Tracking control method for multi-degree-of-freedom man-machine cooperative coupling system

Abstract

The invention discloses a tracking control method for a multi-degree-of-freedom man-machine cooperative coupling system, and relates to the field of multi-degree-of-freedom man-machine cooperative coupling system control, and the method comprises the steps: building a dynamic model of the multi-degree-of-freedom man-machine cooperative coupling system comprising an actuator fault; establishing a state space model based on the dynamic model; based on the state space model and a preset expected trajectory of the multi-degree-of-freedom man-machine cooperative coupling system, obtaining a tracking error of the multi-degree-of-freedom man-machine cooperative coupling system; designing a specified time preset performance function, and establishing a fault-tolerant controller of the multi-degree-of-freedom man-machine cooperative coupling system; and based on the tracking error, the multi-degree-of-freedom man-machine cooperative coupling system is controlled through the fault-tolerant controller, so that the tracking error of the multi-degree-of-freedom man-machine cooperative coupling system is converged within the specified time, and the controllability and accuracy of the multi-degree-of-freedom man-machine cooperative coupling system are improved.

Description

Technical Field

[0001] This application relates to the field of control of multi-degree-of-freedom human-machine collaborative coupling systems, and in particular to a tracking control method for multi-degree-of-freedom human-machine collaborative coupling systems. Background Technology

[0002] With the rapid development of intelligent manufacturing, robotics, and human-machine collaborative control technologies, multi-degree-of-freedom (DOF) human-machine collaborative coupling systems are increasingly widely used in complex operational scenarios such as industrial production. These systems, through the collaborative cooperation of robots and operators, enable the completion of high-precision operational tasks, effectively improving work efficiency. However, multi-DOF human-machine collaborative coupling systems typically exhibit highly nonlinear, strongly coupled, and time-varying characteristics, requiring high-precision control strategies to ensure the system's tracking accuracy and stability. Furthermore, during long-term operation, actuators may malfunction, leading not only to a decrease in trajectory tracking accuracy but also affecting task execution and operational safety. This necessitates that multi-DOF human-machine collaborative coupling systems possess fault tolerance capabilities to ensure system reliability and safety under complex tasks and variable environments. Therefore, systematically studying the control theory of human-machine collaborative coupling systems and proposing innovative control schemes to improve system safety and stability is of great significance for solving existing technical challenges and promoting the widespread application of human-machine collaborative coupling systems. Summary of the Invention

[0003] The purpose of this application is to provide a tracking control method for multi-degree-of-freedom human-machine collaborative coupling systems. This method improves the controllability and accuracy of such systems, effectively prevents actuator failures from affecting their stability and safety, and enhances their reliability in complex human-machine interaction environments. Furthermore, when applied to hardware devices, it can improve their operating speed.

[0004] To achieve the above objectives, this application provides the following solution: Firstly, this application provides a tracking control method for multi-degree-of-freedom human-machine collaborative coupling systems, including: Establish a dynamic model of a multi-degree-of-freedom human-machine collaborative coupling system that includes actuator failure.

[0005] Based on the aforementioned dynamic model, a state-space model of the multi-degree-of-freedom human-machine collaborative coupling system is established.

[0006] Based on the state space model and the desired trajectory preset by the multi-degree-of-freedom human-machine collaborative coupling system, the tracking error of the multi-degree-of-freedom human-machine collaborative coupling system is obtained.

[0007] Design a preset performance function for a specified time and establish a fault-tolerant controller for the multi-degree-of-freedom human-machine collaborative coupling system; wherein, the preset performance function for a specified time is used to obtain the dynamic convergence boundary of the tracking error within a specified time.

[0008] Based on the tracking error, the fault-tolerant controller controls the multi-degree-of-freedom human-machine collaborative coupling system so that the tracking error of the multi-degree-of-freedom human-machine collaborative coupling system converges within a specified time.

