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CN-116394259-B - Truss robot anti-interference positioning control method and system

CN116394259BCN 116394259 BCN116394259 BCN 116394259BCN-116394259-B

Abstract

The invention discloses an anti-interference positioning control method and system for a truss robot, comprising the following steps of S1, establishing a mathematical model of the three-dimensional truss robot system based on operation condition parameters of the truss robot system and combining Lagrange dynamics equation, and carrying out characteristic analysis, S2, adding a time delay estimation module into the mathematical model of the three-dimensional truss robot system, estimating uncertainty and external interference in the system in real time, and S3, carrying out anti-interference positioning control on the truss robot according to the uncertainty and the external interference in the real-time estimation system and combining a sliding mode controller. According to the truss robot anti-interference positioning control method and system, the requirement of sliding mode control on high system model precision can be reduced through the time delay loop, the integral sliding mode controller module is provided for improving the positioning precision and robustness of the system, and the high-efficiency track tracking and disturbance inhibition are achieved through the combination of the two modules, so that the control effect is achieved.

Inventors

  • YU LILI
  • XIE XUN
  • OUYANG HUIMIN

Assignees

  • 南京工业大学

Dates

Publication Date
20260512
Application Date
20230522

Claims (7)

  1. 1. The anti-interference positioning control method for the truss robot is characterized by comprising the following steps of: S1, based on operation condition parameters of a truss robot system, combining Lagrange dynamics equations, establishing a mathematical model of the three-dimensional truss robot system and carrying out characteristic analysis; s2, adding a time delay estimation module into a mathematical model of the three-dimensional truss robot system, and estimating uncertainty and external interference in the system in real time; the delay estimation module comprises a delay estimation module, The kinetic equation is defined as: ; Wherein, the And (2) and Representing the first of the M inertia matrices The number of elements to be added to the composition, An equivalent inertial matrix under delay estimation conditions is shown, Representing an equivalent inertial matrix The first of (3) The number of elements to be added to the composition, Including all uncertain and unknown dynamics, friction and other disturbance torques, Is centripetal-Coriolis Li Juzhen And the derivative of the system state quantity Is a product of (a) and (b), Is an inertial matrix of the truss robotic system, In order to control the input vector(s), The force vector of the gravity is used to determine, Is the mechanical friction of the truss robot, As a system state variable of the truss robot, As a first derivative of the first derivative, As a second derivative of the derivative, External interference to the truss robot; s3, according to uncertainty and external interference in a real-time estimation system, combining a sliding mode controller to perform anti-interference positioning control on the truss robot; the sliding mode controller comprises a sliding mode controller, a sliding mode controller and a control unit, The sliding mode surface used by the sliding mode controller is an integral sliding mode surface s; the integral slip-form surface s is: ; For tracking position errors of the trolley and rotating position errors of the mechanical arm, Is a trolley tracking speed error and a mechanical arm rotating speed error, To integrate the parameters of the slip-plane s, For the displacement error of the trolley and the mechanical arm at the initial moment, For the initial time of speed error of the trolley and the mechanical arm, The position of the j-th state quantity which is the true output of the system, For the position of the externally given j-th state quantity, The speed of the value of the j-th state quantity that is the true output of the system, For the speed of the value of the j-th state quantity given externally, The integral slip-form surface s; the integral sliding mode control rate based on the time delay estimation is as follows: ; Wherein, the The torque input by the system is the torque input by the truss robot when the truss robot does not undergo time delay compensation; and deriving an integral sliding mode surface s to obtain: ; the obtained control rate is as follows: ; Wherein, the To integrate the derivative of the slip-plane, In order for the acceleration to be a function of the acceleration, For the delay estimation error compensation term, , In order to compensate for the parameters of the term, For an acceleration of the external given tracking curve, All uncertain and unknown dynamics, friction and other disturbance torques under the delay estimation.
  2. 2. The method for controlling anti-interference positioning of a truss robot according to claim 1, wherein in step S1, the mathematical model of the three-dimensional truss robot system comprises, Recording device ,i=1,2,3; The mathematical model of the three-dimensional truss robot system is expressed as follows: ; ; ; ; ; Wherein, the Is an inertial matrix of the truss robotic system, In order to center on-coriolis Li Juzhen, The force vector of the gravity is used to determine, In order to control the input vector(s), For external disturbances to which the truss robot is subjected, Is the mechanical friction of the truss robot, As a system state variable of the truss robot, As a first derivative of the first derivative, As a second derivative of the derivative, 、 、 And The mass of the trolley, the mechanical arm 1, the mechanical arm 2 and the mechanical arm 3 respectively, And The length of the mechanical arm 1, the mechanical arm 2 and the mechanical arm 3 respectively, The acceleration of gravity, for a generalized state quantity describing a truss robotic system, For the distance of translation of the trolley, Is the rotation angle of the mechanical arm during operation, For the driving force of the trolley, The torque of the mechanical arm 1, the mechanical arm 2 and the mechanical arm 3 respectively, Respectively a trolley, a mechanical arm 1, a mechanical arm 2 and an external disturbance suffered by the mechanical arm 3, Respectively a trolley, a mechanical arm 1, a mechanical arm 2 and a mechanical friction force of the mechanical arm 3, The angular velocities of the mechanical arms 1,2 and 3 during operation are respectively shown.
  3. 3. The truss robot anti-interference positioning control method according to claim 2, wherein the method is characterized by recording As a piecewise and continuous function, and at a time , Time delay estimation value of time Approximately equal to Instantaneous value of time of day ; Namely: ; Then The moment dynamics equation is: ; Wherein, the Is that The acceleration value of each state quantity at the moment, Is that Input torque at a moment.
  4. 4. The method for controlling anti-interference positioning of truss robot according to claim 3, wherein the sliding mode controller further comprises, The reference track is: ; ; ; ; Wherein, the For the purpose of tracking the track of the object of the trolley, The translation distance of the trolley is indicated, The running time of the trolley is indicated, The travel distance of the trolley is indicated, The initial position of the trolley is indicated, For the target tracking trajectory of the robot arm 1, For the target tracking trajectory of the robot arm 2, A track is traced for the target of the robot arm 3.
  5. 5. The truss robot anti-interference positioning control system is characterized by being used for realizing the truss robot anti-interference positioning control method according to any one of claims 1-4, and comprises a model building and analyzing module, a time delay estimating module and an anti-interference control module; The model building and analyzing module is used for building a mathematical model of the three-dimensional truss robot system based on the operation condition parameters of the truss robot system and combining with a Lagrange kinetic equation and carrying out characteristic analysis; the time delay estimation module is used for adding the time delay estimation module into the mathematical model of the three-dimensional truss robot system and estimating uncertainty and external interference in the system in real time; And the anti-interference control module is used for carrying out anti-interference positioning control on the truss robot according to the uncertainty and external interference in the real-time estimation system and by combining a sliding mode controller.
  6. 6. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 4 when the computer program is executed.
  7. 7. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 4.

