CN108563122B - Mobile robot speed smoothing interpolation method - Google Patents
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Abstract
The invention discloses a speed smoothing interpolation method for a mobile robot, which comprises the following steps of establishing an interpolation function model; optimizing the interpolation function model to obtain a speed control curve model; combining the speed control curve model after optimization processing with the current state of the mobile robot to obtain a control quantity model required by a motor; and calculating the selectable interpolation quantity in advance according to the control frequencies of different mobile platforms. The invention has the beneficial effects that: firstly, the method is flexible to use, and interpolation points can be flexibly selected according to different platforms to calculate the control quantity; secondly, the motion performance of the mobile robot in a manual operation mode can be effectively improved, and the danger caused by severe starting and stopping is avoided; thirdly, the higher the running speed of the mobile robot, the more obvious the interpolation effect.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a speed smoothing interpolation method for a mobile robot.
Background
The control system of the existing mobile robot is generally divided into two parts, namely an upper computer responsible for data operation and a lower computer responsible for wheel speed control, wherein the upper computer sends control speed to the lower computer through kinematic calculation, and the lower computer reads equipment state data from time to time and converts the data into digital signals to feed back to the upper computer. The motion mode of the mobile robot generally comprises two modes of autonomous navigation and manual operation; when the navigation is conducted automatically, the control speed is calculated and sent by the upper computer; the manual operation is to meet some special conditions, and the movement of the mobile robot is artificially controlled. In the manual operation, it is usually necessary to complete the start, stop, and turning operations of the mobile robot. Currently, the three functions are mostly realized by manual operation with fixed acceleration. For a low-inertia mobile robot, the speed of the low-inertia mobile robot can basically reach the target speed instantly, and the vehicle body shakes due to severe starting and stopping; however, in some mobile robots with a manipulator or with a large inertia, the above phenomenon is dangerous, and therefore, appropriate measures are required to avoid the phenomenon of severe start-stop.
In the field of industrial robots, various interpolation functions are produced in the research of speed interpolation, but the content of the field of mobile robots is still blank, and the existing curve speed control method is used for single-shaft control of mechanical arms under manual operation, the acceleration and deceleration processes of the mechanical arms are divided into three sections for distinguishing, and finally the linear acceleration is adopted for control of the mechanical arms. The above operation judges the acceleration and deceleration process by counting the number of pulses of the motor, and for the mobile robot, since the transmission of the control speed is based on the vehicle body center coordinate system, there is no means to provide the number of pulses.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned problems of the conventional mobile robot.
Therefore, the present invention aims to provide a method for interpolating a speed of a mobile robot in a manual operation mode, which provides a method for controlling a speed of a mobile robot in a manual operation mode by using an S-shaped interpolation function according to a motion requirement of the mobile robot, so as to avoid a phenomenon of severe start-stop of the mobile robot in the manual operation mode.
In order to solve the technical problems, the invention provides the following technical scheme: a method for smoothly interpolating the speed of a mobile robot comprises the following steps of establishing an interpolation function model; optimizing the interpolation function model to obtain a speed control curve model; combining the speed control curve model after optimization processing with the current state of the mobile robot to obtain a control quantity model required by a motor; and calculating the selectable interpolation quantity in advance according to the control frequency of different mobile platforms, directly substituting the selected interpolation quantity into the control quantity model for calculation, and applying the calculation result to the mobile robot speed control system.
As a preferable aspect of the method for smoothing interpolation of speed of a mobile robot according to the present invention, wherein: the interpolation function model is established as an S-shaped function, and the function model is as follows:
as a preferable aspect of the method for smoothing interpolation of speed of a mobile robot according to the present invention, wherein: the optimization processing further comprises normalizing the interpolation function model within a certain range, so that the value range is [0,1], the definition range is [0,1], and the following conditions are satisfied at the same time:
as a preferable aspect of the method for smoothing interpolation of speed of a mobile robot according to the present invention, wherein: adopts a zooming method to carry out normalization treatment, meets the conditions, and also comprises the following steps,
assuming that the interpolation function model obtains a required function model through translation and scaling of the abscissa and the ordinate as follows:
where the parameter a determines the abscissa scaling, k is related to the magnification, b is related to the phase, and c is related to the intercept.
