Robot vibration suppression method based on state observer and related device

Abstract

The invention relates to the technical field of robot vibration suppression, in particular to a robot vibration suppression method based on a state observer and a related device. The method comprises the following steps: receiving a motion control instruction, and determining an instruction position and an instruction speed of a motor side and an instruction position and an instruction speed of a connecting rod side according to the motion control instruction; obtaining state parameters of a motor side and state parameters of a connecting rod side collected by a state observer; determining full-state feedback parameters of the PID control system according to the state parameters of the motor side and the state parameters of the connecting rod side; and determining a feed-forward current and a feedback current of the PID control system. According to the invention, effective vibration suppression can be carried out on the movement of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot vibration suppression, and in particular to a robot vibration suppression method based on a state observer and related devices. BACKGROUND

[0002] Currently, industrial robots are rapidly developing in China and are widely used in the fields of automobiles, electronics, light industry, aerospace, etc. With the progress of manufacturing technology, robots are facing higher precision and speed requirements, such as high-speed and high-precision electronic assembly, smooth and no vibration polishing processing, and trajectory precision and efficiency emphasized in laser cutting and welding. In the future, with the deepening of intelligent manufacturing, enterprises' requirements for efficiency and quality are continuously improving, and high speed and high precision will become the inevitable direction of robot development.

[0003] In high-speed and high-precision operation, vibration has become an important factor limiting the performance improvement of industrial robots. In the structure of the robot, the connecting rod usually has high stiffness, and to achieve lightweight and compact design, the joint usually adopts flexible transmission methods such as RV reducer, harmonic reducer or synchronous belt, which results in limited joint stiffness and becomes the main source of vibration. The joint flexibility makes the robot prone to vibration during high-speed start and stop, which further affects the operation precision, positioning time and processing quality, and in severe cases, it also reduces the work efficiency and equipment life. Therefore, suppressing the vibration caused by joint flexibility is one of the key problems in high-speed and high-precision control.

[0004] Among the many vibration suppression techniques, active damping is a high-efficiency and practical method for industrial robot vibration control. This strategy effectively improves the damping ratio of the system dominant pole by feeding back the relative speed difference between the motor side and the connecting rod side in real time and applying it to the motor input torque, thereby significantly enhancing the vibration suppression capability. Compared with traditional passive damping methods, active damping does not need to rely on additional mechanical structures or energy-consuming devices, and is suitable for high-speed and high-precision dynamic task environments.

[0005] However, active damping has the following disadvantages: 1) Insufficient accuracy of active damping feedback data: Industrial robots usually only have encoders on the motor side, and the information on the connecting rod side is unknown, so the accurate relative speed difference between the motor side and the connecting rod side cannot be obtained. The speed difference information fed back by active damping is usually roughly estimated from the model connecting rod side torque data, and then obtained by differentiation, resulting in low data accuracy. This may cause a certain deviation between theoretical calculation and actual effect.

[0006] 2) Limitations of active damping parameter adjustment: Active damping improves vibration suppression effect by optimizing the damping ratio of the system dominant pole. However, if the parameters are not properly set, the dominant pole may move to the right half of the virtual axis, causing system instability; or the damping ratio is too low, exacerbating the vibration problem and weakening the suppression effect.

[0007] 3) Robustness of active damping parameter algorithm: Since this algorithm is highly dependent on the system model, when the model or model parameters are inaccurate, the algorithm performance will be greatly affected, and in practical applications, the theoretical prediction may not match the actual performance. SUMMARY

[0008] The embodiment of the present application provides a robot vibration suppression method based on a state observer and related devices, which can solve at least one of the above technical problems.

[0009] According to an aspect of the embodiment of the present application, a robot vibration suppression method based on a state observer is provided, which is applied to a full-state feedback control system, the full-state feedback control system includes a robot, a state observer and a PID control system, the robot includes a motor side and a link side, the state observer is used to collect state parameters of the link side, and the PID control system is used to adjust the motor side and the link side, and the method includes: receiving a motion control instruction for the robot, determining the command position and command speed of the motor side and the command position and command speed of the link side according to the motion control instruction; In the process that the robot responds to the motion control instruction and moves, if the robot vibrates, the state parameters of the motor side are acquired, and the state parameters of the link side collected by the state observer are acquired; determining full-state feedback parameters of the PID control system according to the state parameters of the motor side and the state parameters of the link side; determining the feedforward current and feedback current of the PID control system according to the command position and command speed of the motor side, the command position and command speed of the link side and the full-state feedback parameters, so as to suppress the vibration of the robot according to the feedforward current and the feedback current.