Description

Truss robot anti-interference positioning control method and system Technical Field The invention relates to the technical field of truss robot anti-interference positioning control, in particular to an anti-interference positioning control method and system for a truss robot. Background The robot system is a whole constituted by a robot, a work object, and an environment. Among them, the truss robot system is a typical robot system, that is, a robot arm rotational force and a trolley running force are input thereto. The multifunctional multi-degree-of-freedom robot has the functions of automatic control, repeated programming, multiple functions and multiple degrees of freedom, and can be used for carrying objects and operating tools so as to finish various operations. Truss robots are robots applied to functions of industrial transportation, stacking and the like, and the transportation process is often accompanied by translation of a trolley and simultaneous operation of all joints of a mechanical arm, and two motions with different properties are highly coupled, so that the design difficulty of a dynamic model and a controller is increased. Meanwhile, under the condition that unknown interference exists on an industrial site, the control of the truss robot is not satisfied with the traditional control method. Compared with the traditional robot control, the truss robot system needs to consider the positioning of the truss trolley, so that a system dynamics model is more complex, and the external interference resistance of the whole system becomes a challenging problem when the mechanical arm and the trolley are positioned. And the truss robot transportation process is often accompanied by the translation of the trolley and the simultaneous working of all joints of the mechanical arm, and the two movements with different properties are highly coupled, so that a system dynamics model can be more complex, and the unknown disturbance existing outside can not be quickly and effectively eliminated while the accurate positioning of the mechanical arm and the trolley is realized. Disclosure of Invention The invention aims to provide an anti-interference positioning control method and system for a truss robot, which can reduce the requirement of sliding mode control on high precision of a system model through a time delay loop, and provide an integral sliding mode controller module to improve the positioning precision and robustness of the system, and realize efficient track tracking and disturbance inhibition through combining the two so as to achieve the control effect. In order to achieve the above purpose, the invention provides an anti-interference positioning control method and system for a truss robot, comprising the following steps: S1, based on operation condition parameters of a truss robot system, combining Lagrange dynamics equations, establishing a mathematical model of the three-dimensional truss robot system and carrying out characteristic analysis; s2, adding a time delay estimation module into a mathematical model of the three-dimensional truss robot system, and estimating uncertainty and external interference in the system in real time; and S3, according to uncertainty and external interference in the real-time estimation system, combining a sliding mode controller to perform anti-interference positioning control on the truss robot. Preferably, in step S1, the mathematical model of the three-dimensional truss robotic system includes, Recording device The mathematical model of the three-dimensional truss robot system is expressed as follows: U=[τ1 τ2 τ3 τ4]T FS＝[d1 d2 d3 d4]T Wherein M (q) is an inertial matrix of the truss robot system, For centripetal-Coriolis Li Juzhen, G (q) is the gravity vector, U is the control input vector, F s is the external disturbance experienced by the truss robot,Is the mechanical friction force of the truss robot, q is the state variable of the truss robot system,As a first derivative of the first derivative,For the second derivative, m 1、m2、m3 and m 4 are the mass of trolley, arm 1, arm 2 and arm 3 respectively, l 1、l2 and l 3 are the length of arm 1, arm 2, arm 3 respectively, g is the gravitational acceleration, for the generalized state quantity describing truss robot system x is the trolley translation distance, θ i, i=1, 2,3 is the angle of rotation of the arm during operation, τ 1 is the trolley driving force, τ 2,τ3,τ4 is the arm 1 respectively, arm 2, the torque of arm 3 respectively, d 1,d2,d3,d4 is the external disturbance to trolley, arm 1, arm 2, arm 3 respectively, f 1,f2,f3,f4 is the mechanical friction of trolley, arm 1, arm 2, arm 3 respectively,The angular velocities of the mechanical arms 1,2 and 3 during operation are respectively shown. Preferably, in step S2, the delay estimation module includes, The kinetic equation is defined as: Wherein, the And is also provided withZ=1, 2,..n, M z represents the z-th element within the M inertial matrix,R