CN118123850B - Deformation sensing and track tracking method and system for long flexible hydraulic mechanical arm - Google Patents
Deformation sensing and track tracking method and system for long flexible hydraulic mechanical arm Download PDFInfo
- Publication number
- CN118123850B CN118123850B CN202410573283.2A CN202410573283A CN118123850B CN 118123850 B CN118123850 B CN 118123850B CN 202410573283 A CN202410573283 A CN 202410573283A CN 118123850 B CN118123850 B CN 118123850B
- Authority
- CN
- China
- Prior art keywords
- arm support
- deformation
- track
- long flexible
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 75
- 238000005259 measurement Methods 0.000 claims abstract description 23
- 230000008569 process Effects 0.000 claims description 23
- 238000003860 storage Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 238000013461 design Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 5
- 230000003068 static effect Effects 0.000 abstract description 2
- 238000012545 processing Methods 0.000 description 11
- 230000004927 fusion Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000011159 matrix material Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000013598 vector Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Control Of Position Or Direction (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a deformation sensing and track tracking method and system for a long flexible hydraulic mechanical arm. By extracting any three inclination angle information of the arm support, an inclination angle observer based on a discrete time Luneberg state observer is designed, and inclination angle measurement errors caused by vibration of the arm support are reduced. And then solving a polynomial coefficient according to the Kramer rule, finally calculating the deflection of the tail end of the arm support according to the constructed curve, converting the deflection into a joint compensation angle, and correcting the track by adopting an independent compensation principle. The method provided by the invention can accurately sense the static deformation of the arm support of the long flexible hydraulic mechanical arm, avoid the problem of low calculation precision caused by adopting the structural parameter approximation value in the traditional deflection solving, and can realize the accurate and automatic operation of the tail end of the long flexible arm by applying the sensed deformation information to the tracking control of the bottom track.
Description
Technical Field
The invention relates to the technical field of automatic and accurate operation of long flexible arm support engineering machinery, in particular to a deformation sensing and track tracking method and system of a long flexible hydraulic mechanical arm.
Background
The long flexible hydraulic mechanical arm is a core operation mechanism of a long-arm-frame engineering machine, and is mainly driven by a multi-stage serial hydraulic cylinder, so that the long flexible hydraulic mechanical arm has the advantages of wide operation range, high power-weight ratio and the like, and is widely applied to special operation occasions such as building construction, high-altitude cleaning, industrial production and the like. Meanwhile, informatization and intellectualization promote the transformation of the long-arm-frame engineering machinery from the traditional multi-person cooperation, joint control mode to less humanized and automatic operation.
However, this type of working mechanism also generally has the characteristics of obvious weak rigidity, high inertia and the like, and in an extended state, the arm support can generate elastic deformation under the action of self gravity and external load, and deformation deflection of each section of arm support is accumulated through multistage joints to finally generate obvious tail end position errors. Taking a long flexible hydraulic mechanical arm of a concrete spreader as an example, if a track tracking algorithm based on rigid assumption is continuously adopted in the process of controlling the mechanical arm to automatically spread materials, the tail end position error caused by the deformation of the arm support cannot be avoided, so that the material spreading precision is seriously reduced, and even the arm support or a tail end hose collides with surrounding buildings, thereby causing safety accidents.
At present, the main stream idea for improving the working precision of the tail end of the long flexible arm is to compensate the deformation of the arm support, so that the acquisition of the deformation data of the arm support is particularly important. The existing arm support deformation calculation method is mainly divided into two types: calculating the deflection of the arm support by establishing a flexible multi-body dynamics model of the mechanical arm; and carrying out finite element simulation analysis on the full-posture working condition of the mechanical arm to establish a boom deformation database. Although both of these approaches exhibit some effect in improving trajectory accuracy, they rely on sufficiently accurate mathematical or simulation models, provided that a priori known control object structural parameters are required and a large number of boundary conditions are considered. Thus, both types of methods are in principle only applicable to the subject itself and are not universally applicable in practical applications. Therefore, from the perspective of improving the accuracy of automatic operation, universality and generalizability of the method, the invention provides a cantilever crane static deformation sensing and track tracking method based on the idea of information fusion of multi-gesture data of the cantilever crane.
Disclosure of Invention
The invention aims to overcome the defects of the prior art method, and provides a deformation sensing and track tracking method and system for a long flexible hydraulic mechanical arm, which mainly solve the problems of low calculation precision and poor method practicability when the tail end deformation is calculated by directly modeling/simulating by using the arm support structure parameter approximation value. In addition, the adverse effect of the vibration of the arm support on the measurement precision of the sensor is considered, deformation data are corrected through the design of the inclination angle observer, the calculated accurate joint compensation angle is independently embedded into a PID-based joint track tracking strategy, and the problem of low tail end movement precision caused by adopting a track tracking algorithm based on the traditional rigid assumption is solved.