As a preferable aspect of the method for smoothing interpolation of speed of a mobile robot according to the present invention, wherein: and when a belongs to [8,12], the curve trend is reasonable, and a is selected to be 10 as a research object to process the function model. The final function is normalized to obtain a speed control curve model as follows:
as a preferable aspect of the method for smoothing interpolation of speed of a mobile robot according to the present invention, wherein: the method for obtaining the control quantity model of the motor by combining the speed control curve model and the current state of the mobile robot comprises the following steps,
suppose that the current feedback speed of the mobile robot is viCorresponding to the control quantity uiThe speed v transmitted from the host computer at the next timei+1Corresponding to the control quantity ui+1(ii) a Then there is a sampling time t in the next phase,
u(t)＝u(i)+[u(i+1)-u(i)]·σ(t)
＝[1-σ(t)]·u(i)+σ(t)·u(i+1)
and if when u (i) is 0, the above formula is directly simplified to u (t) σ (t) u (i + 1).
As a preferable aspect of the method for smoothing interpolation of speed of a mobile robot according to the present invention, wherein: the interpolation quantity which can be selected is calculated in advance according to the control frequency of different mobile platforms, the interpolation quantity can be flexibly changed according to different platforms, and the step also comprises the step of properly increasing the initial interpolation quantity.
As a preferable aspect of the method for smoothing interpolation of speed of a mobile robot according to the present invention, wherein: the interpolation amounts that can be selected when the moving platform control frequency is 4Hz are σ (0.4) ═ 0.27, σ (0.5) ═ 0.5, σ (0.7) ═ 0.89, and σ (1) ═ 1.
As a preferable aspect of the method for smoothing interpolation of speed of a mobile robot according to the present invention, wherein: and the derivation is carried out on the speed control curve model, and the first derivative and the second derivative of the speed control curve model both show good continuity, so that the method is very friendly to a control system.
As a preferable aspect of the method for smoothing interpolation of speed of a mobile robot according to the present invention, wherein: the higher the control frequency is, the smoother the speed is, the more stable the motion of the mobile robot is, and the more obvious the interpolation effect is for the mobile robot with the higher running speed.
The invention has the beneficial effects that: the method for the speed smooth interpolation of the mobile robot is flexible to use, and interpolation points can be flexibly selected according to different platforms to calculate the control quantity; secondly, the motion performance of the mobile robot in a manual operation mode can be effectively improved, and the danger caused by severe starting and stopping is avoided; thirdly, the higher the running speed of the mobile robot, the more obvious the interpolation effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
FIG. 1 is a graph of the sigmoid function of the present invention;
FIG. 2 is a velocity control curve plot obtained after normalization of an S-shaped function curve according to the present invention;
FIG. 3 is a first derivative plot of a velocity control curve model of the present invention;
FIG. 4 is a second derivative plot of the velocity control curve model of the present invention;
fig. 5 is a schematic diagram of a control system architecture of the mobile robot according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Furthermore, the present invention is described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional view illustrating the structure of the device is not enlarged partially according to the general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
In order to overcome the problem that the conventional curve speed control method needs to judge the acceleration and deceleration process by calculating the number of pulses of the motor, and for the mobile robot, no device can provide the number of pulses because the transmission of the control speed is based on a vehicle body center coordinate system. Therefore, a method for smoothly interpolating the speed of the mobile robot is provided, and particularly, the method comprises the following steps,
(1) establishing an interpolation function model;
(2) optimizing the interpolation function model to obtain a speed control curve model;
(3) combining the speed control curve model after optimization processing with the current state of the mobile robot to obtain a control quantity model required by a motor;
(4) and calculating the selectable interpolation quantity in advance according to the control frequency of different mobile platforms, directly substituting the selected interpolation quantity into the control quantity model for calculation, and applying the calculation result to the mobile robot speed control system.
