Adaptive sliding mode control method, system and storage medium for rope-driven joint module

Abstract

The present invention provides an adaptive sliding mode control method, system and storage medium for a rope-driven joint module, and relates to the technical field of rope-driven manipulator control. The method includes determining the rotation angle parameter of the rope-driven joint module; determining the disturbance parameter of the rope-driven joint module, the disturbance parameter including the driving rope damping parameter and the friction disturbance parameter; determining the dynamic relationship of the rope-driven joint module based on the rotation angle parameter, the disturbance parameter and the preset constant parameter; determining the target torque parameter of the drum assembly of the rope-driven joint module based on the dynamic relationship, the preset obstacle function, and the adaptive control gain determined by the preset adaptive sliding mode control algorithm; adjusting the torque parameter of the drum assembly by the target torque parameter to control the rotation angle parameter of the rope-driven joint module to track the target rotation angle parameter.

Description

Technical Field

[0001] The present invention relates to the technical field of rope-driven manipulator control, and in particular to an adaptive sliding mode control method, system and storage medium for a rope-driven joint module. Background Art

[0002] A rope-driven manipulator is a flexible manipulator driven by ropes. Compared with traditional manipulators, rope-driven manipulators are lightweight, flexible, and agile. However, the control accuracy of rope-driven manipulators will be affected to a certain extent by external interferences such as nonlinear friction, damping of the driving rope, and mechanical coupling.

[0003] Sliding mode control is a nonlinear control method that can control the rope-driven manipulator. It can drive the rope-driven manipulator through sliding mode control. Sliding mode control has the characteristics of fast response speed and insensitivity to disturbances. However, due to the discontinuity of sliding mode control and interference factors such as the inherent inertia of the system, high-frequency oscillations will occur near the sliding surface, which will affect the stability and performance of the rope-driven manipulator system.

[0004] Adaptive technology is a technology that can dynamically adjust its own characteristics according to environmental changes or needs. The inventors found that in sliding mode control, if adaptive technology is introduced, the limitations of traditional sliding mode controllers in parameter changes and external disturbances can be overcome. And by updating the sliding surface control parameters in real time or by gain adjustment, the adaptive sliding mode controller can maintain good control performance and accuracy when the rope-driven manipulator system changes.

[0005] The contents of the background technology section are merely the technologies known to the public and do not necessarily represent the existing technologies in the field. Summary of the invention

[0006] According to one aspect of the present invention, the present invention provides an adaptive sliding mode control method for a rope-driven joint module, comprising determining a rotation angle parameter of the rope-driven joint module; determining a disturbance parameter of the rope-driven joint module, the disturbance parameter comprising a driving rope damping parameter and a friction disturbance parameter; determining a dynamic relationship of the rope-driven joint module based on the rotation angle parameter, the disturbance parameter and a preset constant parameter; determining a target torque parameter of a drum assembly of the rope-driven joint module based on the dynamic relationship, a preset obstacle function and an adaptive control gain determined by a preset adaptive sliding mode control algorithm; adjusting the torque parameter of the drum assembly by the target torque parameter to control the rotation angle parameter of the rope-driven joint module to track the target rotation angle parameter.

[0007] According to some embodiments of the present invention, determining the target torque parameter of the drum assembly of the rope-driven joint module based on the dynamic relationship, the preset obstacle function, and the adaptive control gain determined by the preset adaptive sliding mode control algorithm includes: determining the sliding mode function and the adaptive control gain function according to the preset adaptive sliding mode control algorithm and the preset obstacle function; determining the first equivalent torque parameter according to the dynamic relationship and the sliding mode function; determining the second equivalent torque parameter according to the dynamic relationship and the adaptive control gain function; and determining the target torque parameter according to the first equivalent torque parameter and the second equivalent torque parameter.

[0008] According to some embodiments of the present invention, the preset barrier function is a tan barrier function.

[0009] According to some embodiments of the present invention, determining the target torque parameter according to the first equivalent torque parameter and the second equivalent torque parameter includes: determining the sum of the first equivalent torque parameter and the second equivalent torque parameter as the target torque parameter.