The technical scheme adopted by the invention is as follows: in a first aspect, the invention provides a deformation sensing and track tracking method for a long flexible hydraulic mechanical arm, which comprises the following steps:
step 1, simplifying an arm support into an arm support Liang Moxing based on joint torque of the arm support of a long flexible hydraulic mechanical arm under the action of gravity;
Step 2, constructing an integral deformation curve of the cantilever crane by adopting a fourth-time polynomial according to the model characteristics of the cantilever crane, and differentiating to obtain an inclination tangent value analysis type at any point of the cantilever crane;
Step 3, designing an arm support inclination angle observer by adopting a discrete time Luneberg state observer model based on a terminal angular velocity signal in the arm support vibration process, and accurately feeding back inclination angle information at any point of the arm support in real time;
Step 4, calculating a unique solution of the inclination tangent value analytic coefficient based on the inclination information by utilizing the Kreimer rule, and further obtaining a deformation profile curve of the arm support;
And 5, calculating the deflection of the tail end of each arm support to predict the joint deflection angle caused by deformation, adopting a joint independent compensation principle in the track tracking process of the automatic operation of the long flexible arm, and respectively compensating the joint angle corresponding to the deflection of the corresponding tail end at each sampling moment to correct the tail end track in real time.
Further, in step 1, the arm support is simplified into the cantilever Liang Moxing, based on the characteristics of the cantilever beam model, a fourth-order functional relationship is presented between deflection and deformation positions at any position of the arm support, and according to the relationship, a fourth-order polynomial is adopted to construct a deformation profile curve in step 2, which is specifically as follows:
Wherein, Calculated for the constructed curveArm supportThe deflection at the point(s),、、Respectively the firstAnd (3) obtaining the analytic expression of the inclination tangent value of any point by differentiating the curve relative to the deformation position according to the coefficient of the polynomial corresponding to the arm support deformation curve.
Further, in the step 3, acquiring an angular velocity signal of the tail end in the arm support vibration process, and designing an arm support inclination angle observer based on a discrete time Luneberg state observer model, wherein the inclination angle observer is specifically as follows:
Wherein, Is thatThe time-of-day tilt angle estimate,Is thatThe time-of-day tilt angle estimate,Is thatThe measurement value of the moment inclination angle sensor,In order to sample the time of the sample,Is thatThe moment inertial measurement unit measures an offset estimate of the angular velocity,Is thatThe moment inertial measurement unit measures an offset estimate of the angular velocity,Is thatThe angular velocity measured by the moment of inertia measurement unit,For the gain of the tilt angle observer,For biasing the estimator gain.
In step 4, the tilt angle observer in step 3 is adopted to obtain accurate tilt angle values of any three positions on the same section of arm support at each moment by combining the feedback data of the tilt angle sensor and the inertial measurement unit, and then the accurate tilt angle values are substituted into the tilt angle tangent value analytic formula obtained in step 2, the unique solution of the analytic formula coefficient is calculated according to the Kramer rule, and finally the deformation profile curve expression of the arm support at the current moment is obtained.
Further, in step 5, according to the deformation profile curve expression in step 4, the deflection of the tail end of the arm support at the current moment is obtained and used as the corresponding arc length of the corner of the arm support, so that the joint deflection angle is reversely calculated through an arc length formula in the mathematical concept.
In step 5, in the track tracking process of the long flexible arm automatic operation, an independent compensation principle is adopted, when a PID controller is utilized to track a desired joint track, a corresponding deviation angle is compensated for the joint at each sampling moment, so that the tail end track tracking precision is ensured, and the deviation angle formula for the joint is compensated, specifically as follows:
Wherein, Is thatTime of day (time)The compensation angle of the arm support joint,Is thatTime of day reconstructionThe deflection of the tail end calculated by the arm support deformation profile curve,Is the firstThe length of the arm support,、AndRespectively isThe moment is the firstThe coefficient of the deformation profile curve constructed by the arm support.