[0009] According to the specific embodiments provided in this application, this application has the following technical effects: This application provides a tracking control method for multi-degree-of-freedom human-machine collaborative coupling systems. By introducing a pre-set performance function at a specified time, the tracking error can be effectively converged to within the dynamic convergence boundary within a specified time, improving the controllability and accuracy of the multi-degree-of-freedom human-machine collaborative coupling system. Simultaneously, using the tracking error as a feedback signal, combined with a fault-tolerant controller, closed-loop control of the multi-degree-of-freedom human-machine collaborative coupling system is performed. This not only effectively prevents the impact of actuator failures on the stability and safety of the multi-degree-of-freedom human-machine collaborative coupling system, but also enhances the reliability of the multi-degree-of-freedom human-machine collaborative coupling system in complex human-machine interaction environments. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A flowchart illustrating a tracking control method for a multi-degree-of-freedom human-machine collaborative coupling system provided in an embodiment of this application; Figure 2 A schematic diagram of the functional modules of a tracking control device for a multi-degree-of-freedom human-machine collaborative coupling system provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0012] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] To make the objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0014] In one exemplary embodiment, such as Figure 1 As shown, a tracking and control method for a multi-degree-of-freedom human-machine collaborative coupling system is provided. This method is executed by a computer device, specifically by a terminal or server alone, or by both. In this embodiment, the method includes steps 101 to 105. Wherein: Step 101: Establish a dynamic model of a multi-degree-of-freedom human-machine collaborative coupling system, including actuator failures.

[0015] Step 102: Based on the dynamic model, establish the state space model of the multi-degree-of-freedom human-machine collaborative coupling system.

[0016] Step 103: Based on the state space model and the preset expected trajectory of the multi-degree-of-freedom human-machine collaborative coupling system, obtain the tracking error of the multi-degree-of-freedom human-machine collaborative coupling system.

[0017] Step 104: Design a preset performance function for a specified time and establish a fault-tolerant controller for the multi-degree-of-freedom human-machine collaborative coupling system; wherein, the preset performance function for a specified time is used to obtain the dynamic convergence boundary of the tracking error within a specified time.

[0018] Step 105: Based on the tracking error, control the multi-degree-of-freedom human-machine collaborative coupling system through the fault-tolerant controller so that the tracking error of the multi-degree-of-freedom human-machine collaborative coupling system converges within a specified time.

[0019] Implementing steps 101 to 105 above improves the stability and security of the multi-degree-of-freedom human-machine collaborative coupling system and enhances its reliability in complex human-machine interaction environments.

[0020] In another exemplary embodiment of this application, the expression of the dynamic model is:

[0021]

[0022] in, For the angular position of the link side in a multi-degree-of-freedom human-machine collaborative coupling system, For the angular velocity on the link side of a multi-degree-of-freedom human-machine collaborative coupling system, For the angular acceleration on the link side of a multi-degree-of-freedom human-machine collaborative coupling system, It is a symmetric inertial matrix. The Coriolis force matrix, For the gravity matrix, for The unknown modeling part, for The unknown modeling part, for The unknown modeling part, Where is the elastic constant. The angular position on the motor side of the multi-degree-of-freedom human-machine collaborative coupling system. For the angular velocity on the motor side of a multi-degree-of-freedom human-machine collaborative coupling system, For the angular acceleration on the motor side of a multi-degree-of-freedom human-machine collaborative coupling system, Let be the moment of inertia of the motor. The natural damping coefficient, for The unknown modeling part, for The unknown modeling part, For the control torque to be designed, For the health status of the actuator, ; An additive fault in the actuator. ; For unknown external interference in multi-degree-of-freedom human-machine collaborative coupling systems, The number of joints in a multi-degree-of-freedom human-machine collaborative coupling system.

[0023] In another exemplary embodiment of this application, the expression of the state-space model is:

[0024]

[0025]

[0026]

[0027] in, This is the first state. This is the second state. This is the third state. This is the 4th state. The first derivative of the first state. The first derivative of the second state. The first derivative of the third state. The first derivative of the fourth state. The symmetric inertia matrix for the first state. For the total disturbance on the link side of a multi-degree-of-freedom human-machine collaborative coupling system, The total disturbance on the link side of a multi-degree-of-freedom human-machine collaborative coupling system.