[0010] According to another aspect of the present invention, the present invention provides an adaptive sliding mode control system for a rope-driven joint module, comprising a dynamic relationship processing module and a torque parameter processing module. The dynamic relationship processing module determines the rotation angle parameter of the rope-driven joint module, determines the disturbance parameter of the rope-driven joint module, the disturbance parameter includes the driving rope damping parameter and the friction disturbance parameter, and determines the dynamic relationship of the rope-driven joint module based on the rotation angle parameter, the disturbance parameter and the preset constant parameter. The torque parameter processing module determines the target torque parameter of the drum assembly of the rope-driven joint module based on the dynamic relationship, the preset obstacle function, and the adaptive control gain determined by the preset adaptive sliding mode control algorithm, and adjusts the torque parameter of the drum assembly by the target torque parameter to control the rotation angle parameter of the rope-driven joint module to track the target rotation angle parameter.

[0011] According to some embodiments of the present invention, the torque parameter processing module determines the sliding mode function and the adaptive control gain function according to a preset adaptive sliding mode control algorithm and a preset obstacle function; the torque parameter processing module determines the first equivalent torque parameter according to the dynamic relationship and the sliding mode function; the torque parameter processing module determines the second equivalent torque parameter according to the dynamic relationship and the adaptive control gain function; the torque parameter processing module determines the target torque parameter according to the first equivalent torque parameter and the second equivalent torque parameter.

[0012] According to some embodiments of the present invention, the preset barrier function is a tan barrier function.

[0013] According to some embodiments of the present invention, the torque parameter processing module determines the sum of the first equivalent torque parameter and the second equivalent torque parameter as the target torque parameter.

[0014] According to another aspect of the present invention, the present invention further provides an electronic device. The electronic device includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors can implement the adaptive sliding mode control method as described above.

[0015] According to another aspect of the present invention, the present invention further provides a non-volatile computer-readable storage medium having a computer program stored thereon, which can implement the adaptive sliding mode control method as described above when executed by a processor.

[0016] The present invention can determine the target torque parameter of the drum assembly through the dynamic relationship, the preset obstacle function and the adaptive control gain under the condition of unknown disturbance limit. And by adjusting the torque parameter of the drum assembly, the output position of the rope-driven joint module can be accurately controlled, so that the rotation angle of the rope-driven joint module can be tracked to the desired target rotation angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 An enlarged schematic diagram showing a rope drive assembly according to an embodiment of the present invention;

[0019] Figure 2 A schematic flow chart showing an adaptive sliding mode control method according to an embodiment of the present invention;

[0020] Figure 3 An equivalent schematic diagram showing a rope-driven joint module according to an embodiment of the present invention;

[0021] Figure 4 Another schematic flow chart of the adaptive sliding mode control method according to an embodiment of the present invention is shown;

[0022] Figure 5 A schematic diagram showing a tan barrier function according to an embodiment of the present invention;

[0023] Figure 6 A schematic diagram showing tracking of a rotation angle and a target rotation angle according to an embodiment of the present invention;

[0024] Figure 7 A schematic diagram showing a rotation angle tracking error according to an embodiment of the present invention;

[0025] Figure 8 Function showing an embodiment of the present invention Schematic diagram of the derivation process;

[0026] Fig. 9 Function showing an embodiment of the present invention Schematic diagram of the derivation process;

[0027] Fig.10 A schematic structural diagram of an adaptive sliding mode control system according to an embodiment of the present invention is shown.

[0028] Description of reference numerals:

[0029] A first driving disc 11; a second driving disc 12; a driving rope 13;

[0030] Adaptive sliding mode control system 2; dynamic relationship processing module 21; torque parameter processing module 22. DETAILED DESCRIPTION

[0031] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0032] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices, etc. may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0033] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0034] The terms "first", "second" and the like in the specification, claims and the above drawings of the present invention are used to distinguish different objects rather than to describe a specific order.

[0035] The following is a clear and complete description of the technical solution of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0036] According to one aspect of the present invention, the present invention provides an adaptive sliding mode control method for a rope-driven joint module.

[0037] Figure 1 An enlarged schematic diagram showing a rope drive assembly according to an embodiment of the present invention.

