Truss robot anti-interference positioning control method and system

Abstract

The application discloses a truss robot anti-interference positioning control method and system, comprising the following steps: S1, based on the operation condition parameters of the truss robot system, combining the Lagrange dynamics equation, establishing a three-dimensional truss robot system mathematical model and performing characteristic analysis; S2, adding a time delay estimation module to the three-dimensional truss robot system mathematical model, and estimating the uncertainty and external interference in the system in real time; S3, according to the real-time estimation of the uncertainty and external interference in the system, combining a sliding mode controller, and performing anti-interference positioning control on the truss robot. The truss robot anti-interference positioning control method and system can reduce the requirement of high system model precision of the sliding mode control through the time delay link, and an integral sliding mode controller module is proposed to improve the positioning precision and robustness of the system, so that efficient trajectory tracking and disturbance suppression are realized through the combination of the two, and the control effect is achieved.

Description

Technical Field

[0001] This invention relates to the field of anti-interference positioning control technology for gantry robots, and in particular to an anti-interference positioning control method and system for gantry robots. Background Technology

[0002] A robotic system is an integrated whole comprised of a robot, the work object, and the environment. A gantry robot system, as a typical example, receives its input from the rotational force of the robotic arm and the trolley's movement. It possesses automatically controllable, reprogrammable, multifunctional, and multi-degree-of-freedom capabilities, enabling it to transport objects and manipulate tools to complete various tasks. Gantry robots are used in industrial material handling and stacking. Their transport processes often involve the translation of the trolley and the simultaneous operation of various joints of the robotic arm. The high coupling between these two distinct motions increases the complexity of the dynamics model and controller design. Furthermore, in industrial environments with unknown disturbances, traditional control methods are no longer sufficient for controlling gantry robots.

[0003] Compared to traditional robot control, gantry robot systems require consideration of gantry carriage positioning, which makes the system dynamics model more complex. Achieving accurate positioning of the robotic arm and carriage while simultaneously enhancing the overall system's resistance to external disturbances becomes a significant challenge. Furthermore, the gantry robot's transport process often involves the simultaneous translation of the carriage and the operation of various joints of the robotic arm. The high coupling between these two distinct types of motion further complicates the system dynamics model, making it difficult to quickly and effectively eliminate unknown external disturbances while achieving accurate positioning of the robotic arm and carriage. Summary of the Invention

[0004] The purpose of this invention is to provide an anti-interference positioning control method and system for gantry robots. By using a time delay element, the high accuracy requirements of the system model for sliding mode control can be reduced. An integral sliding mode controller module is proposed to improve the positioning accuracy and robustness of the system. By combining the two, efficient trajectory tracking and disturbance suppression are achieved, thereby achieving the desired control effect.

[0005] To achieve the above objectives, the present invention provides an anti-interference positioning control method and system for a gantry robot, comprising the following steps:

[0006] S1. Based on the operating parameters of the gantry robot system and combined with the Lagrange dynamics equation, establish a three-dimensional mathematical model of the gantry robot system and perform characteristic analysis.

[0007] S2. Add a time delay estimation module to the mathematical model of the three-dimensional gantry robot system to estimate uncertainties and external disturbances in the system in real time.

[0008] S3. Based on the real-time estimation of uncertainties and external disturbances in the system, and combined with the sliding mode controller, perform anti-interference positioning control on the gantry robot.

[0009] Preferably, in step S1, the mathematical model of the three-dimensional gantry robot system includes,

[0010] remember

[0011] The mathematical model of the three-dimensional gantry robot system is expressed as follows:

[0012]

[0013]

[0014] U = [τ1 τ2 τ3 τ4] T

[0015] F S =[d1 d2 d3 d4] T

[0016]