[0010] In the above scheme, the state observer is obtained by the following way: determining the joint stiffness of the robot; determining the state parameters of the motor side and the state parameters of the link side, the state parameters of the motor side including motor side position, motor side speed, motor side acceleration, motor side rotational inertia and motor side driving torque, and the state parameters of the link side including link side position, link side speed, link side acceleration, link side rotational inertia and link side driving torque; establish a standard state space equation based on the joint stiffness, the motor-side position, the motor-side velocity, the motor-side acceleration, the motor-side rotational inertia, the motor-side driving torque, the link-side position, the link-side velocity, the link-side acceleration, the link-side rotational inertia, and the link-side driving torque; construct the state observer according to the standard state space equation.

[0011] In the above scheme, the full-state feedback control system further comprises a dual-inertia system, and the method further comprises: determining control loop parameters of the PID control system, the control loop parameters comprising a position loop, a velocity loop, and a current loop; determining inputs of the dual-inertia system based on the position loop, the velocity loop, and the current loop; taking the command position and the command velocity of the motor side as first initial state variables of the dual-inertia system, and taking the command position and the command velocity of the link side as second initial state variables of the dual-inertia system; constructing a state space equation of state variable tracking error based on the inputs of the dual-inertia system, the first initial state variables, and the second initial state variables.

[0012] In the above scheme, the determining the full-state feedback parameters of the PID control system according to the state parameters of the motor side and the state parameters of the link side comprises: determining initial position difference feedback coefficients of the motor side and initial position difference feedback coefficients of the link side; constructing a state feedback equation of the full-state feedback parameters based on the initial position difference feedback coefficients of the motor side, the initial position difference feedback coefficients of the link side, the state parameters of the motor side, and the state parameters of the link side; designing an optimization equation for the full-state feedback parameters based on the state feedback equation; determining the full-state feedback parameters according to the optimization equation.

[0013] In the above scheme, the determining the feedforward current and the feedback current of the PID control system according to the command position and the command velocity of the motor side, the command position and the command velocity of the link side, and the full-state feedback parameters comprises: determining target position difference feedback coefficients of the motor side, target position difference feedback coefficients of the link side, a proportional coefficient of the position loop, and a proportional coefficient of the velocity loop according to the full-state feedback parameters; The feedforward current and the feedback current are determined according to the command position and the command speed of the motor side, the command position and the command speed of the connecting rod side, a target position difference feedback coefficient of the motor side, a target position difference feedback coefficient of the connecting rod side, a proportional coefficient of the position loop, and a proportional coefficient of the speed loop.

[0014] According to an aspect of an embodiment of the present application, a robot vibration suppression device based on a state observer is provided, which is applied to a full-state feedback control system, the full-state feedback control system comprising a robot, a state observer, and a PID control system, the robot comprising a motor side and a connecting rod side, the state observer being configured to collect state parameters of the connecting rod side, and the PID control system being configured to adjust the motor side and the connecting rod side, the device comprising: A first determining unit configured to receive a motion control instruction for the robot, and determine a command position and a command speed of the motor side and a command position and a command speed of the connecting rod side according to the motion control instruction; A second determining unit configured to, in a process in which the robot moves in response to the motion control instruction, if the robot vibrates, acquire state parameters of the motor side and acquire state parameters of the connecting rod side collected by the state observer; A third determining unit configured to determine full-state feedback parameters of the PID control system according to the state parameters of the motor side and the state parameters of the connecting rod side; A fourth determining unit configured to determine a feedforward current and a feedback current of the PID control system according to the command position and the command speed of the motor side, the command position and the command speed of the connecting rod side, and the full-state feedback parameters, so as to suppress vibration of the robot according to the feedforward current and the feedback current.

[0015] According to an aspect of an embodiment of the present application, an electronic device is provided, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the robot vibration suppression method based on the state observer when executing the computer program. According to an aspect of an embodiment of the present application, a computer program product is provided, the computer program product comprising a computer program, the computer program being read and executed by a processor of an electronic device, so that the electronic device executes the robot vibration suppression method based on the state observer.

[0016] The application has the beneficial effects that the application can acquire the state parameters of the motor side and the state parameters of the link side collected by the state observer in the process that the robot responds to the motion control instruction and moves, and then determine the full state feedback parameters of the PID control system according to the state parameters of the motor side and the state parameters of the link side.