[0038] According to an exemplary embodiment, the rope-driven joint module is a transmission component of a rope-driven manipulator. The rope-driven joint module may include a rope-driven component and a drum component, and the drum component may be drivingly connected to the rope-driven component via a driving rope.

[0039] like Figure 1 As shown, the rope drive assembly may include a first drive disc 11, a second drive disc 12 and a drive rope 13. The drive rope 13 is disposed around the first drive disc 11 and the second drive disc 12.

[0040] Figure 2 A schematic flow chart of an adaptive sliding mode control method according to an embodiment of the present invention is shown. Figure 3 An equivalent schematic diagram of a rope-driven joint module according to an embodiment of the present invention is shown.

[0041] According to an example embodiment, Figure 2 As shown, the adaptive sliding mode control method may include steps S100 to S500. Exemplarily, the adaptive sliding mode control method may be executed by an adaptive sliding mode control system having computing capability.

[0042] In step S100, the adaptive sliding mode control system determines the rotation angle parameters of the rope-driven joint module.

[0043] For example, Figure 3 As shown, the adaptive sliding mode control system can obtain the rotation angle parameter θ of the second driving disk 12 of the rope-driven joint module in real time.

[0044] According to an example embodiment, in step S200, the adaptive sliding mode control system determines disturbance parameters of the rope-driven joint module, where the disturbance parameters include a driving rope damping parameter and a friction disturbance parameter.

[0045] For example, the friction disturbance parameter can be obtained according to the error value of the friction force and the end force. In this way, the present invention can solve the disturbance problem caused by interference factors such as nonlinear friction and damping of the driving rope by adding influencing factors such as the driving rope damping parameter and the friction disturbance parameter in the sliding mode control.

[0046] According to an example embodiment, in step S300, the adaptive sliding mode control system determines the dynamic relationship of the rope-driven joint module based on the rotation angle parameter, the disturbance parameter and the preset constant parameter.

[0047] For example, the preset constant parameters may be constant parameters of the rope-driven joint module selected according to actual needs.

[0048] The dynamic relationship of the rope-driven joint module can be:

[0049]

[0050] Formula (1)

[0051] in, is the rotational mass of the rope-driven joint module around its center of mass, is the mass of the rope-driven joint module, h is the center of the first drive disk P o and the center P of the second drive disk e The center distance of the circle is e, which is the distance between the center of mass and the center of the second drive disk 12 e The distance (i.e. eccentricity), θ is the rotation angle parameter, is the tension difference between the two sides of the driving rope, is the distance between the rope connection points (driving points) on both sides of the driving rope (e.g. Figure 4 The length of the line segment AB shown in ), g is the acceleration due to gravity, is the disturbance parameter.

[0052]

[0053] Formula (2)

[0054] Among them, E is the stiffness of the driving rope, A is the radius of the driving rope, and L is the length of the driving rope. is the target torque parameter of the reel assembly.

[0055] Exemplarily, as an embodiment, as shown in Table 1, the preset constant parameters of the rope-driven joint module may be known constant parameters.

[0056] Table 1 Preset constant parameters of the rope-driven joint module

[0057]

[0058] According to an exemplary embodiment, in step S400, the adaptive sliding mode control system determines a target torque parameter of a drum assembly of a rope-driven joint module based on a dynamic relationship, a preset obstacle function, and an adaptive control gain determined by a preset adaptive sliding mode control algorithm.

[0059] Optionally, the preset barrier function may be a tan barrier function.

[0060] The tan barrier function can achieve trajectory tracking under performance constraints and ensure that all output errors meet the specified performance indicators.

[0061] The adaptive sliding mode control system can determine the target torque parameter of the drum assembly of the rope-driven joint module through the tan obstacle function and the adaptive sliding mode control algorithm, combined with the dynamic relationship and the determined adaptive control gain.

[0062] It can be understood here that the adaptive algorithm is a flexible and adaptable control strategy that can adjust the control strategy in real time according to system changes and environmental changes, and can maintain the performance and stability of the system.

