Integrated design method of mechanism type containment release device based on configuration optimization and impedance control

Abstract

The application relates to the technical field of design and control of restraint release devices in spacecraft launch systems, and provides an integrated design method of mechanism type restraint release devices based on configuration optimization and impedance control. The method simultaneously optimizes the slope of the slow-release characteristic curve and the amplification coefficient of the mechanism type restraint release device, improves the air pressure transmission efficiency, and minimizes the impact response in the slow-release process; an impedance controller for the mechanism type restraint release device is constructed, which can realize accurate displacement tracking and force compliance control, improve the effectiveness of the restraint arm and the adaptability to the environment; an integrated optimization method for configuration parameters and impedance control coefficients is provided, which maximizes the amplification coefficient, slow-release performance and control compliance, and can more comprehensively realize the optimization design of the mechanism type restraint release device.

Description

Technical Field

[0001] This application relates to the field of design and control technology of restraint and release devices in spacecraft launch systems, and in particular to an integrated design method for a mechanism-type restraint and release device based on configuration optimization and impedance control. Background Technology

[0002] The entrapment release system is a core component of a spacecraft launch system, responsible for locking the rocket before launch and slowing down and separating it after launch, directly affecting the safety and reliability of the launch process. Existing entrapment release systems are mainly divided into two categories: explosive and mechanical. While explosive entrapment release systems have high connection strength, they experience large impact loads during release, making them prone to damage and non-reusable. To address the shortcomings of explosive entrapment release systems, mechanical entrapment release systems have become a research hotspot in recent years, offering advantages such as low impact and reusability; however, existing technologies have significant limitations.

[0003] Due to their ability to significantly improve launch reliability, mechanical entrapment release devices are increasingly used in spacecraft launches. Existing optimization research on mechanical entrapment release devices largely focuses on adjusting configuration structural parameters, but the contradiction between their release characteristics and gas pressure transmission efficiency remains unresolved, resulting in insufficient release capability. Furthermore, the lack of control strategies targeting the nonlinear dynamic characteristics of entrapment release devices makes it impossible to achieve high-precision displacement tracking and force compliance control in the face of dynamic contact forces during rocket launch, easily leading to problems such as large impact loads. The configuration parameters are also not integrated with control strategies for coordinated optimization, resulting in an inability to simultaneously achieve both release capability and compliance control. Although existing technologies have explored kinematic analysis and configuration optimization of mechanical entrapment release devices, a system optimization design method that integrates mechanism configuration design, nonlinear dynamic analysis, and impedance control has not yet been developed. Summary of the Invention

[0004] In view of this, the present application provides an integrated design method for a mechanism-type restraint and release device based on configuration optimization and impedance control, in order to solve the problem that the collaborative optimization strategy of the mechanism-type restraint and release device in the prior art is not optimized enough and cannot accurately simulate the actual working conditions of the device.

[0005] A first aspect of this application provides an integrated design method for a mechanism-based restraint and release device based on configuration optimization and impedance control, comprising:

[0006] Construct a geometric model of the restraint and release device; the geometric model shall include at least a restraint arm, a triangular lever arm, a central fulcrum of the lever arm, and a slow-release cylinder;

[0007] Kinematic and dynamic analyses are performed on the geometric model to obtain the constraints and design objectives for configuration optimization, as well as the constraints and optimization objectives for impedance control.

[0008] Among them, the constraints of configuration optimization include the range of structural parameter values, and the design objectives of configuration optimization include maximizing the compliance of the slow-release characteristic curve and the amplification factor; the structural parameters include the length of the left lever arm, the length of the right lever arm, the tilt angle of the right lever arm, and the height of the central fulcrum of the lever arm in the triangular lever arm.

[0009] The constraints of impedance control include the range of control parameter values, and the optimization objectives of impedance control include minimizing the step response settling time of the vertical displacement at the end of the restraining arm; the control parameters include the inertia coefficient, damping coefficient, and stiffness coefficient.