Further, step (1) further includes selecting a function model according to the motion requirement of the mobile robot, because the speed control of the mobile robot should meet a certain actual requirement, the design needs to be performed in combination with the reality: the acceleration of the mobile robot is required to be as small as possible in the starting stage, the intermediate acceleration process is very quick, and when the speed is close to the target speed, the acceleration tends to be gentle so as to keep stable. The requirement of the deceleration stage is similar to that of the deceleration stage, the initial deceleration stage needs to avoid overlarge deceleration, the intermediate stage carries out rapid braking, and the end stage needs to be as stable as possible. The S-shaped function completely accords with the characteristics and meets the requirements of speed and acceleration continuity, so that the S-shaped function is selected in the step, and the S-shaped function or the sigmoid function is a nonlinear function commonly used in a neural network, and is a continuous and monotonically increasing numerical function and is commonly applied to the neural network based on a BP (back propagation of error) algorithm; generally, the transfer function of the hidden layer of the BP neural network is a sigmoid function, the output layer is a linear function, of course, the output layer may also adopt a sigmoid function, and if the output layer is a sigmoid function, the range of the output value is the value range of the sigmoid function. In the invention, the S-shaped function and the derivative thereof are used for controlling the speed of the mobile robot. Referring to fig. 1, the sigmoid function model is:
in the initial stage of the curve, the slope change is smooth, and the requirement of stable starting is met; in the middle stage, the curve rises quickly to meet the requirement of rapidity; when the speed approaches the target speed, the curve tends to be gentle again, and the mobile robot can conveniently adjust the speed. In practical applications, the model needs further optimization to be applied to a speed control system of the robot.
Further, in the present embodiment, in step (2), the above-mentioned sigmoid function is optimized, that is, normalized (unitized) processing, where normalization is a simplified calculation method, that is, a dimensional expression is transformed into a dimensionless expression, which becomes a scalar. The absolute value of the physical system value is changed into a relative value relationship. The method is an effective method for simplifying calculation and reducing the magnitude. In this step, a normalization processing means is adopted to make the value range of the function be [0,1], the definition range be [0,1], and the following conditions are satisfied:
therefore, the objective function meeting the conditions can be obtained by assuming that the original function is translated and scaled through the abscissa and the ordinate, and the speed control curve model is obtained. The function model obtained after the translation and scaling is
Where the parameter a determines the abscissa scaling, k is related to the magnification, b is related to the phase, and c is related to the intercept.
According to the image trends of different values of a, the curve trend is reasonable when a belongs to [8,12], and in the embodiment, a is selected to be 10 as a research object, and the processing of the function model is carried out. Referring to FIG. 2, the final function is normalized to obtain a velocity control curve model of
In addition, in this step, the normalized function is derived to obtain a first derivative (acceleration) and a second derivative (jerk) which respectively show good continuity as shown in fig. 3 and 4, which indicates that the velocity control curve model obtained by the normalization process is very friendly to the velocity control system of the mobile robot.
Still further, in the embodiment, in step (3), the speed control curve model obtained in step (2) is combined with the current state of the mobile robot to obtain a control quantity model of the motor, and the result calculated by the control quantity model is applied to the control system, and specifically, the method further comprises the following steps,
suppose that the current feedback speed of the mobile robot is viCorresponding to the control quantity uiThe speed v transmitted from the host computer at the next timei+1Corresponding to the control quantity ui+1(ii) a Then there is a sampling time t in the next phase,
u(t)＝u(i)+[u(i+1)-u(i)]·σ(t)
＝[1-σ(t)]·u(i)+σ(t)·u(i+1)
which is a finally obtained calculation model of the control quantity required by the motor. As can be seen from the above model, if u (i) is 0, the above equation is directly simplified to u (t) σ (t) u (i + 1).
The application of the control quantity model to the control system of the mobile robot further comprises a step (4), specifically, in the step (4), due to the fact that different mobile platforms have large control frequency differences, the interpolation quantity which is correspondingly needed can be calculated in advance according to the control frequency in order to reduce the calculated quantity, then the calculated interpolation quantity is directly brought into the control quantity model for calculation, and finally the result of calculating the control quantity is applied to the speed control system of the mobile robot, so that the speed of the robot is controlled smoothly and stably. In the embodiment, it is considered that the crawling phenomenon in the initial stage is caused by too small acceleration of the mobile robot, so the initial interpolation amount can be increased appropriately according to different situations.
The control frequency can be flexibly changed according to different platforms, in this embodiment, taking the control frequency of 4Hz as an example, the following four optional interpolation quantities are calculated in advance according to the control frequency: σ (0.4) ═ 0.27, σ (0.5) ═ 0.5, σ (0.7) ═ 0.89, and σ (1) ═ 1. Generally, the higher the control frequency is, the smoother the speed is, and the more stable the motion of the mobile robot is; and the interpolation effect of the embodiment is more obvious for the mobile robot with higher running speed.