In a second aspect, the invention also provides a deformation sensing and track tracking system of the long flexible hydraulic mechanical arm, which comprises a model simplifying module, a deformation curve constructing module, an inclination angle observer designing module, a deformation profile curve solving module and a track tracking module;
the model simplifying module is used for simplifying the arm support into a cantilever Liang Moxing based on joint torque of the long flexible hydraulic mechanical arm support under the action of gravity;
The deformation curve construction module is used for constructing an integral deformation curve of the cantilever crane by adopting a fourth-order polynomial according to the characteristics of the cantilever beam model, and differentiating to obtain an inclination tangent value analysis type at any point of the cantilever crane;
The inclination angle observer design module is used for designing an inclination angle observer of the arm support by adopting a discrete time Luneberg state observer model based on a terminal angular velocity signal in the vibration process of the arm support, and accurately feeding back inclination angle information at any point of the arm support in real time;
the deformation profile curve solving module is used for calculating an inclination tangent value analytic type unique solution based on inclination information by utilizing a Kreimer rule, so as to obtain an arm support deformation profile curve;
The track tracking module is used for calculating the deflection of the tail end of each arm support to predict the joint deflection angle caused by deformation, and in the track tracking process of the automatic operation of the long flexible arm, the joint independent compensation principle is adopted, the joint angles corresponding to the deflection of the corresponding tail end are respectively compensated at each sampling moment, and the tail end track is corrected in real time.
In a third aspect, the present invention further provides a deformation sensing and track tracking device for a long flexible hydraulic mechanical arm, which includes a memory and one or more processors, wherein executable codes are stored in the memory, and when the processor executes the executable codes, the deformation sensing and track tracking method for the long flexible hydraulic mechanical arm is implemented.
In a fourth aspect, the present invention further provides a computer readable storage medium, on which a program is stored, where the program, when executed by a processor, implements the method for deformation sensing and trajectory tracking of a long flexible hydraulic mechanical arm.
In a fifth aspect, the present invention further provides a computer program product, including a computer program, where the computer program, when executed by a processor, implements the method for sensing deformation and tracking a trajectory of a long flexible hydraulic mechanical arm.
The beneficial effects of the invention are as follows:
(1) The deformation sensing and track tracking method for the long flexible arm support with multi-pose information fusion solves the problems that the deformation calculation is inaccurate, the track tracking precision is low and the method is poor in practicality due to the fact that the conventional thought of obtaining the deformation of the flexible arm by relying on dynamic theory modeling or full pose dynamics simulation and compensating the deformation based on a single pose information feedback control frame is solved.
(2) The cantilever crane deformation sensing scheme adopted by the invention fully plays the advantages of the sensor data fusion concept in engineering application, analyzes the basic form of the cantilever crane deformation profile curve on the basis of the cantilever crane deflection model, can finish the accurate solution of the terminal deflection only by the arbitrary three inclination angles of the cantilever crane, and can independently compensate the deviation of each joint, thereby effectively improving the tracking precision of the terminal track and reducing the practical application difficulty;
(3) According to the invention, aiming at the common problem that the precision of the measurement data of the inclination sensor is easy to be reduced due to self vibration after the flexible arm is excited, the design method of the inclination observer based on the discrete time Luneberg model is provided, and the adverse effect of vibration on the inclination measurement error can be effectively reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow of a method for sensing deformation of a long flexible arm and tracking a track by multi-pose information fusion.
Fig. 2 is a schematic diagram of a four-degree-of-freedom long flexible hydraulic mechanical arm structure of a 13m concrete spreader.
Fig. 3 is a schematic diagram of the equivalent of a cantilever crane as a cantilever beam model subjected to a combination of torque and uniform load.
FIG. 4 is a schematic diagram of a sensor layout scheme for a multi-pose information fusion framework.
Fig. 5 is a schematic diagram of a long flexible arm trajectory tracking strategy based on multi-pose information fusion deformation sensing.
Fig. 6 is a graph showing the comparison between an actual end track curve and an expected end track in the process of tracking a straight track by using the method and the comparison method provided by the invention.
Fig. 7 is a graph of the error variation of the end in the vertical direction during the process of tracking the linear track by the long flexible hydraulic mechanical arm by the method and the comparison method.
Fig. 8 is a block diagram of a deformation sensing and track tracking device for a long flexible hydraulic mechanical arm.
Detailed Description
In order to more clearly illustrate the flow of use of the present invention, the following description is provided in connection with the accompanying drawings and examples, but the present invention is not limited to the examples presented.