[0017] Where M(q) is the inertia matrix of the gantry robot system. Let G(q) be the centripetal-Coriolis matrix, G(q) be the gravity vector, U be the control input vector, and F be the centripetal-Coriolis matrix. s External disturbances experienced by the gantry robot Let q be the mechanical friction force of the gantry robot, and q be the state variable of the gantry robot system. The first derivative, Let m1, m2, m3, and m4 be the masses of the trolley, robotic arm 1, robotic arm 2, and robotic arm 3, respectively; l1, l2, and l3 be the lengths of robotic arm 1, robotic arm 2, and robotic arm 3, respectively; g be the acceleration due to gravity; and x be the translational distance of the trolley, θ be the second derivative. i Let i = 1, 2, 3, be the rotation angle of the robotic arm during operation; τ1 be the driving force of the trolley; τ2, τ3, τ4 be the torques of robotic arms 1, 2, and 3, respectively; d1, d2, d3, d4 be the external disturbances experienced by the trolley, robotic arms 1, 2, and 3, respectively; and f1, f2, f3, f4 be the mechanical friction forces experienced by the trolley, robotic arms 1, 2, and 3, respectively. These are the angular velocities of robotic arms 1, 2, and 3 during their operation, respectively.

[0018] Preferably, in step S2, the delay estimation module includes,

[0019] The dynamic equation is defined as:

[0020]

[0021] in, and z = 1, 2, ..., n, m z This represents the z-th element in the M-inertia matrix. This represents the equivalent inertia matrix under the time delay estimation condition, m. z Represents the equivalent inertia matrix The z-th element in This includes all uncertain and unknown dynamics, friction, and other disturbing torques. Centripetal-Coriolis matrix derivatives of system state quantities The product of.

[0022] Preferred, recorded Given a piecewise and continuous function, and the estimated time delay at time L, t. Approximately equal to the instantaneous value at time tL

[0023] Right now:

[0024]

[0025] Then the dynamic equation at time tL is:

[0026]

[0027] in, U represents the acceleration values ​​of each state variable at time tL. t-L Let t be the input torque at time tL.

[0028] Preferably, in step S3, the sliding mode controller includes,

[0029] The sliding surface used in the sliding mode controller is the integral sliding surface s;

[0030] The integral sliding surface s is:

[0031]

[0032] Where e = q j -dq j For the trolley tracking position error and the robotic arm rotation position error, j = 1, 2, 3, 4, representing the tracking speed error of the trolley and the rotation speed error of the robotic arm; c = diag(c1, c2, c3, c4), representing the parameters of the integral sliding surface s; e(0) represents the displacement error of the trolley and robotic arm at the initial moment. Let q be the initial speed error of the trolley and the robotic arm. j Let dq be the position of the j-th state variable actually output by the system. j The position of the j-th state variable given externally. The velocity is the value of the j-th state variable in the actual output of the system. Let k be the velocity of the j-th externally given state variable, k = diag(k1, k2, k3, k4), and let s be the parameters of the integral sliding surface s.

[0033] Preferably, the sliding mode controller also includes,

[0034] The integral sliding mode control rate based on time delay estimation is:

[0035]

[0036] Where U is the final input torque of the gantry robot system, and u is the input torque of the gantry robot system without time delay compensation;

[0037] Differentiating the integral sliding surface s, we get:

[0038]

[0039] The control rate was:

[0040]

[0041] in, For the integral of the sliding surface, Let k1s + k2 be the acceleration, and sign(s) be the time delay estimation error compensation term. For the parameters of the compensation term, Given an externally provided acceleration for the tracking curve, This is for all uncertainties and unknown dynamics, friction, and other disturbance torques under time delay estimation.

[0042] Preferably, the sliding mode controller also includes,

[0043] The reference trajectory is:

[0044]

[0045] qd2=sin(t)

[0046] qd3=sin(t)

[0047] qd4=sin(t)

[0048] Where qd1 is the target tracking trajectory of the trolley, x r t represents the translation distance of the trolley.f The x represents the travel time of the trolley. d qd2 represents the travel distance of the trolley, x0 represents the initial position of the trolley, qd3 represents the target tracking trajectory of robotic arm 1, qd4 represents the target tracking trajectory of robotic arm 2, and qd5 represents the target tracking trajectory of robotic arm 3.