[0063] The inventors found that in sliding mode control, the limitations of traditional sliding mode controllers in parameter changes and external disturbances can be overcome by introducing an adaptive algorithm. And by updating the sliding surface control parameters in real time or by gain adjustment, the adaptive sliding mode controller can maintain good control performance and accuracy when the rope-driven manipulator system changes.

[0064] The inventors also found that the gain control in the adaptive algorithm directly affects the stability and convergence of the system. Too large or too small a gain may cause system instability or slow convergence, thus affecting the performance of the system. For example, increasing the gain can enable the system to better track the desired reference signal to ensure control accuracy. However, selecting too large a gain may cause the system to oscillate.

[0065] Since the obstacle function can describe the constraints and nonlinear characteristics of the system, the present invention performs sliding mode control based on a preset obstacle function, and can determine the adaptive control gain under unknown disturbance limits to ensure that the sliding mode variable can always remain within a predetermined range and at the same time reduce oscillations.

[0066] In step S500, the adaptive sliding mode control system adjusts the torque parameter of the drum assembly through the target torque parameter to control the rotation angle parameter of the rope-driven joint module to track the target rotation angle parameter.

[0067] For example, the adaptive sliding mode control system adjusts the torque parameters of the drum assembly of the rope-driven joint module according to the target torque parameters calculated in real time, so that the rotation angle parameters of the adjusted rope-driven joint module can be kept consistent with the target rotation angle parameters as much as possible, reducing the rotation angle tracking error, thereby improving the control accuracy of the rope-driven joint module.

[0068] Through the above embodiments, the present invention can determine the target torque parameter of the drum assembly through the dynamic relationship, the preset obstacle function and the adaptive control gain under the condition of unknown disturbance limit. And by adjusting the torque parameter of the drum assembly, the output position of the rope-driven joint module can be accurately controlled, so that the rotation angle of the rope-driven joint module can be tracked to the desired rotation angle.

[0069] Figure 4 Another schematic flow chart of the adaptive sliding mode control method according to an embodiment of the present invention is shown; Figure 5 A schematic diagram showing a tan barrier function according to an embodiment of the present invention.

[0070] like Figure 5 As shown, step S400 may also include steps S410-S440.

[0071] In step S410, the adaptive sliding mode control system determines a sliding mode function and an adaptive control gain function according to a preset adaptive sliding mode control algorithm and a preset barrier function.

[0072] For example, based on the principle of an adaptive sliding mode control algorithm, an adaptive sliding mode control system responds to user instructions and determines a sliding mode function and an adaptive control gain function.

[0073] Exemplarily, the sliding mode function may be:

[0074] Formula (3)

[0075] Formula (4)

[0076] in, is the sliding mode function, is the rotation angle tracking error of the rope-driven joint module, λ is the first preset control parameter, is the second preset control parameter, θ d is the target rotation angle parameter, λ>0,1< <2, About The symbol function of .

[0077] The first preset control parameter λ and the second preset control parameter It can be designed according to actual needs. The first preset control parameter λ is used to adjust the slope of the sliding surface, and the second preset control parameter The present invention reasonably determines the first preset control parameter λ and the second preset control parameter It can balance the system's fast response and ability to suppress jitter.

[0078] For example, λ=0.001, =1.2.

[0079] In the sliding mode function In the process, we initialize the parameters, such as setting θ d =180°sin(t).

[0080] With such arrangement, the present invention can transform the parameter control problem of the rope-driven joint module into the stability problem on the sliding surface by determining the sliding mode function.

[0081] According to an example embodiment, the adaptive control gain function may be:

[0082] Formula (5)

[0083] in, is the adaptive control gain, is a positive number, is the rotation time, a is the boundary value of the preset zero threshold, and tan is the preset tan barrier function. Exemplarily, the tan barrier function can be as follows: Figure 5 shown.

[0084] In step S420, the adaptive sliding mode control system determines a first equivalent torque parameter according to the dynamic relationship and the sliding mode function.

[0085] For example, in the dynamic relationship, assuming that In the case of , calculate the first equivalent torque parameter. For example:

[0086]

[0087] Formula (6)

[0088] in, is the first equivalent torque parameter.

[0089] In step S430, the adaptive sliding mode control system determines a second equivalent torque parameter according to the dynamic relationship and the adaptive control gain function.