Referring to fig. 5, it should be further explained in this embodiment that fig. 5 is a schematic diagram of a control system architecture of a JNPF-4WD-01 type mobile robot, where an STM32 module mainly performs closed-loop control of a speed of a motor. The STM32 module adopts STM32F40x series chips and is used for receiving a speed command sent by the embedded control board to control the motor to run; collecting and calculating encoder information, and realizing stable control of the motor speed through a PID closed loop; and the embedded Linux platform is communicated with the embedded Linux platform through a serial port.
Because the types of the motors adopted by different mobile robot platforms are greatly different, the performances are also different, the response speeds are different, and the high-performance motors often have better response speeds, so that the control at higher frequency can be realized, and the control can generally reach more than 20 Hz.
In the embodiment, the mobile robot adopts the brushless direct current motor as an execution element, and after a plurality of tests, the mobile robot has better motion performance when the control frequency is 4-5 Hz. Therefore, for example, if the speed interpolation frequency is selected to be 4Hz, experiments preferably show that the interpolation amounts that can be selected are σ (0.4) ═ 0.27, σ (0.5) ═ 0.5, σ (0.7) ═ 0.89, and σ (1) ═ 1, which are optimal for the robot motion.
In the prior related technology, an S-shaped function is adopted to carry out speed control optimization on a mechanical arm, the acceleration stage of the mechanical arm is divided into an acceleration adding stage, a uniform acceleration stage and an acceleration reducing stage, different acceleration limits are adopted to carry out speed control in different stages, and the stage is determined according to the number of pulses of an encoder.
In this embodiment, because the motor control of the mobile robot can realize the PID speed closed loop, the target speed to be reached in the current control period is only required to be sent to the lower computer, and the speed control target can be realized, and the speed closed loop is realized by the STM 32. The acceleration limit problem of the mobile robot does not need to be concerned in the process, the problem that the mobile robot cannot control the speed by installing a corresponding encoder on the basis of a vehicle body center coordinate system is solved, and the encoder in the embodiment realizes the function of the encoder through a control system STM32 board, so that the target quantity which is required to be reached in a control period is calculated according to an interpolation function.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (4)
1. A method for smoothly interpolating the speed of a mobile robot is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
establishing an interpolation function model;
optimizing the interpolation function model to obtain a speed control curve model;
combining the speed control curve model after optimization processing with the current state of the mobile robot to obtain a control quantity model required by a motor;
calculating the selectable interpolation quantity in advance according to the control frequency of different mobile platforms, directly substituting the selected interpolation quantity into the control quantity model for calculation, and applying the calculation result to a mobile robot speed control system;
the interpolation function model is established as an S-shaped function, and the function model is as follows:
the optimization processing further comprises normalizing the interpolation function model within a certain range, so that the value range is [0,1], the definition range is [0,1], and the following conditions are satisfied at the same time:
assuming that the interpolation function model obtains a required function model through translation and scaling of the abscissa and the ordinate as follows:
wherein, the parameter a determines the scaling of the abscissa, k is related to the magnification, b is related to the phase, c is related to the intercept, and x is the abscissa;
when a belongs to [8,12], the curve trend is reasonable, a is selected as a research object, and a speed control curve model obtained by normalizing the function is as follows:
2. the mobile robot velocity smoothing interpolation method of claim 1, wherein: the method for obtaining the control quantity model of the motor by combining the speed control curve model and the current state of the mobile robot comprises the following steps,
suppose that the current feedback speed of the mobile robot is viCorresponding to the control quantity uiThe speed v transmitted from the host computer at the next timei+1Corresponding to the control quantity ui+1(ii) a Then there is a sampling time t in the next phase,
u(t)＝u(i)+[u(i+1)-u(i)]·σ(t)
＝[1-σ(t)]·u(i)+σ(t)·u(i+1)
and if when u (i) is 0, the above formula is directly simplified to u (t) σ (t) u (i + 1).
3. The mobile robot velocity smoothing interpolation method of claim 1 or 2, characterized by: the interpolation value which can be selected is calculated in advance according to the control frequency of different mobile platforms, and the interpolation value can be flexibly changed according to different platforms.
4. The mobile robot velocity smoothing interpolation method of claim 3, wherein: the interpolation amounts that can be selected when the moving platform control frequency is 4Hz are σ (0.4) ═ 0.27, σ (0.5) ═ 0.5, σ (0.7) ═ 0.89, and σ (1) ═ 1.
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