[0049] The present invention also provides an anti-interference positioning control system for a gantry robot, including a model building and analysis module, a time delay estimation module, and an anti-interference control module;

[0050] The model building and analysis module is used to build a three-dimensional mathematical model of the gantry robot system based on the operating parameters of the gantry robot system and combine the Lagrange dynamics equations, and to perform characteristic analysis.

[0051] The time delay estimation module is used to add a time delay estimation module to the mathematical model of the three-dimensional gantry robot system, and to estimate the uncertainties and external disturbances in the system in real time.

[0052] The anti-interference control module is used to perform anti-interference positioning control of the gantry robot in conjunction with the sliding mode controller, based on real-time estimation of uncertainties and external disturbances in the system.

[0053] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

[0054] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described method.

[0055] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described method.

[0056] Therefore, the present invention employs the above-mentioned anti-interference positioning control method and system for gantry robots, and its technical effects are as follows:

[0057] (1) It can solve the problems of the robotic arm relying too much on the precise mathematical model of the robotic arm and the low tracking accuracy when realizing trajectory tracking control.

[0058] (2) The dynamic model of the robotic arm is transformed into a local model so that the subsequent controller design no longer depends on the dynamic model of the robotic arm.

[0059] (3) It can effectively suppress external disturbances and ultimately achieve efficient trajectory tracking and anti-interference control, thus improving control accuracy and robustness.

[0060] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0061] Figure 1 This is a flowchart of an anti-interference positioning control method and system for a gantry robot according to the present invention.

[0062] Figure 2 This is a schematic diagram of the mathematical model structure of the anti-interference positioning control method and system for a gantry robot according to the present invention.

[0063] Figure 3 This is a schematic diagram of the displacement tracking effect of the time-delay sliding mode controller of the anti-interference positioning control method and system for gantry robots of the present invention.

[0064] Figure 4 This is a schematic diagram showing the position tracking effect of the PD controller in the anti-interference positioning control method and system for a gantry robot according to the present invention.

[0065] Figure 5 This is an internal structural diagram of the computer equipment used in the anti-interference positioning control method and system for gantry robots according to the present invention. Detailed Implementation

[0066] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0067] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0068] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0069] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. These other embodiments are also covered within the scope of protection of this invention.

[0070] It should also be understood that the specific embodiments described above are only used to explain the present invention, and the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0071] Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0072] All prior art documents cited in this specification are incorporated herein by reference in their entirety and are therefore part of the disclosure of this invention.

[0073] Example 1

[0074] like Figure 1-5 A method and system for anti-interference positioning control of a gantry robot, comprising:

[0075] Based on the operating parameters of the gantry robot system and combined with the Lagrange dynamics equations, a three-dimensional mathematical model of the gantry robot system is established and its characteristics are analyzed.

[0076] The mathematical model of the three-dimensional gantry robot system includes,

[0077] Record cos(θ i +θ j ) = C (i+j) sin(iθ) j ) = S ij ,cos(iθ j ) = C ij Given i = 1, 2, 3, j = 1, 2, 3, establish a mathematical model for the gantry robot.

[0078] The mathematical model of the three-dimensional gantry robot system is expressed as follows:

[0079]

[0080]

[0081] U = [τ1 τ2 τ3 τ4] T

[0082] F S =[d1 d2 d3 d4] T

[0083]

[0084] Where M(q) is the inertia matrix of the gantry robot system. Let G(q) be the centripetal-Coriolis matrix, G(q) be the gravity vector, U be the control input vector, and F be the centripetal-Coriolis matrix. s External disturbances experienced by the gantry robot Let q be the mechanical friction force of the gantry robot, and q be the state variable of the gantry robot system. The first derivative, Let m1, m2, m3, and m4 be the masses of the gantry car, robotic arm 1, robotic arm 2, and robotic arm 3, respectively; l1, l2, and l3 be the lengths of robotic arm 1, robotic arm 2, and robotic arm 3, respectively; g be the acceleration due to gravity; and for the generalized state variables describing the gantry robot system, x be the translational distance of the car, and θ be the second derivative. i Let i = 1, 2, 3 be the rotation angle of the robotic arm during operation. For the driving force / torque, τ1, τ2, τ3, τ4 are the driving force of the trolley, the torque of robotic arm 1, robotic arm 2, and robotic arm 3, respectively. d1, d2, d3, d4 are the external disturbances experienced by the trolley, robotic arm 1, robotic arm 2, and robotic arm 3, respectively. f1, f2, f3, f4 are the mechanical friction forces of the trolley, robotic arm 1, robotic arm 2, and robotic arm 3, respectively.