[0028] In another exemplary embodiment of this application, the expression for the tracking error is:

[0029] in, For the link side angle position error of a multi-degree-of-freedom human-machine collaborative coupling system, For the link side angular velocity error in a multi-degree-of-freedom human-machine collaborative coupling system, For the motor side angle position error of a multi-degree-of-freedom human-machine collaborative coupling system, For the angular velocity error on the motor side of a multi-degree-of-freedom human-machine collaborative coupling system, As the first virtual controller for a multi-degree-of-freedom human-machine collaborative coupling system, As the second virtual controller of a multi-degree-of-freedom human-machine collaborative coupling system, As the third virtual controller in a multi-degree-of-freedom human-machine collaborative coupling system, For the desired angular position, For the desired angular velocity, , For the desired angular velocity of the first joint of a multi-degree-of-freedom human-machine collaborative coupling system, For the desired angular velocity of the second joint in a multi-degree-of-freedom human-machine collaborative coupling system, Let be the desired angular velocity of the nth joint in a multi-degree-of-freedom human-machine collaborative coupling system.

[0030] In another exemplary embodiment of this application, if the tracking error of a multi-degree-of-freedom human-machine collaborative coupling system cannot converge within a finite time, it may lead to inaccurate trajectory tracking, affecting the completion of the operation task and the safety of the user. To solve this problem, this application designs a preset performance function for a specified time to control the tracking error to converge to the dynamic convergence boundary within a specified time, thereby improving the tracking accuracy and stability of the multi-degree-of-freedom human-machine collaborative coupling system and ensuring the reliability of the control of the multi-degree-of-freedom human-machine collaborative coupling system. The expression of the preset performance function for the specified time is:

[0031] in, The dynamic convergence boundary within a specified time period. Preset the initial value of the performance function for a specified time. Preset the final value of the performance function for a specified time. Preset the adjustment factor of the performance function for a specified time. The convergence time of a multi-degree-of-freedom human-machine collaborative coupling system. For time, and satisfy ; It is the adjustment factor of the preset performance function at a specified time.

[0032] In another exemplary embodiment of this application, the expression of the fault-tolerant controller is:

[0033] in, Here, n represents the joint index of a multi-degree-of-freedom human-machine collaborative coupling system, where n is the number of joints in the system. For sliding surface functions, The first derivative of the sliding surface function. Let i be the sliding surface function of the i-th joint. Let be the first derivative of the sliding surface function of the i-th joint. This is an estimate of the actuator's health status. This is an estimate of the health status of the actuator at the i-th joint. Let be the first derivative of the estimated health status of the actuator at the i-th joint. for The first derivative, for The first derivative, Let this be the first constant to be designed. The second constant to be designed, For symbolic functions, As the fourth virtual controller in a multi-degree-of-freedom human-machine collaborative coupling system, The fourth virtual controller for the i-th joint of a multi-degree-of-freedom human-machine collaborative coupling system. Let be the adaptive gain for the i-th joint. For the motor-side angular velocity error of the i-th joint in a multi-degree-of-freedom human-machine collaborative coupling system, The third constant to be designed, The fourth constant to be designed, The fifth constant to be designed, The sixth constant to be designed, The seventh constant to be designed, This is the eighth constant to be designed. , ; , , , , All are positive numbers and satisfy the following conditions: , , , , .

[0034] In one embodiment, the stability of a multi-degree-of-freedom human-machine collaborative coupling system and the effectiveness of the controller are verified by constructing a Lyapunov function.

[0035] The constructed Lyapunov function takes the following form:

[0036]

[0037]

[0038] in, For conversion error, This represents the conversion error of the i-th joint. This represents the error transformation function for the i-th joint. The symmetric inertia matrix for the second state. and All of these are constants to be designed. , For the total Lyapunov function, This is the first Lyapunov function. This is the second Lyapunov function. This is the third Lyapunov function. This is the fourth Lyapunov function. This is the fifth Lyapunov function.

[0039] right Differentiation yields:

[0040] in, for The first derivative, for The first derivative, Let $\frac{i}{i}$ be the link side angle position error of the $i$-th joint in a multi-degree-of-freedom human-machine collaborative coupling system. Let be the first derivative of the link side angle position error of the i-th joint in a multi-degree-of-freedom human-machine collaborative coupling system. Let i be the dynamic convergence boundary of the i-th joint within a specified time. for The first derivative, As an intermediate variable, , It is a constant to be designed.

[0041] right Differentiation yields:

[0042] in, for The first derivative, for The first derivative, for The first derivative, , yes The upper realm, It is a constant to be designed.

[0043] right Differentiation yields:

[0044] in, It is a constant to be designed.

[0045] right Differentiation yields:

[0046] In the formula, It is a constant to be designed.

