accuracy of the motion control model of the mobile platform of the mobile robot; at the same time, the integrated disturbance to the mobile platform of the mobile robot during the motion process is considered, and the integrated disturbance includes the disturbance caused by the motion of the robot arm on the motion process of the mobile platform of the mobile robot, thereby achieving high-precision control of the mobile platform of the mobile robot and improving the overall stability of the mobile robot during the motion process.

It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

FIG1 is a schematic diagram of the structure of a mobile mechanical arm to which a disturbance compensation control method for a mobile mechanical arm in an embodiment of the present application is applied.

FIG2 is a flow chart of a disturbance compensation control method for a mobile mechanical arm provided in an embodiment of the present application;

3 is a schematic structural diagram of a disturbance compensation control device for a mobile mechanical arm provided in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of another disturbance compensation control device for a mobile robot arm provided in an embodiment of the present application.

DETAILED DESCRIPTION

In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

It should be noted that when a component or structure is referred to as being "fixed to" or "disposed on" another component or structure, it may be directly on the other component or structure or indirectly on the other component or structure. When a component or structure is referred to as being "connected to" another component or structure, it may be directly connected to the other component or structure or indirectly connected to the other component or structure.

It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or a component or structure referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

The mobile manipulator includes a mobile platform and a manipulator mounted on the mobile platform. During the movement of the mobile manipulator, the movement of the mobile platform will be disturbed by the movement of the manipulator and the uncertainty of the control model of the mobile manipulator. The existing control method of the mobile manipulator does not consider the disturbance of the movement of the manipulator and the uncertainty of the control model of the mobile manipulator, resulting in large vibration of the mobile platform during the movement, which reduces the stability of the operation process of the mobile manipulator.

In view of this, an embodiment of the present application provides a disturbance compensation control method for a mobile robotic arm, which constructs a control model of the motion of a mobile platform of the mobile robotic arm through a fractional-order modeling method of Taylor expansion, thereby achieving accurate fitting of the control model of the motion of the mobile platform of the mobile robotic arm and the actual motion process of the mobile platform, thereby accurately controlling the motion of the mobile platform of the mobile robotic arm, and improving the accuracy of the motion control model of the mobile platform of the mobile robotic arm; at the same time, the integrated disturbance to which the mobile platform of the mobile robotic arm is subjected during the motion process is considered, and the integrated disturbance includes the disturbance caused by the motion of the robotic arm on the motion process of the mobile platform of the mobile robotic arm, thereby achieving high-precision control of the mobile platform of the mobile robotic arm and improving the stability of the motion process of the mobile robotic arm.

In some scenarios, the disturbance compensation control method of the mobile manipulator provided in the embodiment of the present application can be applied to the mobile textile manipulator, and the mobile textile manipulator can be used to process large-sized workpieces with large curvature mutations to improve the processing effect of the workpiece. For example, the mobile textile manipulator can be used for the integrated molding of the skin fabric on the surface of a spacecraft or a hypersonic missile.

In other scenarios, the disturbance compensation control method of the mobile robotic arm provided in the embodiments of the present application can be applied to the logistics industry or the service industry. The mobile logistics robotic arm can realize efficient and stable handling of materials, and the mobile service robotic arm can perform various service tasks stably.

FIG1 is a schematic diagram of the structure of a mobile mechanical arm used in the disturbance compensation control method of a mobile mechanical arm in an embodiment of the present application. As shown in FIG1 , the mobile mechanical arm 100 includes a mobile platform 110 and a mechanical arm 120. The mechanical arm 120 is installed on the mobile platform 110. The mechanical arm 120 can perform various actions on the mobile platform 110, and the mechanical arm 120 moves with the mobile platform 110. In the process of performing various actions, the mechanical arm 120 will cause various disturbances to the movement of the mobile platform 110.

A disturbance compensation control method for a mobile robotic arm provided in an embodiment of the present application is described below with reference to specific examples.

Example 1

FIG2 is a flow chart of a disturbance compensation control method for a mobile robotic arm provided in an embodiment of the present application. As shown in FIG2 , the disturbance compensation control method for the mobile robotic arm includes S210 to S240. S210 to S240 are described in detail below.