[0085] It should be noted that G(q) is a 1*4 vector, and the first and third elements of the vector are 0.

[0086] It should be noted that the inertia matrix of the gantry robot system is as follows:

[0087]

[0088] in,

[0089] m 11 =-m1-m2-m3-m4

[0090] m 12 =l3m4C2S1S3-l2m3C 21 +l3m4C3S1S2

[0091] m 13 =l3m4C1S2S3-l3m4C1C2C3-l2m4C2

[0092] m 14 =-l3m4C (2+3) C1

[0093] m 21 =l3m4C2S1S3-l2m3C 21 +l3m4C3S1S2

[0094]

[0095]

[0096]

[0097]

[0098]

[0099]

[0100] m 41 =-l3m4C (2+3) C1

[0101]

[0102]

[0103]

[0104] Where, m ij Let i represent the matrix coordinates, i = 1, 2, ..., 4, j = 1, 2, ..., 4.

[0105] Centripetal-Coriolis Matrix as follows:

[0106]

[0107] in,

[0108] c 11 =0

[0109]

[0110]

[0111]

[0112] c 21 =0

[0113]

[0114]

[0115]

[0116]

[0117]

[0118]

[0119]

[0120] c 41 =0

[0121]

[0122]

[0123]

[0124]

[0125] Where c ij , where i = 1, 2, ..., 4, j = 1, 2, ..., 4.

[0126] A time delay estimation module is added to the mathematical model of the three-dimensional gantry robot system to estimate uncertainties and external disturbances in the system in real time.

[0127] The delay estimation module includes,

[0128]

[0129] Where M(q) is the inertia matrix of the gantry robot system. Let G(q) be the centripetal-Coriolis matrix, G(q) be the gravity vector, U be the control input vector, and F be the centripetal-Coriolis matrix. s Interference from the gantry robot Let q be the mechanical friction force of the robot system, and q be the state variable of the gantry robot system. The first derivative, It is its second derivative.

[0130] The dynamic equations can be rewritten as follows:

[0131]

[0132] in, And m i where i = 1, 2, ..., n are all positive constants. This includes all uncertain and unknown dynamics, friction, and other disturbing torques.

[0133] It should be noted that the delay estimation module also includes,

[0134] remember Given a piecewise and continuous function, and the time delay estimate at time t over a sufficiently small time interval L. Approximately equal to the instantaneous value at time tL

[0135] Right now:

[0136]

[0137] Then the dynamic equation at time tL is:

[0138]

[0139] in, U represents the acceleration values ​​of each state variable at time tL. t-L Let t be the input torque at time tL.

[0140] Specifically, each state variable can be represented by the first state variable, the distance the trolley has moved, x. d The second state variable is the rotation angle θ1 of robotic arm one, the third state variable is the rotation angle θ2 of robotic arm two, and the fourth state variable is the rotation angle θ3 of robotic arm three.

[0141] Based on the real-time estimation of uncertainties and external disturbances in the system, and combined with a sliding mode controller, anti-interference positioning control is performed on the gantry robot.

[0142] It should be noted that the sliding mode controller includes,

[0143] The sliding surface used in the sliding mode controller is an integral sliding surface;

[0144] The integral sliding surface is:

[0145]

[0146] Where e = q i -dq i Let i = 1, 2, 3, 4, representing the trolley tracking position error and the robotic arm rotation position error, respectively. i = 1, 2, 3, 4, representing the tracking speed error of the trolley and the rotation speed error of the robotic arm; c = diag(c1, c2, c3, c4), representing the parameters of the sliding surface; e(0) represents the displacement error of the trolley and robotic arm at the initial moment. Let q be the initial speed error of the trolley, i.e., the robotic arm. i dq represents the position of the i-th state variable in the actual output of the system. i The position of the i-th state variable given externally. The velocity is the value of the i-th state variable in the actual output of the system. The velocity is the value of the i-th state variable given externally, k = diag(k1, k2, k3, k4).

[0147] The sliding mode controller also includes,

[0148] The integral sliding mode control rate based on time delay estimation is:

[0149]

[0150] Where U is the final input torque of the gantry robot system, and u is the input torque of the gantry robot system without time delay compensation;

[0151] Differentiating the sliding surface yields:

[0152]

[0153] The control rate was:

[0154]

[0155] Where k1s+k2 sign(s) is the time delay estimation error compensation term. For the parameters of the compensation term, Given an externally provided acceleration for the tracking curve, To estimate all uncertainties and unknowns in dynamics, friction, and other disturbance torques under time delay, This represents all uncertainties and unknown dynamics, friction, and other disturbance torques in the system.

[0156] It should be noted that the gains (k, c) of the PD controller section are all positive gains; the initial values ​​of k and c are set to diag(30,30,30,30) and diag(10,10,10,10) respectively, where the sliding mode gain and the ratio of the time delay error compensation term can be adjusted according to the actual situation; it should be noted that adjusting k and k1 can improve the positioning speed, but excessive adjustment usually produces overshoot and oscillation; c needs to be adjusted to a suitable value, too large or too small will cause significant positioning accuracy problems. Adjusting k2 can make the positioning more accurate, but a large value will cause the system to produce severe jitter; secondly, the values ​​of k1 and k2 selected in this invention are k1 = diag(5,5,5,5) and k2 = diag(3,3,3,3).

[0157] Tracking control of a gantry robot system is performed using reference trajectories of the robotic arm and the trolley. Given initial conditions of 0.5 rad for the trolley and robotic arm, respectively, the localization and anti-interference functions are verified. The reference trajectory is as follows:

[0158]

[0159] qd2=sin(t)

[0160] qd3=sin(t)

[0161] qd4=sin(t)

[0162] Where, x r t represents the translation distance of the trolley. f The x represents the travel time of the trolley. d qd2 represents the travel distance of the trolley, x0 represents the initial position of the trolley, qd3 represents the target tracking trajectory of robotic arm 1, qd4 represents the target tracking trajectory of robotic arm 2, and qd5 represents the target tracking trajectory of robotic arm 3.

[0163] In practical applications, robot systems are complex multi-input, multi-output systems with numerous uncertainties in their models. These uncertainties hinder the trajectory tracking control of robotic arms, making high-precision trajectory tracking control under these uncertainties a pressing need in the robotics field. Therefore, this invention primarily addresses the trajectory tracking and anti-interference problems of gantry robots. First, a mathematical model of the gantry robot based on Lagrange's dynamics equations is established and its characteristics analyzed. This facilitates the design of a subsequent controller, which effectively suppresses external disturbances (such as load mass changes, noise interference in the working environment, and mechanical friction), and to a certain extent meets the operational requirements of the gantry robot (rapid positioning and interference suppression). Then, considering the uncertainties in the modeling process and the drawback of traditional sliding mode controllers requiring precise physical models, a time delay estimation stage is added. This reduces the dependence on the actual system's physical model and improves the system's robustness. Finally, the advantages of the proposed controller are verified by tracking a given trajectory that meets certain conditions; its main strength lies in its ability to quickly and effectively achieve trajectory tracking and disturbance suppression for gantry robots.

[0164] This invention also provides an anti-interference positioning control system for a gantry robot, including a model building and analysis module, a time delay estimation module, and an anti-interference control module.

[0165] The model building and analysis module is used to build a three-dimensional mathematical model of the gantry robot system based on the operating parameters of the gantry robot system and the Lagrange dynamics equation, and to perform characteristic analysis.

[0166] The time delay estimation module is used to add a time delay estimation module to the mathematical model of the three-dimensional gantry robot system, and to estimate the uncertainties and external disturbances in the system in real time.

[0167] The anti-interference control module is used to perform anti-interference positioning control on the gantry robot based on real-time estimation of uncertainties and external interference in the system, in conjunction with the sliding mode controller.

[0168] The above-mentioned unit modules can be embedded in the processor of the computer device in hardware form or independent of it, or they can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of the above modules.

[0169] The present invention also provides a computer device, which may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements an anti-interference positioning control method for a gantry robot. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0170] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0171] Based on the operating parameters of the gantry robot system and combined with the Lagrange dynamics equations, a three-dimensional mathematical model of the gantry robot system is established and its characteristics are analyzed.

[0172] A time delay estimation module is added to the mathematical model of the three-dimensional gantry robot system to estimate uncertainties and external disturbances in the system in real time.

[0173] Based on the real-time estimation of uncertainties and external disturbances in the system, and combined with a sliding mode controller, anti-interference positioning control is performed on the gantry robot.

[0174] Example 2

[0175] Reference Figure 1-5 This invention provides an anti-interference positioning control method and system for gantry robots. To verify the beneficial effects of this invention, comparative experiments are conducted for scientific demonstration.

[0176] In this embodiment, a traditional PD controller was selected for testing. The test results were compared using scientific methods to verify the actual effectiveness of the proposed method.

[0177] An experiment was conducted using controller PD and a controller employing this control method. The control formula for controller PD is as follows:

[0178]

[0179] For a PD controller, the state variable e is the deviation between the actual displacement and the given displacement. K represents the deviation between the actual velocity and the given velocity. p K is the proportional adjustment parameter. d These are integral adjustment parameters, ultimately resulting in the controller gain being K. p =diag(4000, 4000, 4000, 4000), K d =diag(1500, 1500, 1500, 1500), the positioning results using the PD controller and the controller of this invention are shown in Table 1:

[0180] Table 1 Comparison Results of Tracking Accuracy

[0181]

[0182] The proposed controller can fully track the target trajectory and achieve positioning. Traditional PD controllers are slow to achieve accurate positioning when there is an initial distance or initial angle, and there is still a small error after positioning. The present invention can achieve fast and accurate trajectory tracking when there are initial conditions. Therefore, the present invention has accurate positioning, better anti-interference effect, no overshoot and no steady-state error.

[0183] Therefore, the present invention adopts the above-mentioned anti-interference positioning control method and system for gantry robots, which can solve the problems of over-reliance on the precise mathematical model of the robotic arm and low tracking accuracy when the robotic arm achieves trajectory tracking control; it transforms the dynamic model of the robotic arm into a local model, so that the subsequent controller design no longer depends on the dynamic model of the robotic arm; it can effectively suppress external disturbances, and ultimately achieve efficient trajectory tracking and anti-interference control effects, improving control accuracy and robustness.

[0184] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

[0185] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0186] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0187] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0188] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0189] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0190] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for anti-interference positioning control of a gantry robot, characterized in that, Includes the following steps: S1. Based on the operating parameters of the gantry robot system and combined with the Lagrange dynamics equation, establish a three-dimensional mathematical model of the gantry robot system and perform characteristic analysis. S2. Add a time delay estimation module to the mathematical model of the three-dimensional gantry robot system to estimate uncertainties and external disturbances in the system in real time. The delay estimation module includes, The dynamic equation is defined as: ； in, ,and The first element in the M inertia matrix represents the... One element, This represents the equivalent inertia matrix under the time delay estimation condition. Represents the equivalent inertia matrix The first in One element, This includes all uncertain and unknown dynamics, friction, and other disturbing torques. Centripetal-Coriolis matrix derivatives of system state quantities The product of Here is the inertia matrix of the gantry robot system. To control the input vector, It is the gravity vector. For the mechanical friction force of the gantry robot, For the state variables of the gantry robot system, The first derivative, It is the second derivative. External disturbances experienced by the gantry robot; S3. Based on the real-time estimation of uncertainties and external disturbances in the system, and combined with the sliding mode controller, perform anti-interference positioning control on the gantry robot. The sliding mode controller includes, The sliding surface used in the sliding mode controller is the integral sliding surface s; The integral sliding surface s is: ； For the trolley tracking position error and the robotic arm rotation position error, , representing the tracking speed error of the trolley and the rotation speed error of the robotic arm. For the parameters of the integral sliding surface s, The initial displacement error of the trolley and robotic arm. The initial speed error of the trolley and robotic arm. This represents the position of the j-th state variable in the actual output of the system. The position of the j-th state variable given externally. The velocity is the value of the j-th state variable in the actual output of the system. The velocity given by the externally provided value of the j-th state variable. , where is the parameter of the integral sliding surface s; The integral sliding mode control rate based on time delay estimation is: ； in, The torque input to the gantry robot system before time delay compensation; Differentiating the integral sliding surface s, we get: ； The control rate was: ； in, For the integral of the sliding surface, For acceleration, This is the time delay estimation error compensation term. , For the parameters of the compensation term, Given an externally provided acceleration for the tracking curve, This is for all uncertainties and unknown dynamics, friction, and other disturbance torques under time delay estimation.

2. The anti-interference positioning control method for a gantry robot according to claim 1, characterized in that, In step S1, the mathematical model of the three-dimensional gantry robot system includes, record i=1,2,3; The mathematical model of the three-dimensional gantry robot system is expressed as follows: ； ； ； ； ； in, Here is the inertia matrix of the gantry robot system. For a centripetal-Coriolis matrix, It is the gravity vector. To control the input vector, External disturbances experienced by the gantry robot For the mechanical friction force of the gantry robot, For the state variables of the gantry robot system, The first derivative, It is the second derivative. , , and The masses of the trolley, robotic arm 1, robotic arm 2, and robotic arm 3 are respectively determined. and These are the lengths of robotic arm 1, robotic arm 2, and robotic arm 3, respectively. For the generalized state variables describing a gantry robot system, let gravitational acceleration be the acceleration due to gravity. The distance the trolley moves is [distance]. This refers to the angle of rotation of the robotic arm during operation. For the driving force of the trolley, These are the torques of robotic arms 1, 2, and 3, respectively. The external disturbances experienced by the trolley, robotic arm 1, robotic arm 2, and robotic arm 3 are respectively. The mechanical friction forces of the trolley, robotic arm 1, robotic arm 2, and robotic arm 3 are respectively. These are the angular velocities of robotic arms 1, 2, and 3 during their operation, respectively.

3. The anti-interference positioning control method for a gantry robot according to claim 2, characterized in that, remember It is a piecewise and continuous function, and in one time... , Time delay estimate at time Approximately equal to instantaneous value of time ; Right now: ； but The dynamic equation at time step is: ； in, for The acceleration values ​​of each state variable at time t. for Input torque at any given moment.

4. The anti-interference positioning control method for a gantry robot according to claim 3, characterized in that, The sliding mode controller also includes, The reference trajectory is: ； ； ； ； in, The target tracking trajectory of the trolley. Indicates the translation distance of the trolley. Indicates the travel time of the trolley. Indicates the distance traveled by the trolley. Indicates the initial position of the trolley. The target tracking trajectory for robotic arm 1. The target tracking trajectory for robotic arm 2. The target tracking trajectory for robotic arm 3.

5. A gantry robot anti-interference positioning control system, characterized in that, The method for implementing the anti-interference positioning control method for a gantry robot as described in any one of claims 1-4 includes a model building and analysis module, a time delay estimation module, and an anti-interference control module. The model building and analysis module is used to build a three-dimensional mathematical model of the gantry robot system based on the operating parameters of the gantry robot system and combine the Lagrange dynamics equations, and to perform characteristic analysis. The time delay estimation module is used to add a time delay estimation module to the mathematical model of the three-dimensional gantry robot system, and to estimate the uncertainties and external disturbances in the system in real time. The anti-interference control module is used to perform anti-interference positioning control of the gantry robot in conjunction with the sliding mode controller, based on real-time estimation of uncertainties and external disturbances in the system.

6. A computer 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 steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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