[0090] For example, a non-singular reachable control parameter is constructed based on the dynamic relationship and adaptive control gain, such as:

[0091]

[0092]

[0093] Formula (7)

[0094] in, About s The symbol function of .

[0095] in, is the second equivalent torque parameter, .when hour, The sliding variable reaches the region for the first time time, when hour, .

[0096] Exemplarily, a may be 0.05°.

[0097] In step S440, the adaptive sliding mode control system determines a target torque parameter according to the first equivalent torque parameter and the second equivalent torque parameter.

[0098] Optionally, the adaptive sliding mode control system determines the sum of the first equivalent torque parameter and the second equivalent torque parameter as the target torque parameter.

[0099] For example:

[0100] Formula (8)

[0101] Through the above embodiment, the adaptive sliding mode control system adjusts the parameters of the drum assembly of the rope-driven joint module according to the target torque parameter calculated in real time, so that It can converge to: That is, the adaptive sliding mode control method provided by the present invention can reduce the rotation angle tracking error of the rope-driven joint module to .

[0102] Figure 6 A schematic diagram showing tracking of a rotation angle and a target rotation angle according to an embodiment of the present invention; Figure 7 A schematic diagram showing a rotation angle tracking error according to an embodiment of the present invention.

[0103] like Figure 6 As shown, the adaptive sliding mode control method provided by the present invention can achieve tracking consistency between the rotation angle and the target rotation angle. Figure 7 As shown, the adaptive sliding mode control method provided by the present invention can achieve that the rotation angle tracking error of the rope-driven joint module can converge to a preset zero region within a limited time.

[0104] Figure 8 Function showing an embodiment of the present invention Schematic diagram of the derivation process; Fig. 9 Function showing an embodiment of the present invention Schematic diagram of the derivation process.

[0105] As another exemplary embodiment, the following derivation process can also be used to verify that the rotation angle tracking error of the rope-driven joint module can converge to a preset zero region within a finite time.

[0106] If the rotation angle tracking error e ss It can converge to the following region in a finite time:

[0107] Formula (9)

[0108] The derivation process is as follows:

[0109] First, the sliding mode variable of the sliding mode function Taking the derivative, we can get:

[0110] Formula (10)

[0111] 1) For

[0112] because There is a boundary, so there must be a positive number , so that:

[0113]

[0114] Formula (11)

[0115] , then the Lyapunov function is constructed based on formula (3) ,like Can be:

[0116]

[0117] Formula (12)

[0118] in, .

[0119] For the Lyapunov function The derivation process can be as follows Figure 8 As shown:

[0120] For concise expression, construct intermediate variables and ,make:

[0121] Formula (14)

[0122] According to formula (11), is greater than 0, and there must be a positive real number , so that greater than 0, is a real number greater than 0. Then Figure 8 Formula (13) in can be simplified as:

[0123]

[0124] Formula (15)

[0125]

[0126] Formula (16)

[0127] because > 0, so there must be a real number , so that:

[0128]

[0129] Formula (17)

[0130] According to formula (15), formula (16) and formula (17), we can get:

[0131]

[0132] Formula (18)

[0133] in, is a real number greater than 0.

[0134] It can be seen that formula (18) can satisfy the finite time stability law, that is, it can be proved that there is a finite time , which can make the sliding mode function exist The first convergence to ,in:

[0135]

[0136] Formula (19)

[0137] 2) For

[0138] Constructing intermediate variables , so that:

[0139]

[0140] Formula (20)

[0141] The initial condition is , construct the Lyapunov function ,like Can be:

[0142]

[0143] Formula (21)

[0144] For the Lyapunov function The derivation process can be as follows Fig. 9 As shown:

[0145] For concise expression, construct intermediate variables and :

[0146]

[0147]

[0148] Formula (23)

[0149] According to formula (11), greater than 0, Greater than 0.

[0150]

[0151] Formula (24)

[0152] because > 0, so there must be a real number , so that:

[0153]

[0154] Formula (25)

[0155] According to formula (23), formula (24) and formula (25), we can get:

[0156]

[0157] Formula (26)

[0158] in, is a real number greater than 0.