The embodiment of the invention provides a deformation sensing and track tracking method and system for a long flexible hydraulic mechanical arm. Further, by combining vibration signals measured by the inertia measurement unit, the arm support inclination angle observer is designed based on a discrete time Luneberg state observer model, and measurement errors of the inclination angle sensor caused by vibration are reduced. And substituting the inclination angle into an inclination angle tangent value analytic formula, calculating a unique solution of an analytic coefficient according to the Kramer method, and calculating the deflection of the tail end of each arm support. Finally, the deflection of the tail end of the arm support is converted into a joint compensation angle, the deviation is corrected in real time in the joint track tracking process by adopting an independent compensation principle, and further the motion precision of the tail end of the mechanical arm is effectively improved, and a specific flow is shown in a figure 1.
In this embodiment, taking a four-degree-of-freedom long flexible hydraulic mechanical arm of a 13m concrete spreader as an example, as shown in fig. 2, usually, a first joint is responsible for completing the rotation motion, and the deformation of an arm support is affected by the joint in a negligible way, so that the arm support is regarded as a plane three-degree-of-freedom long flexible hydraulic mechanical arm formed by two, three and four joints, and the specific implementation steps of the method are as follows:
Step 1, in a Cartesian space, deriving joint torque generated by the gravity of the mechanical arm at the tail end of each arm support and uniform load on the arm support, and equivalent the arm support stress state to the arm support Liang Moxing shown in FIG. 3 (under the combined action of torque and uniform load), thereby establishing an arm support deformation profile curve equation for reference.
The gravity generates joint torque at the tail end of each arm support as follows:
in the method, in the process of the invention, As a vector of the torque of the joint,The torque component generated by the gravity of the mechanical arm at each joint,In the form of a jacobian matrix,The stress for each arm support is as follows:
Wherein, 、、The mass center positions of the arm frames are respectively,、、The mass of each arm support is respectively that of each arm support,、The length of each arm support is respectively equal to that of each arm support,、、The angles of the 1 st joint, the 2 nd joint and the 3 rd joint are respectively,Gravitational acceleration.
The calculation formula of the uniformly distributed load on the arm support is as follows:
Wherein, Is thatThe arm support is uniformly distributed with load,In order to achieve an equivalent density,Is thatThe equivalent cross-sectional area of the arm support,Is thatThe length of the arm support,Is thatCosine value of angle of arm support joint under world coordinate system.
The deformation profile curve equation for reference established after the cantilever equivalent is a cantilever beam model is as follows:
Wherein, Is thatArm supportThe deflection at the point(s),Is the elastic modulus of the arm support material,Is thatThe moment of inertia of the arm support,Is under gravityTorque at the boom end.
Step 2, carrying out theoretical characteristic analysis according to the arm support deformation profile curve established in the step 1 to obtain: and a fourth-order functional relation is presented between the deflection of any position of the arm support and the deformation position, a deformation profile curve of the arm support is reconstructed by adopting a fourth-order polynomial, the derivative of the curve about the deformation position is obtained, and an analytic expression of the inclination tangent value of any point of the arm support is obtained by deduction.
The reconstructed arm support deformation profile curve is as follows:
Wherein, Calculated for using the formulaArm supportThe deflection at the point(s),、、Respectively isThe boom deformation curve corresponds to the coefficients of the polynomial.
The analytic method of the tangent value of the inclination angle of any point of the arm support is as follows:
Wherein, Is thatArm supportInclination at the point.
And 3, acquiring an angular velocity signal of the tail end of the arm support in the vibration process by using an inertial measurement unit, designing an arm support inclination angle observer based on a discrete time Luneberg state observer model, and reducing the measurement error of an inclination angle sensor caused by vibration.
The inclination angle observer is as follows:
Wherein, Is thatThe time-of-day tilt angle estimate,Is thatThe time-of-day tilt angle estimate,Is thatThe measurement value of the moment inclination angle sensor,In order to sample the time of the sample,Is thatThe moment inertial measurement unit measures an offset estimate of the angular velocity,Is thatThe moment inertial measurement unit measures an offset estimate of the angular velocity,Is thatThe angular velocity measured by the moment of inertia measurement unit,For the gain of the tilt angle observer,For biasing the estimator gain.
Step 4, acquiring multi-pose information feedback data comprising joint pose signals, arm support vibration information acquired by an inertia measurement unit and arm support deformation information acquired by an inclination sensor by adopting the multi-pose information fusion frame based on the flexible mechanical arm electrohydraulic control system shown in fig. 4, wherein the joint pose signals and the arm support vibration information are taken as basic information, and the arm support vibration information is corrected in an auxiliary manner to obtain deformation sensing data; correcting the inclination angle basic data acquired at each moment by using the observer in the step 3, substituting accurate inclination angle values of any three positions of the same section of arm support at the current moment into the inclination angle tangent value analytic formula constructed in the step 2, processing the linear equation set according to the Kramer rule, and calculating an analytic formula coefficient unique solution to obtain the deformation profile curve expression of the arm support at the current moment.