[0017] Further, the feedforward current and the feedback current of the PID control system are determined according to the instruction position and the instruction speed of the motor side, the instruction position and the instruction speed of the link side, and the full state feedback parameters, so as to perform vibration suppression on the robot according to the feedforward current and the feedback current.

[0018] Therefore, the application comprehensively considers the state parameters of the motor side and the state parameters of the link side to calculate the feedforward current and the feedback current of the PID control system, so that the full state feedback control system performs vibration suppression on the motion of the robot. Compared with the traditional active damping method which depends on the model to roughly estimate the link side torque and calculates the speed difference through differentiation, the method significantly improves the calculation accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a system architecture diagram to which the robot vibration suppression method based on the state observer provided by the embodiment of the application is applied; Figure 2 is a structure diagram of a dual-inertia system provided by the embodiment of the application; Figure 3 is a structure diagram of a PID control system provided by the embodiment of the application; Figure 4 is a structure diagram of a full state feedback control system provided by the embodiment of the application; Figure 5 is a flowchart of the robot vibration suppression method based on the state observer provided by the embodiment of the application; Figure 6 is a block diagram of the robot vibration suppression device based on the state observer provided by the embodiment of the application; Figure 7 is a logic flowchart of the vibration suppression provided by the embodiment of the application; Figure 8 is a structure diagram of a terminal provided by the embodiment of the application; Figure 9 is a structure diagram of a server provided by the embodiment of the application. DETAILED DESCRIPTION

[0020] In order for those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0021] It should be noted that in some processes described in the specification, claims and the above drawings, a plurality of steps appearing in a specific order are included, but it should be clearly understood that these steps can be executed or executed in parallel without the order appearing in this text, and the step number is only used to distinguish different steps, and the number itself does not represent any execution order. In addition, the descriptions such as "first", "second" or "target" in this text are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. "Multiple" in this text means at least two.

[0022] It should be noted that in the specific embodiments of the present application, the motion control instructions of the robot, the state parameters of the motor side, the state parameters of the connecting rod side and other related data are involved. When the above embodiments of the present application are applied to specific products or technologies, the permission or consent of the target object needs to be obtained, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards. For example, when the embodiments of the present application need to obtain the motion control instructions of the robot, the state parameters of the motor side, the state parameters of the connecting rod side and other related data, the separate permission or separate consent of the target object can be obtained through a pop-up window or jumping to a confirmation page, and after obtaining the separate permission or separate consent of the target object, the necessary motion control instructions of the robot, the state parameters of the motor side, the state parameters of the connecting rod side and other related data for the normal operation of the embodiments of the present application are obtained.

[0023] Please refer to Figure 1 , Figure 1 is a system architecture diagram applied by the robot vibration suppression method based on the state observer provided by the embodiments of the present application. It includes terminal 140, Internet 130, gateway 120, server 110, etc.

[0024] The terminal 140 includes desktop computers, laptop computers, PDAs (personal digital assistants), mobile phones, vehicle-mounted terminals, special-purpose terminals, and various forms. In addition, it can be a single device or a combination of multiple devices. For example, multiple desktop computers are connected to each other through a local area network, share a display, and work together to form a terminal 140. The terminal 140 can communicate with the Internet 130 in a wired or wireless manner to exchange data.

[0025] The server 110 refers to a computer system capable of providing certain services to the terminal 140. Compared with the ordinary terminal 140, the server 110 has higher requirements in stability, security, performance, and the like. The server 110 can be a high-performance computer in a network platform, a cluster of multiple high-performance computers, a part (for example, a virtual machine) of a high-performance computer, a combination of parts (for example, virtual machines) of multiple high-performance computers, or the like. The server 110 can also communicate with the Internet 130 through wired or wireless means to exchange data.

[0026] The gateway 120 is also called an inter-network connector or a protocol converter. The gateway realizes network interconnection at the transport layer and is a computer system or device that acts as a conversion function. In the case of two systems using different communication protocols, data formats or languages, or even having completely different architectures, the gateway is a translator. At the same time, the gateway can also provide filtering and security functions. The messages sent by the terminal 140 to the server 110 are sent to the corresponding server 110 through the gateway 120. The messages sent by the server 110 to the terminal 140 are also sent to the corresponding terminal 140 through the gateway 120.

[0027] The system model involved in the present application will be introduced as follows, as shown in Figure 2 , as shown in Figure 2 is a schematic diagram of the dual-inertia system of the present application, Figure 3 is a schematic diagram of the combination of the PID control system and the dual-inertia system, Figure 4 is a schematic diagram of full-state feedback control.