[0159] It can be seen that formula (26) can satisfy the finite time stability law, that is, it can be proved that there is a finite time , which can make the sliding mode function exist Converge to ,in:

[0160] Formula (27)

[0161] Because the Lyapunov function about is monotonically increasing, we can get: Formula (28)

[0162] according to , the rotation angle tracking error of the rope-driven joint module can be verified : .

[0163] According to another aspect of the present invention, the present invention provides an adaptive sliding mode control system for a rope-driven joint module.

[0164] Fig. 9 FIG. 2 is a schematic diagram showing the structure of an adaptive sliding mode control system according to an embodiment of the present invention. Fig. 9 As shown, the adaptive sliding mode control system 2 may include a dynamic relationship processing module 21 and a torque parameter processing module 22 .

[0165] According to an exemplary embodiment, the dynamic relationship processing module 21 determines the rotation angle parameters of the rope-driven joint module.

[0166] For example, Figure 3 As shown, the dynamic relationship processing module 21 can obtain the rotation angle parameter θ of the second driving disk 12 of the rope-driven joint module in real time.

[0167] According to an exemplary embodiment, the dynamic relationship processing module 21 determines disturbance parameters of the rope-driven joint module, and the disturbance parameters include a driving rope damping parameter and a friction disturbance parameter.

[0168] For example, the friction disturbance parameter can be obtained according to the error value of the friction force and the end force. In this way, the present invention can solve the disturbance problem caused by interference factors such as nonlinear friction and damping of the driving rope by adding influencing factors such as the driving rope damping parameter and the friction disturbance parameter in the sliding mode control.

[0169] According to an exemplary embodiment, the dynamic relationship processing module 21 determines the dynamic relationship of the rope-driven joint module based on the rotation angle parameter, the disturbance parameter and the preset constant parameter.

[0170] For example, the preset constant parameters may be constant parameters of the rope-driven joint module selected according to actual needs.

[0171] The dynamic relationship of the rope-driven joint module can be:

[0172]

[0173] Formula (1)

[0174] in, is the rotational mass of the rope-driven joint module around its center of mass, is the mass of the rope-driven joint module, h is the center of the first drive disk P o and the center P of the second drive disk e The center distance of the circle is e, which is the distance between the center of mass and the center of the second drive disk 12 e The distance (i.e. eccentricity), θ is the rotation angle parameter, is the tension difference between the two sides of the driving rope, is the distance between the rope connection points (driving points) on both sides of the driving rope (e.g. Figure 4 The length of the line segment AB shown in ), g is the acceleration due to gravity, is the disturbance parameter.

[0175]

[0176] Formula (2)

[0177] Among them, E is the stiffness of the driving rope, A is the radius of the driving rope, and L is the length of the driving rope. is the target torque parameter of the reel assembly.

[0178] According to an exemplary embodiment, the torque parameter processing module 22 determines the target torque parameter of the drum assembly of the rope-driven joint module based on the dynamic relationship, the preset obstacle function, and the adaptive control gain determined by the preset adaptive sliding mode control algorithm.

[0179] Optionally, the preset barrier function may be a tan barrier function.

[0180] The tan barrier function can achieve trajectory tracking under performance constraints and ensure that all output errors meet the specified performance indicators.

[0181] The adaptive sliding mode control system can determine the target torque parameter of the drum assembly of the rope-driven joint module through the tan obstacle function and the adaptive sliding mode control algorithm, combined with the dynamic relationship and the determined adaptive control gain.

[0182] It can be understood here that the adaptive algorithm is a flexible and adaptable control strategy that can adjust the control strategy in real time according to system changes and environmental changes, and can maintain the performance and stability of the system.

[0183] The inventors found that in sliding mode control, the limitations of traditional sliding mode controllers in parameter changes and external disturbances can be overcome by introducing an adaptive algorithm. And by updating the sliding surface control parameters in real time or by gain adjustment, the adaptive sliding mode controller can maintain good control performance and accuracy when the rope-driven manipulator system changes.

[0184] The inventors also found that the gain control in the adaptive algorithm directly affects the stability and convergence of the system. Too large or too small a gain may cause system instability or slow convergence, thus affecting the performance of the system. For example, increasing the gain can enable the system to better track the desired reference signal to ensure control accuracy. However, selecting too large a gain may cause the system to oscillate.