S210. Determine a general motion model of the mobile platform of the mobile robotic arm when it is in operation based on the structural parameters and operating parameters of the mobile robotic arm. Determine a state space model of the mobile platform of the mobile robotic arm when it is in operation based on the general motion model. Perform a first-order Taylor expansion on the state space model to obtain a linear motion model of the mobile platform of the mobile robotic arm when it is in operation. Determine a fractional order model of the mobile platform of the mobile robotic arm when it is in operation based on the linear motion model.

Specifically, when the motion of the mobile manipulator is controlled, the general motion model of the mobile platform of the mobile manipulator is obtained according to the structural parameters of the mobile platform of the mobile manipulator and the operating parameters of the mobile platform of the mobile manipulator obtained by various sensors. After the general motion model of the mobile platform of the mobile manipulator is obtained, the general motion model can be expressed as a state space model of the mobile platform.

Specifically, after obtaining the state space model of the mobile platform of the mobile manipulator, the embodiment of the present application performs a first-order Taylor expansion on the state space model to obtain the linear motion model of the mobile platform of the mobile manipulator during operation, and represents the linear motion model in a fractional order form. Since modeling in a fractional order form can more realistically characterize and reflect the properties of an object, the embodiment of the present application represents the state space model in a Taylor-expanded fractional order form, and the Taylor-expanded fractional order form of the state space model accurately fits the actual motion process of the mobile platform, which facilitates high-precision control of the actual motion process of the mobile platform.

S220. Determine the integrated disturbance of the mobile platform of the mobile manipulator when it is running, the integrated disturbance includes the Taylor expansion high-order residual disturbance of the fractional order model, the model uncertainty disturbance and the parameter disturbance, and determine the optimal control model of the mobile platform of the mobile manipulator when it is running under a finite data set.

Specifically, the embodiments of the present application achieve comprehensive consideration of the disturbances experienced by the control process of the mobile robotic arm by incorporating Taylor expansion high-order residual disturbances, model uncertainty disturbances and parameter disturbances into the motion control of the mobile platform, thereby facilitating subsequent compensatory control of the disturbances experienced by the mobile platform, eliminating the disturbances experienced by the mobile platform of the mobile robotic arm during the movement process, and improving the stability of the movement of the mobile robotic arm.

Specifically, in the embodiment of the present application, the model uncertainty disturbance refers to the model uncertainty error of the fractional order model of the kinematics of the mobile platform of the mobile manipulator. In the embodiment of the present application, the parameter disturbance in the integrated disturbance includes the control parameters and modeling parameters of the mobile platform of the mobile manipulator.

Specifically, the embodiments of the present application can further construct an optimized control model for the mobile platform under a limited data set when the mobile platform is running, thereby improving the control stability of the mobile platform of the mobile robotic arm and improving the stability of the mobile robotic arm during operation.

The embodiment of the present application utilizes the fractional order model of motion control of the mobile platform of the mobile manipulator obtained in S210 to achieve accurate fitting of the motion process of the mobile platform of the mobile manipulator, and can subsequently eliminate disturbances in the fractional order model of motion control of the mobile platform of the mobile manipulator, thereby improving the control accuracy of the mobile platform of the mobile manipulator. At the same time, the present application determines the optimal control model of the mobile platform of the mobile manipulator under a limited data set when the mobile platform of the mobile manipulator is running, further optimizes the control process of the mobile platform of the mobile manipulator, and improves the control effect of the mobile manipulator during the motion process.

The embodiment of the present application comprehensively utilizes the fractional-order model of mobile platform control to improve the control accuracy of the mobile robotic arm, eliminates the disturbance of the fractional-order model control process of the mobile robotic arm, optimizes the control process of the mobile platform by utilizing the fractional-order model of mobile platform control, comprehensively improves the control stability of the mobile robotic arm, and greatly optimizes the control effect of the mobile robotic arm.

S230. Determine a disturbance observation model of the mobile platform of the mobile manipulator when the mobile platform is in operation according to the integrated disturbance, and determine a disturbance convergence estimate when the disturbance observation model converges. Apply the disturbance convergence estimate to the optimization control model to obtain a disturbance compensation control law of the mobile platform of the mobile manipulator when the mobile platform is in operation.