The system of linear equations is:
Wherein, In the form of a matrix of equation coefficients,Is a matrix of constant terms that is a matrix of constant terms,The analytic coefficient vectors, each matrix specifically is:
Wherein, 、AndRespectively isAny three positions on the arm support、、The inclination angle of the position,、AndRespectively, are analytic coefficients.
The analytic type coefficient unique solution is specifically as follows:
The deformation profile curve expression of the arm support at the current moment is as follows:
step 5, deflection of the tail end of the arm support at any moment As the corresponding arc length of the arm support corner, the joint deviation angle is reversely calculated through an arc length formula in a mathematical concept, the track tracking strategy shown in fig. 5 is utilized, an independent compensation principle is adopted, the feedback signals of feedback data of multi-pose information are combined, and the corresponding deviation angle is compensated for the joint when a track tracking controller based on PID control tracks each sampling moment of the expected joint track. And correcting the joint track in real time based on the flexible mechanical arm electrohydraulic control system to finish the tail end preset track tracking.
The offset angle compensated to the joint is:
Wherein, Is thatTime of dayThe compensation angle of the joint is set to be equal to the compensation angle of the joint,Is thatTime of day reconstructionThe deflection of the tail end calculated by the arm support deformation profile curve,、AndRespectively isThe moment isThe coefficient of the deformation curve constructed by the arm support.
Examples: by adopting the deformation sensing and track tracking method of the arm support of the long flexible hydraulic mechanical arm, a specific experimental scheme is provided by using the four-degree-of-freedom long flexible hydraulic mechanical arm of the 13m concrete spreader shown in fig. 2.
Firstly, according to the embodiment step 1, a boom deformation profile equation is established based on the boom Liang Moxing, and then a boom deformation profile is reconstructed by adopting a fourth-order polynomial according to the step 2. And feeding back a sensor layout scheme shown in fig. 4 to obtain a plurality of pieces of posture information of the arm support at the current moment, and sequentially calculating accurate inclination angle information of the installation position of the inclination angle sensor on the arm support, deformation profile curves of all sections of arm support and joint deviation angles caused by deformation according to the steps 3, 4 and 5. And in the track tracking process of the automatic operation of the long flexible hydraulic mechanical arm, adopting a joint independent compensation principle to respectively compensate each joint deviation angle calculated at each moment to a corresponding joint, correcting the joint track in real time and completing the tail end preset track tracking.
Comparative example: the same procedure as in the step1 of the embodiment is adopted, a boom deformation profile equation is established based on the boom Liang Moxing, a joint deviation angle caused by deformation is directly calculated by using an expected joint track, the expected joint track is corrected, and further the joint track corrected in advance is directly tracked by using a PID controller, so that the tail end preset track tracking is completed.
And (3) effect detection: the invention tracks the linear track by presetting a section of the tail end linear track and adopting the deformation sensing and track tracking methods in the embodiment and the comparative example, under the two methods, the comparison condition of the actual tail end track curve and the expected tail end track curve is shown in figure 6, and the error change curve of the tail end of the long flexible hydraulic mechanical arm in the vertical direction is shown in figure 7. As can be seen from the results shown in fig. 6 and 7, compared with the track tracking method, the deformation sensing and track tracking method for the long flexible hydraulic mechanical arm provided by the invention can sense the deformation information of the arm support more accurately, brings beneficial effects to the improvement of the track tracking precision of the tail end, and reduces the absolute positioning error in the vertical direction from +/-150 mm to +/-25 mm.
Corresponding to the embodiment of the deformation sensing and track tracking method of the long flexible hydraulic mechanical arm, the invention also provides an embodiment of the deformation sensing and track tracking system of the long flexible hydraulic mechanical arm.
Corresponding to the embodiment of the deformation sensing and track tracking method of the long flexible hydraulic mechanical arm, the invention also provides an embodiment of the deformation sensing and track tracking device of the long flexible hydraulic mechanical arm. The system comprises a model simplifying module, a deformation curve constructing module, an inclination angle observer designing module, a deformation contour curve solving module and a track tracking module; for specific implementation of each module, please refer to the steps of the embodiment of the deformation sensing and track tracking method for the long flexible hydraulic mechanical arm.