[0047] right Differentiation yields:

[0048] Combine equations (13) and (17), and substitute them into... We can obtain:

[0049] because

[0050]

[0051]

[0052]

[0053]

[0054] Substituting equations (19) to (23) into equation (18), we get:

[0055] in, , , .

[0056]

[0057]

[0058] It can be seen from equation (25) To address the error boundary problem in the system, multiply equation (24) by... We can obtain:

[0059] Further simplification of equation (27) yields:

[0060] From equation (28), we can see that:

[0061]

[0062]

[0063] As can be seen from equations (29) to (31), all signals involved in the multi-degree-of-freedom human-machine collaborative coupling system are bounded.

[0064] Finally, the convergence of the angular position tracking error over a specified time is discussed, and the simplified formula ( We can obtain:

[0065] Similarly, it can be deduced that... Therefore, the angular position tracking error satisfies ,when hour, It can converge to the boundary. .

[0066] In summary, this application introduces a time-preset performance function, enabling the tracking error of a multi-DOF human-machine collaborative coupling system to converge to the dynamic convergence boundary within a specified time during the control process. By using the time-preset performance function, the convergence speed and tracking accuracy of the multi-DOF human-machine collaborative coupling system can be effectively guaranteed, improving the safety and reliability of the human-machine interaction process and providing users with more stable and efficient interaction technology support.

[0067] This application designs a fault-tolerant controller that can promptly adjust the output signal when an actuator fails, thereby ensuring the tracking accuracy and stability of the multi-degree-of-freedom human-machine collaborative coupling system. The fault-tolerant controller not only effectively improves the reliability of the multi-degree-of-freedom human-machine collaborative coupling system during long-term use, but also ensures the safety and continuity of the human-machine interaction process.

[0068] Based on the same inventive concept, such as Figure 2 As shown in the figure, this application embodiment also provides a tracking and control device for a multi-degree-of-freedom human-machine collaborative coupling system, the device comprising: The dynamic model establishment module 201 is used to establish a dynamic model of a multi-degree-of-freedom human-machine collaborative coupling system, including actuator failures.

[0069] The state space model establishment module 202 is used to establish the state space model of the multi-degree-of-freedom human-machine collaborative coupling system based on the dynamic model.

[0070] The tracking error acquisition module 203 is used to obtain the tracking error of the multi-degree-of-freedom human-machine collaborative coupling system based on the state space model and the preset expected trajectory of the multi-degree-of-freedom human-machine collaborative coupling system.

[0071] The controller establishment module 204 is used to design a preset performance function for a specified time and establish a fault-tolerant controller for the multi-degree-of-freedom human-machine collaborative coupling system; wherein, the preset performance function for a specified time is used to obtain the dynamic convergence boundary of the tracking error within a specified time.

[0072] The tracking control module 205 is used to control the multi-degree-of-freedom human-machine collaborative coupling system through the fault-tolerant controller based on the tracking error, so that the tracking error of the multi-degree-of-freedom human-machine collaborative coupling system converges within a specified time.

[0073] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 3 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores data for the multi-degree-of-freedom human-machine collaborative coupling system. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a tracking control method for a multi-degree-of-freedom human-machine collaborative coupling system.

[0074] Those skilled in the art will understand that Figure 3 The structures shown are merely block diagrams of some structures related to the present application and do not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned tracking control method for a multi-degree-of-freedom human-machine collaborative coupling system.