Specifically, in order to eliminate disturbances of a mobile platform during its movement, an embodiment of the present application constructs a disturbance observation model of the mobile platform during its operation, and determines a disturbance convergence estimate value when the disturbance observation model converges based on the disturbance observation model, so that the disturbances received by the mobile platform during its movement can be eliminated based on the disturbance convergence estimate value when controlling the movement of the mobile platform.

Specifically, in order to determine an unbiased estimate of the disturbance experienced by the mobile platform, the embodiment of the present application obtains a disturbance convergence estimate when the disturbance observation model converges, thereby achieving the effect of subsequently eliminating the disturbance experienced by the mobile platform through the disturbance convergence estimate, thereby improving the stability of motion control of the mobile platform.

Specifically, the embodiment of the present application applies the disturbance convergence estimate value to the optimization control model obtained in S220, realizes the control of the mobile platform by applying the disturbance convergence estimate value in the optimization control model, realizes the disturbance compensation of the mobile platform in the optimized control model, and improves the control stability of the mobile platform from the perspective of optimization control of the mobile platform and the perspective of disturbance compensation of the mobile platform control process.

S240. Control the operation of the mobile platform of the mobile robot arm according to the disturbance compensation control law.

Specifically, after obtaining the disturbance compensation control law in S230, control signals can be sent to the various working drive units of the mobile platform of the mobile robotic arm to achieve precise movement of the mobile platform of the mobile robotic arm according to the disturbance compensation control law, thereby achieving high-precision and stable control of the mobile robotic arm.

In some implementations, in S210, the general motion model of the mobile platform of the mobile robot arm can be expressed by formula (1):

Formula (1) represents the state parameters of the mobile platform of the mobile robot during operation. In formula (1), represents the derivative of the coordinate x of the mobile platform of the mobile manipulator when it is running, represents the derivative of the coordinate y of the mobile platform of the mobile robot when it is running, represents the derivative of the angular velocity ω of the mobile platform of the mobile robot arm when it is running, and V represents the moving speed of the mobile platform of the mobile robot arm when it is running.

In S210, after obtaining the general motion model of the mobile platform of the mobile manipulator, the general motion model of the mobile platform can be represented by a state space model. The state space model of the mobile platform can be represented by formula (2):

In formula (2), X represents the state variable of the mobile platform of the mobile manipulator in the global coordinate system when it is running. represents the derivative of X, and U represents the control signal value input when the mobile platform of the mobile robot is running.

In S210, an ideal reference model may be introduced, and the ideal reference model may be expressed by formula (3):

In formula (3), _Xr represents the ideal state quantity of the ideal reference model when the mobile platform of the mobile robot is running, and _Ur represents the ideal control signal value of the ideal reference model of the mobile platform.

Furthermore, the state space model of the actual running trajectory of the mobile platform of the mobile robot is represented by Taylor expansion at the point (X _r ,U _r ), and can be expressed by formula (4):

In formula (4), The first-order partial derivative of the state space model representing the actual trajectory of the mobile platform with respect to the state variable X, The first-order partial derivative of the state space model representing the actual trajectory of the mobile platform with respect to the control signal U.

Specifically, the state space model of the actual running trajectory of the mobile platform is represented by Taylor expansion at the point (X _r ,U _r ), and further represented by fractional order, which can be expressed by formula (5):

In formula (5), represents the first-order derivative of the state equation f(X,U) at X _r , represents the first-order derivative of the state equation f(X,U) at _Ur , Dυ ^(t) represents the fractional order of change, _υmin represents the minimum value of the fractional order, and _υmax represents the maximum value of the fractional order.

For example, the variation range of the fractional order may be υ(t)∈(0.5,1), the maximum value of the fractional order is 1, the minimum value of the fractional order is 0.5, and υ(t) may specifically be 0.9.

The embodiment of the present application adopts Taylor expansion to represent the state-space model of the actual running trajectory of the mobile platform, further represents the Taylor expansion representation of the state-space model in fractional order, and utilizes the properties of fractional-order derivatives to achieve high-precision fitting of the motion model of the mobile platform and the actual running state of the mobile platform, thereby improving the control accuracy of the running state of the mobile platform, and facilitating the subsequent improvement of the control effect of the mobile robotic arm.