[0185] Since the obstacle function can describe the constraints and nonlinear characteristics of the system, the present invention performs sliding mode control based on a preset obstacle function, and can determine the adaptive control gain under unknown disturbance limits to ensure that the sliding mode variable can always remain within a predetermined range and at the same time reduce oscillations.

[0186] According to an exemplary embodiment, the torque parameter processing module 22 adjusts the torque parameter of the drum assembly by the target torque parameter to control the rotation angle parameter of the rope-driven joint module to track the target rotation angle parameter.

[0187] For example, the torque parameter processing module 22 adjusts the torque parameter of the drum assembly of the rope-driven joint module according to the target torque parameter calculated in real time, so that the rotation angle parameter of the rope-driven joint module after adjustment can be kept consistent with the target rotation angle parameter as much as possible, thereby reducing the rotation angle tracking error, thereby improving the control accuracy of the rope-driven joint module.

[0188] Through the above embodiments, the present invention can determine the target torque parameter of the drum assembly through the dynamic relationship, the preset obstacle function and the adaptive control gain under the condition of unknown disturbance limit. And by adjusting the torque parameter of the drum assembly, the output position of the rope-driven joint module can be accurately controlled, so that the rotation angle of the rope-driven joint module can be tracked to the desired rotation angle.

[0189] Optionally, the torque parameter processing module 22 determines the sliding mode function and the adaptive control gain function according to a preset adaptive sliding mode control algorithm and a preset barrier function.

[0190] For example, based on the principle of the adaptive sliding mode control algorithm, the torque parameter processing module 22 responds to the user's instruction and determines the sliding mode function and the adaptive control gain function.

[0191] Exemplarily, the preset sliding mode function may be:

[0192] Formula (3)

[0193] Formula (4)

[0194] in, is the sliding mode function, is the rotation angle tracking error of the rope-driven joint module, λ is the first preset control parameter, is the second preset control parameter, θ d is the target rotation angle parameter, λ>0,1< <2, About The symbol function of .

[0195] The first preset control parameter λ and the second preset control parameter It can be designed according to actual needs. The first preset control parameter λ is used to adjust the slope of the sliding surface, and the second preset control parameter The present invention reasonably determines the first preset control parameter λ and the second preset control parameter It can balance the system's fast response and ability to suppress jitter.

[0196] For example, λ=0.001, =1.2.

[0197] In the sliding mode function In the process, we initialize the parameters, such as setting θ d =180°sin(t).

[0198] With such arrangement, the present invention can transform the parameter control problem of the rope-driven joint module into the stability problem on the sliding surface by determining the sliding mode function.

[0199] According to an example embodiment, the adaptive control gain function may be:

[0200] Formula (5)

[0201] in, is the adaptive control gain, is a positive number, is the rotation time, a is the boundary value of the preset zero threshold, and tan is the preset tan barrier function. Exemplarily, the tan barrier function can be as follows: Figure 5 shown.

[0202] The torque parameter processing module 22 determines a first equivalent torque parameter according to the dynamic relationship and the sliding mode function.

[0203] For example, in the dynamic relationship, assuming that In the case of , calculate the first equivalent torque parameter. For example:

[0204]

[0205] Formula (6)

[0206] in, is the first equivalent torque parameter.

[0207] The torque parameter processing module 22 determines a second equivalent torque parameter according to the dynamic relationship and the adaptive control gain function.

[0208] For example, a non-singular reachable control parameter is constructed based on the dynamic relationship and adaptive control gain, such as:

[0209]

[0210]

[0211] Formula (7)

[0212] in, About s The symbol function of .

[0213] in, is the second equivalent torque parameter, .when hour, The sliding variable reaches the region for the first time time, when hour, .

[0214] Exemplarily, a may be 0.05°.

[0215] The torque parameter processing module 22 determines a target torque parameter according to the first equivalent torque parameter and the second equivalent torque parameter.

[0216] Optionally, the torque parameter processing module 22 determines the sum of the first equivalent torque parameter and the second equivalent torque parameter as the target torque parameter.