The model simplifying module is used for simplifying the arm support into a cantilever Liang Moxing based on joint torque of the long flexible hydraulic mechanical arm support under the action of gravity;
The deformation curve construction module is used for constructing an integral deformation curve of the cantilever crane by adopting a fourth-order polynomial according to the characteristics of the cantilever beam model, and differentiating to obtain an inclination tangent value analysis type at any point of the cantilever crane;
The inclination angle observer design module is used for designing an inclination angle observer of the arm support by adopting a discrete time Luneberg state observer model based on a terminal angular velocity signal in the vibration process of the arm support, and accurately feeding back inclination angle information at any point of the arm support in real time;
the deformation profile curve solving module is used for calculating an inclination tangent value analytic type unique solution based on inclination information by utilizing a Kreimer rule, so as to obtain an arm support deformation profile curve;
The track tracking module is used for calculating the deflection of the tail end of each arm support to predict the joint deflection angle caused by deformation, and in the track tracking process of the automatic operation of the long flexible arm, the joint independent compensation principle is adopted, the joint angles corresponding to the deflection of the corresponding tail end are respectively compensated at each sampling moment, and the tail end track is corrected in real time.
Referring to fig. 8, the deformation sensing and track tracking device for a long flexible hydraulic mechanical arm provided by the embodiment of the invention includes a memory and one or more processors, wherein executable codes are stored in the memory, and the processors are used for realizing the deformation sensing and track tracking method for the long flexible hydraulic mechanical arm in the above embodiment when executing the executable codes.
The embodiment of the deformation sensing and track tracking device for the long flexible hydraulic mechanical arm can be applied to any equipment with data processing capability, and the equipment with the data processing capability can be equipment or a device such as a computer. The apparatus embodiments may be implemented by software, or may be implemented by hardware or a combination of hardware and software. Taking software implementation as an example, the device in a logic sense is formed by reading corresponding computer program instructions in a nonvolatile memory into a memory by a processor of any device with data processing capability. From the hardware level, as shown in fig. 8, a hardware structure diagram of an apparatus with data processing capability, where the long flexible hydraulic mechanical arm deformation sensing and track tracking device is located, is provided in the present invention, except for the processor, the memory, the network interface, and the nonvolatile memory shown in fig. 8, where the apparatus with data processing capability in the embodiment is located, generally according to the actual function of the apparatus with data processing capability, other hardware may also be included, which is not described herein.
The implementation process of the functions and roles of each unit in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present invention. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The embodiment of the invention also provides a computer readable storage medium, and a program is stored on the computer readable storage medium, and when the program is executed by a processor, the method for sensing the deformation and tracking the track of the long flexible hydraulic mechanical arm in the embodiment is realized.
The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of any of the data processing enabled devices described in any of the previous embodiments. The computer readable storage medium may also be an external storage device of any device having data processing capabilities, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), an SD card, a flash memory card (FLASH CARD), etc. provided on the device. Further, the computer readable storage medium may include both internal storage units and external storage devices of any data processing device. The computer readable storage medium is used for storing the computer program and other programs and data required by the arbitrary data processing apparatus, and may also be used for temporarily storing data that has been output or is to be output.
The invention also provides a computer program product, which comprises a computer program, wherein the computer program realizes the deformation sensing and track tracking method of the long flexible hydraulic mechanical arm when being executed by a processor.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and color changes can be made by those skilled in the art without departing from the basic principles of the present invention, and such modifications and color changes should also be considered as the scope of the present invention.
Claims (10)
1. The deformation sensing and track tracking method for the long flexible hydraulic mechanical arm is characterized by comprising the following steps of:
step 1, simplifying an arm support into an arm support Liang Moxing based on joint torque of the arm support of a long flexible hydraulic mechanical arm under the action of gravity;
Step 2, constructing an integral deformation curve of the cantilever crane by adopting a fourth-time polynomial according to the model characteristics of the cantilever crane, and differentiating to obtain an inclination tangent value analysis type at any point of the cantilever crane;
Step 3, designing an arm support inclination angle observer by adopting a discrete time Luneberg state observer model based on a terminal angular velocity signal in the arm support vibration process, and accurately feeding back inclination angle information at any point of the arm support in real time;
Step 4, calculating a unique solution of the inclination tangent value analytic coefficient based on the inclination information by utilizing the Kreimer rule, and further obtaining a deformation profile curve of the arm support;
And 5, calculating the deflection of the tail end of each arm support to predict the joint deflection angle caused by deformation, adopting a joint independent compensation principle in the track tracking process of the automatic operation of the long flexible arm, and respectively compensating the joint angle corresponding to the deflection of the corresponding tail end at each sampling moment to correct the tail end track in real time.