Example 2

In order to measure the disturbance during the motion of the mobile platform, the kinematic model of the mobile platform can be constructed according to the fractional order model of the mobile platform, which can be specifically expressed as formula (6):

In formula (6), Represents the reference error value during the movement of the mobile platform. Indicates the fluctuation value of the input control signal of the mobile platform.

Specifically, the differential model can be used to obtain the discrete linearized kinematic model expressed by formula (7):

In formula (7), A(k) and B(k) can be expressed by formula (8):

In formula (8), t represents the sampling time.

Furthermore, the disturbance model of the mobile platform can be constructed according to the fractional-order model of the mobile platform motion. The disturbance model of the mobile platform can be expressed as formula (9):

In formula (9), d ₁ (t) represents the model uncertainty disturbance value, d ₂ (t) represents the control input disturbance value, and ω(t) represents the parameter disturbance value in the model optimization process.

Specifically, formula (9) can be further expressed as formula (10):

The total disturbance value received by the mobile platform during operation can be obtained by formula (10), and the total disturbance value received by the mobile platform during operation can be further expressed as formula (11):

D(t)＝A(t)d ₁ (t)+B(t)d ₂ (t)+ω(t) (11)

In formula (11), D(t) represents the total disturbance value received by the mobile platform during operation.

The embodiment of the present application utilizes the fractional-order model of the mobile platform to achieve high-precision fitting of the motion state of the mobile platform of the mobile robotic arm. At the same time, by analyzing the fractional-order model, it realizes the induction of Taylor expansion high-order residual disturbances, model uncertainty disturbances and parameter disturbances of the fractional-order model of the mobile platform, thereby facilitating the elimination of integrated disturbances in the subsequent control process of the mobile platform and improving the stability of the mobile platform control process of the mobile robotic arm.

Example 3

In some implementations, an optimization control model of a mobile platform of a mobile manipulator can be constructed according to a fractional order model, and the cost function of the optimization control can be expressed by formula (12):

In formula (12), represents the intermediate variable value, represents the penalty term, τ represents the time factor value, R and Q both represent positive definite weight matrices, It represents the reference error value at time τ predicted at time t, represents the control signal fluctuation value at time τ calculated at time t, express Regarding the quadratic itemsets of the matrix R, express Regarding the quadratic itemsets of the matrix Q, represents the reference error value at time t+T predicted at time t, ρ represents the penalty factor, ρ∈(0,1), _Nc represents the control time domain, and _Np represents the prediction time domain.

Specifically, ρ can be set to 1. The control time domain N _c and the prediction time domain N _p can both be set to 10.

Specifically, for the above optimization control model, the constraints of the optimization control model can be determined. The constraints of the optimization control model can be expressed as formula (13):

Among them, _tk represents the prediction time, Indicates penalty item The derivative at time τ.

The embodiment of the present application constructs an optimization control model for the mobile platform, and realizes the optimization of the mobile platform during the movement process by a given state space threshold and control threshold, thereby further improving the motion control effect of the mobile platform and improving the overall operation stability and accuracy of the mobile robotic arm.

Example 4

The embodiment of the present application can construct a disturbance observation model to achieve observation of disturbances on the mobile platform. Specifically, the disturbance observation model is expressed by formula (14):

In formula (14), a ₁ (X _r ) represents the gain value of the disturbance observation, represents the disturbance estimate, _y1 represents the intermediate variable value of the disturbance estimate, represents the derivative value of the intermediate variable of disturbance estimation, and δ ₁ (X _r ) represents the design function.

Furthermore, in order to achieve accurate disturbance estimation, formula (15) can be defined:

In formula (15), e _D (t) represents the error of the observed disturbance, is the derivative of the error e _D (t) of the observed disturbance.

In some implementations, the convergence condition of the disturbance observation model can be further expressed as formula (16) through formula (15):

In formula (16), represents a positive coefficient value, δ ₁ (X _r ) represents a disturbance observation gain value, and η ₁ , η ₂ and η ₃ represent adjustment parameters of the disturbance observation gain value, respectively.

For example, The positive coefficient value represented by can be 1; η ₁ , η ₂ and η ₃ can be 0.8, 1 and 1.1 respectively.