[0217] For example:

[0218] Formula (8)

[0219] Through the above embodiment, the adaptive sliding mode control system adjusts the parameters of the drum assembly of the rope-driven joint module according to the target torque parameter calculated in real time, so that It can converge to: That is, the adaptive sliding mode control method provided by the present invention can reduce the rotation angle tracking error of the rope-driven joint module to .

[0220] According to another aspect of the present invention, the present invention further provides an electronic device. The electronic device includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors can implement the adaptive sliding mode control method as described above.

[0221] According to another aspect of the present invention, the present invention further provides a non-volatile computer-readable storage medium having a computer program stored thereon, which can implement the adaptive sliding mode control method as described above when executed by a processor.

[0222] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adaptive sliding mode control method for a rope-driven joint module, characterized in that: include: Determining the rotation angle parameters of the rope-driven joint module; Determining disturbance parameters of the rope-driven joint module, wherein the disturbance parameters include a driving rope damping parameter and a friction disturbance parameter; Determining the dynamic relationship of the rope-driven joint module based on the rotation angle parameter, the disturbance parameter and a preset constant parameter; Determining a target torque parameter of a drum assembly of the rope-driven joint module based on the dynamic relationship, a preset obstacle function, and an adaptive control gain determined by a preset adaptive sliding mode control algorithm; The torque parameter of the drum assembly is adjusted by the target torque parameter to control the rotation angle parameter of the rope-driven joint module to track the target rotation angle parameter; Wherein, the target torque parameter of the drum assembly of the rope-driven joint module is determined based on the dynamic relationship, the preset obstacle function, and the adaptive control gain determined by the preset adaptive sliding mode control algorithm, including: Determining a sliding mode function and an adaptive control gain function according to a preset adaptive sliding mode control algorithm and a preset barrier function; Determine a first equivalent torque parameter according to the dynamic relationship and the sliding mode function; Determining a second equivalent torque parameter according to the dynamic relationship and the adaptive control gain function; The target torque parameter is determined according to the first equivalent torque parameter and the second equivalent torque parameter.

2. The adaptive sliding mode control method according to claim 1, characterized in that: The preset barrier function is a tan barrier function.

3. The adaptive sliding mode control method according to claim 1, characterized in that: Determining the target torque parameter according to the first equivalent torque parameter and the second equivalent torque parameter comprises: The sum of the first equivalent torque parameter and the second equivalent torque parameter is determined as the target torque parameter.

4. An adaptive sliding mode control system for a rope-driven joint module, characterized in that: include: A dynamic relationship processing module is used to determine the rotation angle parameter of the rope-driven joint module, determine the disturbance parameter of the rope-driven joint module, wherein the disturbance parameter includes a driving rope damping parameter and a friction disturbance parameter, and determine the dynamic relationship of the rope-driven joint module based on the rotation angle parameter, the disturbance parameter and a preset constant parameter; a torque parameter processing module, which determines a target torque parameter of a drum assembly of the rope-driven joint module based on the dynamic relationship, a preset obstacle function, and an adaptive control gain determined by a preset adaptive sliding mode control algorithm, and adjusts the torque parameter of the drum assembly by the target torque parameter to control the rotation angle parameter of the rope-driven joint module to track the target rotation angle parameter; Wherein, the torque parameter processing module determines the sliding mode function and the adaptive control gain function according to a preset adaptive sliding mode control algorithm and a preset obstacle function; The torque parameter processing module determines a first equivalent torque parameter according to the dynamic relationship and the sliding mode function; The torque parameter processing module determines a second equivalent torque parameter according to the dynamic relationship and the adaptive control gain function; The torque parameter processing module determines the target torque parameter according to the first equivalent torque parameter and the second equivalent torque parameter.

5. The adaptive sliding mode control system according to claim 4, characterized in that: The preset barrier function is a tan barrier function.

6. The adaptive sliding mode control system according to claim 4, characterized in that: The torque parameter processing module determines a sum of the first equivalent torque parameter and the second equivalent torque parameter as the target torque parameter.

7. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the adaptive sliding mode control method according to any one of claims 1 to 3 is implemented.

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