2. The method for sensing deformation and tracking the track of the long flexible hydraulic mechanical arm according to claim 1, wherein in the step 1, the arm support is simplified into the cantilever Liang Moxing, based on the characteristics of a cantilever beam model, the deformation profile curve is constructed by adopting a fourth-order polynomial according to the four-order functional relation between the deflection of any position of the arm support and the deformation position, and the method is specifically as follows:
；
Wherein, Calculated for the constructed curveArm supportThe deflection at the point(s),、、Respectively the firstAnd (3) obtaining the analytic expression of the inclination tangent value of any point by differentiating the curve relative to the deformation position according to the coefficient of the polynomial corresponding to the arm support deformation curve.
3. The method for sensing deformation and tracking the track of the long flexible hydraulic mechanical arm according to claim 1, wherein the step 3 is characterized in that an angular velocity signal of the tail end in the vibration process of the arm support is collected, and an arm support inclination angle observer is designed based on a discrete time Luneberg state observer model, wherein the inclination angle observer is specifically as follows:
；
Wherein, Is thatThe time-of-day tilt angle estimate,Is thatThe time-of-day tilt angle estimate,Is thatThe measurement value of the moment inclination angle sensor,In order to sample the time of the sample,Is thatThe moment inertial measurement unit measures an offset estimate of the angular velocity,Is thatThe moment inertial measurement unit measures an offset estimate of the angular velocity,Is thatThe angular velocity measured by the moment of inertia measurement unit,For the gain of the tilt angle observer,For biasing the estimator gain.
4. The method for sensing deformation and tracking the track of the long flexible hydraulic mechanical arm according to claim 1, wherein in the step 4, the inclination angle observer in the step 3 is adopted to obtain accurate inclination angle values of any three parts on the same section of arm support at each moment by combining the inclination angle sensor and the feedback data of the inertia measurement unit, and then the accurate inclination angle values are substituted into the inclination angle tangent value analytic expression obtained in the step 2, the analytic expression coefficient unique solution is calculated according to the Kramer rule, and finally the deformation profile curve expression of the arm support at the current moment is obtained.
5. The method for sensing deformation and tracking the track of the long flexible hydraulic mechanical arm according to claim 1, wherein in the step 5, according to the deformation contour curve expression in the step 4, the deflection of the tail end of the arm support at the current moment is obtained as the corresponding arc length of the angle of the arm support, so that the joint deflection angle is reversely calculated through an arc length formula in a mathematical concept.
6. The method for sensing deformation and tracking the track of the long flexible hydraulic mechanical arm according to claim 1, wherein in the step 5, in the track tracking process of the long flexible arm automatic operation, an independent compensation principle is adopted, when a PID controller is utilized to track a desired joint track, a corresponding deviation angle is compensated for the joint at each sampling moment, so that the tracking precision of the tail end track is ensured, and the deviation angle formula for the joint is compensated, and is specifically as follows:
；
Wherein, Is thatTime of day (time)The compensation angle of the arm support joint,Is thatTime of day reconstructionThe deflection of the tail end calculated by the arm support deformation profile curve,Is the firstThe length of the arm support,、AndRespectively isThe moment is the firstThe coefficient of the deformation profile curve constructed by the arm support.
7. The deformation sensing and track tracking system of the long flexible hydraulic mechanical arm is characterized by comprising a model simplifying module, a deformation curve constructing module, an inclination angle observer design module, a deformation contour curve solving module and a track tracking module;
the model simplifying module is used for simplifying the arm support into a cantilever Liang Moxing based on joint torque of the long flexible hydraulic mechanical arm support under the action of gravity;
The deformation curve construction module is used for constructing an integral deformation curve of the cantilever crane by adopting a fourth-order polynomial according to the characteristics of the cantilever beam model, and differentiating to obtain an inclination tangent value analysis type at any point of the cantilever crane;
The inclination angle observer design module is used for designing an inclination angle observer of the arm support by adopting a discrete time Luneberg state observer model based on a terminal angular velocity signal in the vibration process of the arm support, and accurately feeding back inclination angle information at any point of the arm support in real time;
the deformation profile curve solving module is used for calculating an inclination tangent value analytic type unique solution based on inclination information by utilizing a Kreimer rule, so as to obtain an arm support deformation profile curve;
The track tracking module is used for calculating the deflection of the tail end of each arm support to predict the joint deflection angle caused by deformation, and in the track tracking process of the automatic operation of the long flexible arm, the joint independent compensation principle is adopted, the joint angles corresponding to the deflection of the corresponding tail end are respectively compensated at each sampling moment, and the tail end track is corrected in real time.