The embodiment of the present application performs disturbance estimation on the integrated disturbance of the mobile platform, so that the disturbance of the mobile platform can converge quickly, which is convenient for timely and effective elimination of the disturbance of the mobile platform, and can effectively eliminate the Taylor expansion high-order residual disturbance of the fractional-order model, model uncertainty disturbance and parameter disturbance during the operation of the mobile platform, thereby improving the operation stability of the mobile platform. The embodiment of the present application realizes the rapid convergence of the disturbance of the mobile platform through adaptive adjustment of the parameters and gains in the disturbance estimation, accelerates the convergence speed of the disturbance estimation, further improves the unbiased estimation efficiency, and thus improves the motion control effect of the mobile platform and the mobile robot arm as a whole.

Example 5

In some implementations, the disturbance compensation control law can be expressed by formula (17):

In formula (17), represents the optimized control sequence of the mobile platform at time [t _k ,t _k+1 ] at time t _k , represents the first optimized control sequence of the mobile platform at time t _k , represents the _Npth optimized control sequence of the mobile platform at time _tk , represents the disturbance estimated at time _tk , and Υ represents the projection matrix of the mobile platform disturbance compensation of the mobile manipulator.

Exemplarily, _Np can take a value of 10.

Specifically, represents the disturbance compensation control law taking into account the disturbance observation value of the disturbance observation model.

The embodiment of the present application realizes disturbance compensation in the motion process of the mobile platform through the constructed optimization control model and the obtained disturbance unbiased estimate, thereby improving the smoothness of the operation of the mobile platform, improving the motion control accuracy of the mobile platform, reducing the overall vibration of the mobile robotic arm during operation, and improving the use effect of the mobile robotic arm.

Example 6

An embodiment of the present application provides a disturbance compensation control device for a mobile mechanical arm, comprising a unit for executing the disturbance compensation control method for the mobile mechanical arm as described above.

FIG3 is a schematic diagram of the structure of a disturbance compensation control device for a mobile mechanical arm provided by an embodiment of the present application. As shown in FIG3, the disturbance compensation control device 300 for a mobile mechanical arm includes a processing unit 310, a storage unit 320, and a transceiver unit 330. The processing unit 310, the storage unit 320, and the transceiver unit 330 communicate with each other. The processing unit 310, the storage unit 320, and the transceiver unit 330 are used to execute the disturbance compensation control method for the mobile mechanical arm as described above. The embodiment of the present application can improve the control stability of the mobile platform and improve the control effect of the mobile mechanical arm.

Example 7

An embodiment of the present application provides a disturbance compensation control device for a mobile robotic arm, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the disturbance compensation control method for the mobile robotic arm as described above is implemented.

Figure 4 is a structural schematic diagram of another disturbance compensation control device for a mobile robotic arm provided in an embodiment of the present application. As shown in Figure 4, the disturbance compensation control device 400 for the mobile robotic arm includes a memory 410, a processor 420, and a computer program 411 stored in the memory 410 and executable on the processor 420. When the computer program 411 executes the computer program, the disturbance compensation control method for the mobile robotic arm as described above is implemented. The embodiment of the present application can improve the control stability of the mobile platform and can improve the control effect of the mobile robotic arm.

Example 8

An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the disturbance compensation control method of the mobile robotic arm as described above is implemented. The embodiment of the present application can improve the control stability of the mobile platform and improve the control effect of the mobile robotic arm.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. A disturbance compensation control method for a mobile robot arm, comprising: Determine a general motion model of a mobile platform of the mobile robotic arm when it is in operation according to structural parameters and operating parameters of the mobile robotic arm, determine a state space model of a mobile platform of the mobile robotic arm when it is in operation according to the general motion model, perform a first-order Taylor expansion on the state space model to obtain a linear motion model of the mobile platform of the mobile robotic arm when it is in operation, and determine a fractional order model of the mobile platform of the mobile robotic arm when it is in operation according to the linear motion model; Determine the integrated disturbance of the mobile platform of the mobile manipulator when it is running, the integrated disturbance includes the Taylor expansion high-order residual disturbance of the fractional order model, the model uncertainty disturbance and the parameter disturbance, and determine the optimal control model of the mobile platform of the mobile manipulator under the limited data set when it is running; Determine a disturbance observation model when the mobile platform of the mobile manipulator is in operation according to the integrated disturbance, determine a disturbance convergence estimation value when the disturbance observation model converges, apply the disturbance convergence estimation value to the optimization control model, and obtain a disturbance compensation control law when the mobile platform of the mobile manipulator is in operation; According to the disturbance compensation control law, the operation of the mobile platform of the mobile robotic arm is controlled. 2. The disturbance compensation control method for a mobile robot arm according to claim 1, wherein the general motion model is expressed by the following formula: in, represents the derivative of the coordinate x of the mobile platform of the mobile manipulator when it is in operation, represents the derivative of the coordinate y of the mobile platform of the mobile manipulator when it is running, represents the derivative of the angular velocity ω of the mobile platform of the mobile manipulator when in operation, and V represents the moving speed of the mobile platform of the mobile manipulator when in operation; The state space model is expressed by the following formula: Wherein, X represents the state variable of the mobile platform of the mobile manipulator in the global coordinate system when the mobile platform is running, represents the derivative of X, and U represents the control signal value input to the mobile platform of the mobile manipulator when it is running; The linear motion model is expressed by the following formula: Wherein, X _r represents the ideal state quantity of the ideal reference model when the mobile platform of the mobile manipulator is running, and _Ur represents the ideal control signal value of the ideal reference model; The fractional order model is expressed by the following formula: Where D ^υ(t) represents the fractional order of change, υ _min represents the minimum value of the fractional order, and υ _max represents the maximum value of the fractional order. represents the first-order derivative of the state-space model f(X,U) at X _r , represents the first-order derivative of the state-space model f(X,U) at _Ur . 3. The disturbance compensation control method for a mobile mechanical arm according to claim 2, characterized in that the integrated disturbance is expressed by the following formula: Wherein, d ₁ (t) represents the model uncertainty disturbance value, d ₂ (t) represents the control input disturbance value, ω(t) represents the parameter disturbance value, D(t) represents the total disturbance value received by the mobile platform of the mobile manipulator during operation, and t represents the sampling time. 4. The disturbance compensation control method for a mobile robot arm according to claim 1, wherein the cost function of the optimization control is expressed by the following formula: in, represents the intermediate variable value, represents the penalty term, τ represents the time factor value, R and Q both represent positive definite weight matrices, It represents the reference error value at time τ predicted at time t, represents the control signal fluctuation value at time τ calculated at time t, express Regarding the quadratic itemsets of the matrix R, express Regarding the quadratic itemsets of the matrix Q, represents the reference error value at time t+T predicted at time t, ρ represents the penalty factor, ρ∈(0,1), _Nc represents the control time domain, and _Np represents the prediction time domain; The constraints of the optimization control model include: Among them, _tk represents the prediction time, Indicates penalty item The derivative at time τ. 5. The disturbance compensation control method of a mobile robot arm according to claim 1, wherein the disturbance observation model is expressed by the following formula: Among them, α ₁ (X _r ) represents the gain value of the disturbance observation, represents the disturbance estimate, _y1 represents the intermediate variable value of the disturbance estimate, represents the derivative value of the intermediate variable of disturbance estimation, and δ ₁ (X _r ) represents the design function. 6. The disturbance compensation control method for a mobile manipulator according to claim 5, wherein the convergence condition of the disturbance observation model is expressed by the following formula: Among them, represents a positive coefficient value, δ ₁ (X _r ) represents a disturbance observation gain value, and η ₁ , η ₂ and η ₃ represent adjustment parameters of the disturbance observation gain value respectively. 7. The disturbance compensation control method of a mobile mechanical arm according to claim 5 or 6, characterized in that the disturbance compensation control law is expressed by the following formula: in, represents the optimized control sequence of the mobile platform of the mobile manipulator at time [t _k , t _k+1 ] at time t _k , represents the first optimized control sequence of the mobile platform of the mobile manipulator at time t _k , represents the _Npth optimized control sequence of the mobile platform of the mobile manipulator at time _tk , represents the disturbance estimated at time t _k , and Υ represents the projection matrix for disturbance compensation. 8. A disturbance compensation control device for a mobile robot arm, characterized by comprising a unit for executing the method according to any one of claims 1 to 7. 9. A disturbance compensation control device for a mobile robotic arm, characterized in that it comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the computer program, it implements the method as described in any one of claims 1 to 7. 10. A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 7 when executed by a processor.