[0028] The specific implementation of the embodiment of the present application will be described in detail as follows: Please refer to Figure 5 , Figure 5 is a flowchart of the robot vibration suppression method based on a state observer provided by the embodiment of the present application. The robot vibration suppression method based on a state observer can be implemented by the server 110 and / or the terminal 140. Figure 5 The robot vibration suppression method based on a state observer shown includes: Step 510, receiving a motion control instruction for the robot, and determining an instruction position and an instruction speed of the motor side and an instruction position and an instruction speed of the link side according to the motion control instruction; Step 520, in the process that the robot responds to the motion control instruction and moves, if the robot vibrates, acquiring a state parameter of the motor side and acquiring a state parameter of the link side collected by the state observer; Step 530, determining the full state feedback parameter of the PID control system according to the state parameter of the motor side and the state parameter of the connecting rod side; Step 540, determining the feedforward current and feedback current of the PID control system according to the command position and command speed of the motor side, the command position and command speed of the connecting rod side and the full state feedback parameter, so as to suppress the vibration of the robot according to the feedforward current and the feedback current.

[0029] The complete embodiment scheme of the present application is explained in detail in combination with steps 510-540 as follows: In step 510, the motion control instruction of the robot can be a control instruction sent by a terminal device to the robot, for example, controlling the robot to move forward, backward, etc., so that the command position and command speed of the motor side and the command position and command speed of the connecting rod side can be determined.

[0030] In step 520, if the robot vibrates, the state parameter of the motor side can be directly obtained by a sensor arranged at the motor side, and the state parameter of the connecting rod side can be collected by using the state observer proposed in the present application.

[0031] In step 530, after obtaining the state parameter of the motor side and the state parameter of the connecting rod side, the full state feedback parameter of the PID control system can be determined according to the state parameter of the motor side and the state parameter of the connecting rod side.

[0032] In step 540, the feedforward current and feedback current of the PID control system are determined according to the command position and command speed of the motor side, the command position and command speed of the connecting rod side and the full state feedback parameter, so that the vibration of the robot can be suppressed according to the feedforward current and the feedback current.

[0033] In some embodiments, the state observer is obtained by the following way: determining the joint stiffness of the robot; determining the state parameter of the motor side and the state parameter of the connecting rod side, the state parameter of the motor side including the motor side position, the motor side speed, the motor side acceleration, the motor side moment of inertia, the motor side driving torque, the state parameter of the connecting rod side including the connecting rod side position, the connecting rod side speed, the connecting rod side acceleration, the connecting rod side moment of inertia, the connecting rod side driving torque; establishing a standard state space equation based on the joint stiffness, the motor side position, the motor side speed, the motor side acceleration, the motor side moment of inertia, the motor side driving torque, the connecting rod side position, the connecting rod side speed, the connecting rod side acceleration, the connecting rod side moment of inertia, the connecting rod side driving torque; According to the standard state space equation, the state observer is constructed.

[0034] Specifically, a single joint structure of the robot is modeled and analyzed as a dual-inertia system, as shown in the figure, in which joint flexibility is simplified as a set of torsional springs. According to this modeling manner, a dynamic model thereof can be expressed in the following mathematical form: Figure 2 (1) wherein K is a joint stiffness, is a motor side position, is a motor side velocity, is a motor side acceleration, is a motor side moment of inertia, is a motor side driving torque, and is a link side position, is a link side velocity, is a link side acceleration, is a link side moment of inertia (which can be directly obtained through a sensor), is a link side driving torque, in the above equation, Figure 2 represents the motor side, represents the link side. In combination with equation (1), the motor side and link side positions, velocities

[0035] and accelerations of the four parameters are selected as state variables of the dual-inertia system, the motor driving torque is selected as a system input, the motor side position and the motor side velocity are selected as system outputs, and a standard state space equation is established: (2) Corresponding relationships of matrices in equation (2) are shown as follows: (3) According to the state space equation in equation (2), a state observer is established as follows: (4) wherein represents an estimated value of a state variable (i.e., a first initial state variable of the motor side and a second initial state variable of the link side) of the state observer, represents an estimated value of a system output, is a parameter matrix of the state observer. In combination with equation (2) and equation (4), an error

[0036] of the observer is analyzed: ​​(5) As shown in the above formula, by reasonably setting the parameter matrix of the state observer , so that the real part of the eigenvalue of the matrix is negative, that is, the error of the state observer gradually converges to 0, thereby realizing more accurate estimation of the state of the connecting rod side.

[0037] In some embodiments, the full-state feedback control system further comprises a dual-inertia system, and the method further comprises: determining control loop parameters of the PID control system, the control loop parameters including a position loop, a speed loop and a current loop; determining an input of the dual-inertia system based on the position loop, the speed loop and the current loop; taking the command position and the command speed of the motor side as first initial state variables of the dual-inertia system, and taking the command position and the command speed of the connecting rod side as second initial state variables of the dual-inertia system; constructing a state space equation of a state variable tracking error based on the input of the dual-inertia system, the first initial state variables and the second initial state variables.

[0038] As shown in the above formula, by reasonably setting the parameter matrix of the state observer Figure 3 , so that the real part of the eigenvalue of the matrix Figure 3 is negative, that is, the error of the state observer gradually converges to 0, thereby realizing more accurate estimation of the state of the connecting rod side. are respectively the disturbance amounts of the motor side and the connecting rod side, are respectively the position loop, the speed loop and the current loop, wherein: (6) In this control mode, the control input of the dual-inertia system is: (7) The tracking performance of the electromechanical coupling system is analyzed, assuming that the tracking target of the motor side position and the tracking target of the connecting rod side position are both , and the tracking target of the state variable of the dual-inertia system is: (8) The state variable tracking error of the dual-inertia system is analyzed: (9) ​Combining formula (2) - formula (9), the state space equation of the state variable tracking error is constructed as follows: (10) Based on the control idea of full state feedback, the control law is further set as follows: (11) Wherein, represents the control parameter of full state feedback, and is a feedforward control term, that is, the feedforward current described in the application, which is used to compensate for the error generated by .

[0039] According to the control law set by formula (11), the state variable tracking error in formula (10) can be expressed as a state space equation in the following form: (12) Next, the application continues to design the feedforward control input, that is, , which lays the foundation for the realization of the subsequent control law: (13) According to formula (13), the feedforward control input can be designed to eliminate the tracking error of the motor side speed, so that: (14) It is observed that there is a tracking error of the connecting rod side speed during the acceleration stage . This error is due to the inherent characteristics of the double-inertia system, and therefore cannot be eliminated by adjusting the feedforward control input.

[0040] Further comparison between formula (7) and formula (11) shows that the original cascade PID control law only considers the position and speed tracking errors of the motor side, and does not include the position information of the connecting rod side and its speed error, so it is difficult to realize the full state feedback control in the true sense. Therefore, based on the original control structure, the application adds the position difference and speed difference feedback links of the motor side and the connecting rod side, thereby constructing a complete full state feedback control structure, as shown in Figure 4 . The feedback current for full state feedback control, are the feedback coefficients of the position difference and speed difference of the motor side and the connecting rod side, respectively, wherein: (15) In the formula, is the position estimation value of the connecting rod side, is the speed estimation value of the connecting rod side.

[0041] The input of the dual-inertia system at this time is: (16) is the proportional coefficient of the position loop, is the proportional coefficient of the speed loop, The application can make the eigenvalues of the closed-loop state matrix by design, so that the state variable tracking error quickly converges, thereby effectively suppressing system vibration while ensuring system tracking performance.

[0042] An optimization design idea for feedback parameters is proposed below. In the theoretical derivation process, the effects of model uncertainty, parameter errors, and external disturbances are not considered. Therefore, the application unifies these effects into motor-side disturbance and link-side disturbance , where the motor-side disturbance includes input errors due to inaccurate motor-side models and parameter uncertainty, as well as external disturbances to the motor side; and the link-side disturbance includes the effects of inaccurate link-side models and external disturbances.

[0043] The effects of the motor-side disturbance and the link-side disturbance on the link-side position can be described by the following transfer functions: (17) The maximum amplitude of the transfer function can be represented by its infinity norm . Based on this, the optimization objective is: (18) where is the optimization weight of the two transfer functions. By minimizing the optimization objective , the system's disturbance rejection capability for motor-side and link-side disturbances can be effectively improved, thereby enhancing the robustness of the control algorithm.

[0044] It should be noted that although the optimization algorithm improves the robustness of the system, the tracking performance of the system may be affected. The system tracking performance is mainly affected by the maximum real part of the eigenvalues of the closed-loop state matrix. The smaller the real part, the faster the convergence speed of the system. The imaginary part of the eigenvalues of the closed-loop state matrix reflects the vibration characteristics of the system. To improve the stability of the system, the imaginary part of the eigenvalues can be appropriately reduced to make the system response more stable. Let the maximum real part (each eigenvalue has a real part and an imaginary part) of the eigenvalues of the original cascade PID control closed-loop state matrix be , then the optimization process must satisfy the following constraint condition: (19) in, This represents the eigenvalues ​​of the closed-loop state matrix of the full-state feedback control. It indicates that the actual part, and Let represent its imaginary part. The overall optimization equation is: (20) To further understand the vibration suppression method of this application, such as Figure 7 The flowchart shown first shows that the servo controller sends control commands to the robot body (the angle of the robot joint (the angle to be reached by rotation), the rotation speed of the robot joint); at the same time, according to the aforementioned optimization design scheme, the maximum real part of the eigenvalue of the closed-loop state matrix under cascade PID control is first calculated, and then the full-state feedback parameters (i.e., ...) are calculated according to the optimization equation of equation (20). , , ).

[0045] Specifically, the full-state feedback parameters are calculated based on the optimization equation (20) as follows: The calculation process does not involve specific mathematical formulas, but rather utilizes the mathematical software MATLAB. The minimum is the optimization objective. Combining the constraints mentioned above, the solution is... At its minimum, four parameters The value.

[0046] During the robot's movement according to control commands, the system synchronously collects torque, position, and velocity data from the motor side and estimates the position and velocity information of the linkage side through a state observer. If significant vibration is detected during robot operation, the full-state feedback mechanism is activated, adjusting the PID controller based on the calculated parameters and simultaneously outputting feedforward and feedback currents to effectively suppress vibration.

[0047] This application establishes a state-space expression based on a dual-inertia system model and designs a state observer accordingly. By utilizing torque, position, and velocity measurement data from the motor side, it achieves high-precision estimation of the position and velocity of the connecting rod side and successfully applies the observed data to a full-state feedback control algorithm.

[0048] A full state feedback control law is designed, and an optimization design method of full state feedback parameters is proposed. First, the factors not considered are summarized as motor side disturbance and connecting rod side disturbance, and then the minimization of the infinity norm of the transfer function of the two types of disturbance to the connecting rod side position is taken as the optimization objective; At the same time, the eigenvalues of the closed-loop state matrix are taken as the constraint condition to carry out the optimization design of the control parameters. This method effectively improves the robustness of the optimization algorithm on the premise of ensuring the tracking performance of the system.

[0049] On the basis of traditional cascade PID control, the application introduces feedforward control to eliminate the tracking error of the motor side in the acceleration stage, and fuses the position difference feedback coefficient and speed difference feedback coefficient of the motor side (the target position difference feedback coefficient of the motor side) and the position difference feedback coefficient and speed difference feedback coefficient of the connecting rod side (the target position difference feedback coefficient of the connecting rod side), to construct an improved full state feedback control structure. At the same time, an optimization scheme of full state feedback parameters is proposed, which effectively improves the robustness of the optimization algorithm on the premise of ensuring the tracking performance of the system, and overcomes the shortcomings of difficult parameter adjustment, high dependence on model and insufficient robustness in traditional active damping method.

[0050] Please refer to Figure 6 , Figure 6 The structure schematic diagram of the robot vibration suppression device based on the state observer provided by the embodiment of the application is applied to a computer device, wherein the robot vibration suppression device based on the state observer 600 can include: A first determination unit 601 is configured to receive a motion control instruction for the robot, and determine an instruction position and an instruction speed of the motor side and an instruction position and an instruction speed of the connecting rod side according to the motion control instruction. A second determination unit 602 is configured to, in a process in which the robot responds to the motion control instruction and moves, if the robot vibrates, acquire a state parameter of the motor side and acquire a state parameter of the connecting rod side collected by the state observer. A third determination unit 603 is configured to determine full state feedback parameters of the PID control system according to the state parameter of the motor side and the state parameter of the connecting rod side. A fourth determination unit 604 is configured to determine a feedforward current and a feedback current of the PID control system according to the instruction position and the instruction speed of the motor side, the instruction position and the instruction speed of the connecting rod side, and the full state feedback parameters, so as to suppress vibration of the robot according to the feedforward current and the feedback current.

[0051] Refer to Figure 8 , Figure 8To achieve the structure block diagram of part of the terminal 140 in the embodiments of the present application, the terminal 140 includes the radio frequency (RF) circuit 710, the memory 715, the input unit 730, the display unit 740, the sensor 750, the audio circuit 760, the wireless fidelity (WiFi) module 770, the processor 780, and the power supply 790, and the like. Those skilled in the art can understand that Figure 8 The structure of the terminal 140 shown does not constitute a limitation on the mobile phone or computer, and can include more or fewer components than those shown, or combine certain components, or different component arrangements.

[0052] The RF circuit 710 can be used for receiving and sending signals in the process of receiving or calling information, and in particular, receiving the downlink information of the base station and processing it by the processor 780; in addition, sending the uplink data to the base station.

[0053] The memory 715 can be used to store software programs and modules, and the processor 780 executes various functions of the terminal and the robot vibration suppression processing based on the state observer by running the software programs and modules stored in the memory 715.

[0054] The input unit 730 can be used to receive input digital or character information, and generate key signal input related to the setting and function control of the terminal. Specifically, the input unit 730 can include a touch panel 731 and other input devices 732.

[0055] The display unit 740 can be used to display input information or provided information and various menus of the terminal. The display unit 740 can include a display panel 741.

[0056] The audio circuit 760, the speaker 761, and the microphone 762 can provide an audio interface.

[0057] In the embodiments of the present application, the processor 780 included in the terminal 140 can execute the robot vibration suppression method based on the state observer in the foregoing embodiments.

[0058] The terminal 140 in the embodiments of the present application includes but is not limited to a mobile phone, a computer, a smart voice interaction device, a smart home appliance, a vehicle-mounted terminal, an aircraft, and the like. The embodiments of the present application can be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, intelligent transportation, and assisted driving.

[0059] Figure 9A structural block diagram of a portion of the server 110 implementing embodiments of the present application. The server 110 can vary greatly in configuration and performance, and can include one or more central processing units (CPUs) 822 (e.g., one or more processors) and memory 832, one or more storage media 830 (e.g., one or more mass storage devices) storing applications 842 or data 844. The memory 832 and storage media 830 can be volatile or non-volatile storage. The programs stored in the storage media 830 can include one or more modules (not shown), each of which can include a series of instructions for operating on the server 110. Further, the central processing unit 822 can be configured to communicate with the storage media 830 to execute the series of instructions stored in the storage media 830 on the server 110.

[0060] The server 110 can also include one or more power supplies 826, one or more wired or wireless network interfaces 850, one or more input / output interfaces 858, and / or one or more operating systems 841, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0061] The central processing unit 822 in the server 110 can be configured to execute the state observer based robot vibration suppression method of embodiments of the present application.

[0062] Embodiments of the present application also provide a computer readable storage medium for storing program code for executing the state observer based robot vibration suppression method of the various embodiments described above.

[0063] Embodiments of the present application also provide a computer program product including a computer program. A processor of a computer device reads the computer program and executes it, causing the computer device to perform the state observer based robot vibration suppression method described above.

[0064] In addition, the terms "comprises", "comprising", "includes", "including" and "contains", "containing" together with their conjugates mean "including but not limited to" and encompass the items listed after these terms as well as any other items.

[0065] It should be understood that, in the present application, "at least one" means one or more, and "multiple" means two or more. "And / or" is used to describe the relationship between associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that there are three cases of A only, B only, and A and B at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can mean a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0066] It should be understood that in the description of the embodiments of the present application, the meaning of multiple (or multiple items) is two or more, greater than, less than, more than, etc. are not included in the number, above, below, etc. are included in the number.

[0067] In several embodiments provided by the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed mutual ones can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0068] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0069] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0070] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0071] It should also be understood that the various embodiments provided by the embodiments of the present application can be combined in any manner to achieve different technical effects.

[0072] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined target, and can be implemented entirely or partially by using software, hardware (such as a processing circuit or a memory) or a combination thereof. Similarly, one processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of an overall module or unit that includes the functions of the module or unit.

[0073] The above is a specific description of the embodiments of the present application, but the present application is not limited to the above-mentioned embodiments. Those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A robot vibration suppression method based on a state observer, characterized in that, An application is made to a full-state feedback control system, which includes a robot, a state observer, and a PID control system. The robot includes a motor side and a link side. The state observer is used to collect state parameters of the link side, and the PID control system is used to adjust the motor side and the link side. The method includes: Receive motion control commands for the robot, and determine the command position and command speed on the motor side and the command position and command speed on the link side based on the motion control commands; During the process of the robot responding to the motion control command and moving, if the robot vibrates, the state parameters on the motor side and the state parameters on the link side collected by the state observer are acquired. The full-state feedback parameters of the PID control system are determined based on the state parameters on the motor side and the state parameters on the connecting rod side. The feedforward current and feedback current of the PID control system are determined based on the command position and speed on the motor side, the command position and speed on the link side, and the full-state feedback parameters, so as to suppress vibration of the robot based on the feedforward current and the feedback current.

2. The method according to claim 1, characterized in that, The state observer is obtained in the following way: Determine the joint stiffness of the robot; The state parameters of the motor side and the state parameters of the connecting rod side are determined. The state parameters of the motor side include the motor side position, motor side velocity, motor side acceleration, motor side moment of inertia, and motor side driving torque. The state parameters of the connecting rod side include the connecting rod side position, connecting rod side velocity, connecting rod side acceleration, connecting rod side moment of inertia, and connecting rod side driving torque. A standard state-space equation is established based on the joint stiffness, motor-side position, motor-side velocity, motor-side acceleration, motor-side moment of inertia, motor-side driving torque, link-side position, link-side velocity, link-side acceleration, link-side moment of inertia, and link-side driving torque. The state observer is constructed based on the standard state-space equations.

3. The method according to claim 2, characterized in that, The full-state feedback control system further includes a dual-inertia system, and the method further includes: Determine the control loop parameters of the PID control system, the control loop parameters including position loop, velocity loop and current loop; The input of the dual-inertia system is determined based on the position loop, the velocity loop, and the current loop; The commanded position and commanded velocity on the motor side are used as the first initial state variables of the dual inertia system, and the commanded position and commanded velocity on the linkage side are used as the second initial state variables of the dual inertia system. Based on the input of the dual-inertia system, the first initial state variable, and the second initial state variable, a state-space equation for the state variable tracking error is constructed.

4. The method according to claim 3, characterized in that, The step of determining the full-state feedback parameters of the PID control system based on the state parameters on the motor side and the state parameters on the connecting rod side includes: Determine the initial position difference feedback coefficient on the motor side and the initial position difference feedback coefficient on the connecting rod side; The state feedback equation of the full state feedback parameter is constructed based on the initial position difference feedback coefficient on the motor side, the initial position difference feedback coefficient on the link side, the state parameters on the motor side, and the state parameters on the link side. Based on the state feedback equation, design optimization equations for the full state feedback parameters; The full-state feedback parameters are determined based on the optimization equation.

5. The method according to claim 4, characterized in that, The step of determining the feedforward current and feedback current of the PID control system based on the commanded position and speed on the motor side, the commanded position and speed on the connecting rod side, and the full-state feedback parameters includes: The target position difference feedback coefficient on the motor side, the target position difference feedback coefficient on the connecting rod side, the proportional coefficient of the position loop, and the proportional coefficient of the speed loop are determined based on the full-state feedback parameters. The feedforward current and the feedback current are determined based on the commanded position and speed on the motor side, the commanded position and speed on the link side, the target position difference feedback coefficient on the motor side, the target position difference feedback coefficient on the link side, the proportional coefficient of the position loop, and the proportional coefficient of the speed loop.

6. A robot vibration suppression device based on a state observer, characterized in that, An application is made in a full-state feedback control system, which includes a robot, a state observer, and a PID control system. The robot includes a motor side and a link side. The state observer is used to collect state parameters of the link side, and the PID control system is used to adjust the motor side and the link side. The device includes: The first determining unit is configured to receive motion control commands for the robot and determine the command position and command speed on the motor side and the command position and command speed on the link side based on the motion control commands. The second determining unit is used to acquire the state parameters on the motor side and the state parameters on the link side collected by the state observer if the robot vibrates during the process of the robot responding to the motion control command and moving. The third determining unit is used to determine the full-state feedback parameters of the PID control system based on the state parameters on the motor side and the state parameters on the connecting rod side. The fourth determining unit is used to determine the feedforward current and feedback current of the PID control system based on the command position and command speed on the motor side, the command position and command speed on the link side, and the full-state feedback parameters, so as to suppress vibration of the robot based on the feedforward current and the feedback current.

7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the robot vibration suppression method based on a state observer as described in any one of claims 1 to 5.

8. A computer program product, the computer program product comprising a computer program, characterized in that, The computer program is read and executed by the processor of the electronic device, causing the electronic device to perform the robot vibration suppression method based on a state observer as described in any one of claims 1 to 5.

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