[0075] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0076] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A tracking control method for a multi-degree-of-freedom human-robot collaborative coupling system, characterized by, The method comprises: establishing a dynamic model of a multi-degree-of-freedom human-machine cooperative coupling system including actuator faults; based on the dynamic model, a state space model of the multi-degree-of-freedom human-machine cooperative coupling system is established; based on the state space model and the preset desired trajectory of the multi-degree-of-freedom human-machine cooperative coupling system, a tracking error of the multi-degree-of-freedom human-machine cooperative coupling system is obtained; a specified time preset performance function is designed, and a fault-tolerant controller of the multi-degree-of-freedom human-machine cooperative coupling system is established; wherein the specified time preset performance function is used to obtain the dynamic convergence boundary of the tracking error within a specified time; based on the tracking error, the multi-degree-of-freedom human-machine cooperative coupling system is controlled by the fault-tolerant controller, so that the tracking error of the multi-degree-of-freedom human-machine cooperative coupling system converges within a specified time. 2.The tracking control method for a multi-degree-of-freedom human-robot collaborative coupling system according to claim 1, wherein, The expression of the dynamic model is: ； ； wherein, is the angle position of the linkage side of the multi-degree-of-freedom human-robot collaborative coupled system, is the angular velocity of the linkage side of the multi-degree-of-freedom human-robot collaborative coupled system, is the angular acceleration of the linkage side of the multi-degree-of-freedom human-robot collaborative coupled system, is the symmetric inertia matrix, is the Coriolis force matrix, is the gravity matrix, is unknown modeling part of unknown modeling part of unknown modeling part of unknown modeling part of unknown modeling part of is the elastic constant, is the angle position of the motor side of the multi-degree-of-freedom human-robot collaborative coupled system, is the angular velocity of the motor side of the multi-degree-of-freedom human-robot collaborative coupled system, is the angular acceleration of the motor side of the multi-degree-of-freedom human-robot collaborative coupled system, is the moment of inertia of the motor, is the natural damping coefficient, is unknown modeling part of unknown modeling part of unknown modeling part of is the control torque to be designed, is the health state of the actuator, is the additive fault in the actuator, is the unknown external disturbance in the multi-degree-of-freedom human-robot collaborative coupled system.

3. The tracking control method for a multi-degree-of-freedom human-robot collaborative coupled system according to claim 2, characterized by, The expression of the state space model is: ； ； ； ； wherein, is the first state, is the second state, is the third state, is the fourth state, is the first state first derivative, is the second state first derivative, is the third state first derivative, is the fourth state first derivative, is the first state symmetric inertia matrix, is the multi-degree-of-freedom human-robot collaborative coupled system link side total disturbance, is the multi-degree-of-freedom human-robot collaborative coupled system link side total disturbance.

4. The tracking control method for a multi-degree-of-freedom human-robot cooperative coupled system according to claim 3, wherein, The expression of the tracking error is: ； wherein, is a link-side angular position error of a multi-degree-of-freedom human-robot collaborative coupled system, is a link-side angular velocity error of a multi-degree-of-freedom human-robot collaborative coupled system, is a motor-side angular position error of a multi-degree-of-freedom human-robot collaborative coupled system, is a motor-side angular velocity error of a multi-degree-of-freedom human-robot collaborative coupled system, is a first virtual controller of a multi-degree-of-freedom human-robot collaborative coupled system, is a second virtual controller of a multi-degree-of-freedom human-robot collaborative coupled system, is a third virtual controller of a multi-degree-of-freedom human-robot collaborative coupled system, is a desired angular position, is a desired angular velocity.

5. The tracking control method for a multi-degree-of-freedom human-robot collaborative coupled system according to claim 3, wherein, The expression of the specified time preset performance function is: ； wherein, is a dynamic convergence boundary for a specified time, is an initial value of the performance function for a specified time, is a final value of the performance function for a specified time, is a tuning factor of the performance function for a specified time, is a convergence time of the multi-degree-of-freedom human-robot collaborative coupled system, is time.

6. The tracking control method for a multi-degree-of-freedom human-robot cooperative coupled system according to claim 4, wherein, The expression of the fault-tolerant controller is: ； wherein, is the joint index of the multi-degree-of-freedom human-robot collaborative coupled system, is the number of joints of the multi-degree-of-freedom human-robot collaborative coupled system, is the sliding surface function, is the first derivative of the sliding surface function, is the sliding surface function of the ith joint, is the first derivative of the sliding surface function of the ith joint, is the estimated value of the health state of the actuator, is the estimated value of the health state of the actuator of the ith joint, is the first derivative of the estimated value of the health state of the actuator of the ith joint, is the first derivative of , is the first derivative of , is the first derivative of , is the first derivative of is the first constant to be designed, is the second constant to be designed, is the sign function, is the fourth virtual controller of the multi-degree-of-freedom human-robot collaborative coupled system, is the fourth virtual controller of the ith joint of the multi-degree-of-freedom human-robot collaborative coupled system, is the adaptive gain of the ith joint, is the motor-side angular velocity error of the ith joint of the multi-degree-of-freedom human-robot collaborative coupled system, is the third constant to be designed, is the fourth constant to be designed, is the fifth constant to be designed, is the sixth constant to be designed, is the seventh constant to be designed, is the eighth constant to be designed.

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