8. A long flexible hydraulic mechanical arm deformation sensing and track tracking device, comprising a memory and one or more processors, wherein executable codes are stored in the memory, and the processor executes the executable codes to realize the long flexible hydraulic mechanical arm deformation sensing and track tracking method according to any one of claims 1-6.
9. A computer readable storage medium having a program stored thereon, wherein the program, when executed by a processor, implements a long flexible hydromechanical arm deformation sensing and trajectory tracking method according to any one of claims 1-6.
10. A computer program product comprising a computer program which, when executed by a processor, implements a long flexible hydromechanical arm deformation sensing and trajectory tracking method according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410573283.2A CN118123850B (en) | 2024-05-10 | 2024-05-10 | Deformation sensing and track tracking method and system for long flexible hydraulic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410573283.2A CN118123850B (en) | 2024-05-10 | 2024-05-10 | Deformation sensing and track tracking method and system for long flexible hydraulic mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118123850A CN118123850A (en) | 2024-06-04 |
| CN118123850B true CN118123850B (en) | 2024-07-12 |
Family
ID=91244489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410573283.2A Active CN118123850B (en) | 2024-05-10 | 2024-05-10 | Deformation sensing and track tracking method and system for long flexible hydraulic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118123850B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102345390A (en) * | 2011-07-21 | 2012-02-08 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Method for compensating for deflection of concrete pump truck arm support |
| CN103806665A (en) * | 2014-01-26 | 2014-05-21 | 三一汽车制造有限公司 | Pump truck intelligent arm elastic deformation correction method and device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104776822B (en) * | 2015-04-15 | 2020-05-08 | 武汉地和智能有限公司 | Gesture detection system and method for multi-section arm support |
| DE102019105871A1 (en) * | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Articulated arm control of a concrete pump |
| CN116728395A (en) * | 2022-03-04 | 2023-09-12 | 中联重科股份有限公司 | Method and device for determining tail end position of flexible arm and flexible arm mechanical equipment |
-
2024
- 2024-05-10 CN CN202410573283.2A patent/CN118123850B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102345390A (en) * | 2011-07-21 | 2012-02-08 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Method for compensating for deflection of concrete pump truck arm support |
| CN103806665A (en) * | 2014-01-26 | 2014-05-21 | 三一汽车制造有限公司 | Pump truck intelligent arm elastic deformation correction method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118123850A (en) | 2024-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108297101B (en) | Multi-joint-arm series robot end pose error detection and dynamic compensation method | |
| CN111207774B (en) | Method and system for laser-IMU external reference calibration | |
| KR100772915B1 (en) | Apparatus and method for correcting bias of gyroscope on a moving robot | |
| Jeon et al. | A paired visual servoing system for 6-DOF displacement measurement of structures | |
| CN102121828B (en) | Method for estimating body posture angle of humanoid robot in real time | |
| CN111949929B (en) | Design method of multi-sensor fusion quadruped robot motion odometer | |
| CN106525049A (en) | Quadruped robot body posture tracking method based on computer vision | |
| Jeon et al. | Kinematic Kalman filter (KKF) for robot end-effector sensing | |
| WO2022134144A1 (en) | Robot center of mass planning method and apparatus, readable storage medium, and robot | |
| CN110345936B (en) | Track data processing method and processing system of motion device | |
| CN108507572B (en) | Attitude positioning error correction method based on MEMS inertial measurement unit | |
| CN114474003A (en) | Vehicle-mounted construction robot error compensation method based on parameter identification | |
| CN111805538A (en) | Robot real-time motion planning method based on force feedback | |
| CN114161402A (en) | Robot stability control method, model construction method and device and robot | |
| CN118123850B (en) | Deformation sensing and track tracking method and system for long flexible hydraulic mechanical arm | |
| CN115752507A (en) | Online single-steering-wheel AGV parameter calibration method and system based on two-dimensional code navigation | |
| JP2002046087A (en) | Three-dimensional position measuring method and apparatus, and robot controller | |
| Honkakorpi et al. | MEMS-based state feedback control of multi-body hydraulic manipulator | |
| US11003159B2 (en) | Numerical control device | |
| Kwon et al. | Estimation of the center of mass of humanoid robot | |
| CN110605715A (en) | Robot dynamics parameter identification method independent of joint angular acceleration | |
| CN117621060A (en) | Foot falling control method and system for environment-aware foot robot | |
| CN114543786B (en) | Wall climbing robot positioning method based on visual inertial odometer | |
| CN108247636B (en) | Parallel robot closed-loop feedback control method, system and storage medium | |
| CN109773792A (en) | The position control and method of series elastic driver, storage medium, equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |