Active suspension system of active suspension omni-directional robot and control method

Abstract

The invention relates to the technical field of robot chassis active suspension systems, in particular to an active suspension system of an active suspension omni-directional robot and a control method.The active suspension system comprises a sensor, an actuator and a controller, and the sensor is used for detecting the motion state, including speed, acceleration, attitude angle and other information, of the robot; the actuator is used for adjusting a suspension system of the robot and changing damping and rigidity of the suspension system, and the controller is used for receiving data of the sensor and calculating a control signal of the actuator so as to realize active adjustment of the suspension system; the stable, flexible and efficient suspension system is designed to improve the performance of the robot in a special application scene, the suspension system has self-adaptability, high stability and high movement efficiency, the height of the chassis can be automatically adjusted under different terrain conditions, the stability of the robot is kept, and the application range of the robot is widened. And the moving range and flexibility of the robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of active suspension systems for robot chassis, and in particular to an active suspension system and a control method for an active suspension omnidirectional robot. Background Art

[0002] The control design of the robot's active suspension system is a complex process that requires specific analysis and debugging based on actual conditions. The active suspension system refers to a suspension system that can adjust parameters such as height, spring stiffness, and damping in real time according to ground conditions and chassis status. This technology can improve the mobility of the mobile chassis in complex terrain and increase stability and reliability. The active suspension system was originally used in automobiles. The world's first vehicle with an active suspension system was the Toyota Soarer, which used the world's first semi-active suspension system - TEMS (Toyota Electron Modulated Suspension). At that time, this system only had two adjustment levels of "soft" and "hard". In the 1990s, this system was updated to three adjustment levels, which could respond to more driving conditions. However, this system is semi-active, and only the shock absorber damping is adjusted, and the height of the vehicle body cannot be adjusted. Later, with the development of technology, the active suspension system was gradually miniaturized and applied to the robot frame. However, since the application of robots is in the early stages of development, most mobile robots still use passive suspension designs, and semi-active or active suspension designs are rarely used.

[0003] Therefore, an active suspension system and a control method of an active suspension omnidirectional robot are proposed to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide an active suspension system and control method for an active suspension omnidirectional robot in order to solve the above-mentioned problems. It aims to study a mobile chassis with an active suspension system and design a stable, flexible and efficient suspension system to improve the performance of the robot in special application scenarios.

[0005] The present invention achieves the above-mentioned purpose through the following technical scheme: an active suspension system of an active suspension omnidirectional robot, including three parts: a sensor, an actuator and a controller. The sensor is used to detect the motion state of the robot, including information such as speed, acceleration, and attitude angle; the actuator is used to adjust the suspension system of the robot, change its damping and stiffness, and the controller is used to receive sensor data and calculate the control signal of the actuator to realize active adjustment of the suspension system.

[0006] Preferably, the control strategy of the active suspension system is one of model-based control and experience-based control.

[0007] Preferably, the control strategy of the active suspension system is model-based control.

[0008] Preferably, the model-based control uses a PID controller to adjust the suspension system.

[0009] Another object of the present invention is to provide a control method for an active suspension system of an active suspension omnidirectional robot, comprising the following steps:

[0010] S1. Obtain robot motion state data, including speed, acceleration, attitude angle, etc.;

[0011] S2, calculating the state of the suspension system according to the robot dynamics model, including the position, velocity and acceleration of the suspension system;

[0012] S3, designing a control algorithm according to the PID controller and calculating the control signal of the actuator;

[0013] S4. Adjust the suspension system through the actuator to keep the robot's suspension system stable.

[0014] Preferably, in the controller design of the robot active suspension system, it is necessary to adjust parameters according to actual conditions so that the controller can achieve the best control effect. The specific steps are as follows:

[0015] (1) Design the initial parameters of the PID controller, which can generally be determined by referring to empirical values ​​or performing model simulation debugging;

[0016] (2) Debug the controller in real time by changing the proportional, integral, and differential coefficients and observing the response characteristics of the robot suspension system to determine the optimal controller parameters;

[0017] (3) During actual movement, the controller is constantly adjusted to ensure that the stability and accuracy of the robot's suspension system reach the optimal state.

[0018] The beneficial effects of the present invention are: the present invention designs a stable, flexible and efficient suspension system to improve the performance of the robot in special application scenarios. The suspension system has adaptability, high stability and high motion efficiency. It can automatically adjust the chassis height under different terrain conditions and maintain the stability of the robot, thereby improving the robot's range of motion and flexibility. A model-based control strategy is selected, specifically, a PID controller is used to adjust the suspension system. The PID controller is a classic control algorithm that can achieve good response characteristics and robustness, and the parameter adjustment is relatively simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is the PID mathematical model diagram in the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] An active suspension system and control method for an active suspension omnidirectional robot are described below with a specific embodiment:

[0022] System architecture and control strategy of active suspension system

[0023] The active suspension system consists of three parts: sensors, actuators, and controllers. The sensors are used to detect the robot's motion state, including speed, acceleration, attitude angle, and other information; the actuators are used to adjust the robot's suspension system, changing its damping and stiffness; the controller is used to receive sensor data and calculate the actuator's control signal to achieve active adjustment of the suspension system.

[0024] The control strategies of the robot active suspension system can be divided into two categories: model-based control and experience-based control. Model-based control uses the robot's dynamic model for control design. Its advantage is that it can accurately predict the robot's motion state and response characteristics, but it requires complex model building and parameter adjustment. Experience-based control uses actual motion data for control design. Its advantage is that it is simple and easy to implement, but it may not achieve the optimal control effect.

[0025] This embodiment selects a model-based control strategy. Specifically, a PID controller is used to adjust the suspension system. The PID controller is a classic control algorithm that can achieve good response characteristics and robustness, and the parameter adjustment is relatively simple.

[0026] Active suspension system control process

[0027] The control process of the robot active suspension system is as follows:

[0028] (1) Obtain robot motion state data, including speed, acceleration, attitude angle, etc.

[0029] (2) Calculate the state of the suspension system based on the robot dynamics model, including the suspension system position, velocity, and acceleration.

[0030] (3) Design the control algorithm based on the PID controller and calculate the control signal of the actuator.

[0031] (4) The suspension system is adjusted through the actuator to keep the robot's suspension system stable.

[0032] The mathematical model of the PID controller is as follows: Figure 1 shown.

[0033] Figure 1 In which, Output is the output control signal, Error is the error signal, P, I, and D are the proportional, integral, and differential coefficients respectively.

[0034] In the controller design of the robot's active suspension system, it is necessary to adjust the parameters according to the actual situation so that the controller can achieve the best control effect. Specifically, we need to perform the following steps:

[0035] (1) Design the initial parameters of the PID controller. Generally, you can refer to empirical values ​​or perform model simulation debugging.

[0036] (2) Perform real-time debugging of the controller by changing the proportional, integral, and differential coefficients and observing the response characteristics of the robot suspension system to determine the optimal controller parameters.

[0037] (3) During actual movement, the controller is constantly adjusted to ensure that the stability and accuracy of the robot's suspension system reach the optimal state.

[0038] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An active suspension system for an active suspension omnidirectional robot, characterized in that: It consists of three parts: sensors, actuators and controllers. The sensors are used to detect the robot's motion state, including speed, acceleration, attitude angle and other information; the actuators are used to adjust the robot's suspension system, changing its damping and stiffness; the controller is used to receive sensor data and calculate the actuator's control signal to achieve active adjustment of the suspension system.

2. The active suspension system of the active suspension omnidirectional robot according to claim 1, characterized in that: The control strategy of the active suspension system is one of model-based control and experience-based control.

3. The active suspension system of the active suspension omnidirectional robot according to claim 2, characterized in that: The control strategy of the active suspension system is model-based control.

4. The active suspension system of the active suspension omnidirectional robot according to claim 3, characterized in that: The model-based control uses a PID controller to adjust the suspension system.

5. The control method of the active suspension system of an active suspension omnidirectional robot according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1. Obtain robot motion state data, including speed, acceleration, attitude angle, etc.; S2, calculating the state of the suspension system according to the robot dynamics model, including the position, velocity and acceleration of the suspension system; S3, designing a control algorithm based on the PID controller and calculating the control signal of the actuator; S4. Adjust the suspension system through the actuator to keep the robot's suspension system stable.

6. The control method of the active suspension system of the active suspension omnidirectional robot according to claim 5, characterized in that: In the controller design of the robot active suspension system, it is necessary to adjust the parameters according to the actual situation so that the controller can achieve the best control effect. The specific steps are as follows: (1) Design the initial parameters of the PID controller, which can generally be based on empirical values ​​or by performing model simulation debugging; (2) Debug the controller in real time by changing the proportional, integral, and differential coefficients and observing the response characteristics of the robot suspension system to determine the optimal controller parameters; (3) During actual movement, the controller is constantly adjusted to ensure that the stability and accuracy of the robot's suspension system reach the optimal state.

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