[0010] A multi-objective optimization algorithm is constructed, with structural parameters and control parameters as decision variables, and the design objective of configuration optimization and the optimization objective of impedance control as the algorithm optimization objectives. The multi-objective optimization algorithm is used to optimize the motion process of the restraint and release device, and the optimized structural parameters and control parameters of the restraint and release device are obtained.

[0011] A second aspect of this application provides an integrated design device for a mechanism-based restraint and release device based on configuration optimization and impedance control, comprising:

[0012] The building module is configured to build a geometric model of the restraint and release device; the geometric model includes at least a restraint arm, a triangular lever arm, a central fulcrum of the lever arm, and a slow-release cylinder.

[0013] The analysis module is configured to perform kinematic and dynamic analysis on the geometric model to obtain the constraints and design objectives for configuration optimization, as well as the constraints and optimization objectives for impedance control.

[0014] Among them, the constraints of configuration optimization include the range of structural parameter values, and the design objectives of configuration optimization include maximizing the compliance of the slow-release characteristic curve and the amplification factor; the structural parameters include the length of the left lever arm, the length of the right lever arm, the tilt angle of the right lever arm, and the height of the central fulcrum of the lever arm in the triangular lever arm.

[0015] The constraints of impedance control include the range of control parameter values, and the optimization objectives of impedance control include minimizing the step response settling time of the vertical displacement at the end of the restraining arm; the control parameters include the inertia coefficient, damping coefficient, and stiffness coefficient.

[0016] The optimization module is configured to construct a multi-objective optimization algorithm, using structural parameters and control parameters as decision variables, and the design objective of configuration optimization and the optimization objective of impedance control as the algorithm optimization objectives. The multi-objective optimization algorithm is used to optimize the motion process of the restraint and release device, and the optimized structural parameters and control parameters of the restraint and release device are obtained.

[0017] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0018] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0019] The beneficial effects of this application embodiment compared with the prior art are as follows: This application embodiment proposes a method to simultaneously optimize the slope of the slow-release characteristic curve and the amplification factor of the mechanism-type restraint release device, which improves the gas pressure transmission efficiency and minimizes the impact response during the slow-release process; it constructs an impedance controller for the mechanism-type restraint release device, which can achieve precise displacement tracking and force compliance control, improving its effectiveness in controlling the restraint arm and its adaptability to the environment; it proposes a method for integrated optimization of configuration parameters and impedance control coefficients, maximizing the amplification factor, slow-release performance and control compliance, which can more comprehensively realize the optimized design of the mechanism-type restraint release device. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art 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.

[0021] Figure 1 This is a flowchart illustrating an integrated design method for a mechanism-based restraint and release device based on configuration optimization and impedance control, as provided in an embodiment of this application.

[0022] Figure 2 This is a schematic diagram of a mechanical restraint and release device.

[0023] Figure 3 This is a schematic diagram of the geometric configuration of the sustained-release force release device provided in the embodiments of this application.

[0024] Figure 4 This is a schematic diagram of the slow-release force following the slow-release stroke of the restraint release device provided in the embodiments of this application.

[0025] Figure 5 The figure shows the experimental results of using the impedance controller provided in the embodiments of this application to track the position of a sinusoidal signal.

[0026] Figure 6This is a flowchart illustrating the integrated optimization design strategy provided in this application embodiment.

[0027] Figure 7 This is a schematic diagram of an integrated design device for a mechanism-type restraint and release device based on configuration optimization and impedance control, provided in an embodiment of this application.

[0028] Figure 8 This is a schematic diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0029] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0030] The following will describe in detail, with reference to the accompanying drawings, an integrated design method and apparatus for a mechanism-based restraint and release device based on configuration optimization and impedance control, according to embodiments of this application.

[0031] As mentioned above, although existing technologies have explored kinematic analysis and configuration optimization of mechanism-type restraint and release devices, a system optimization design method that integrates mechanism configuration design, nonlinear dynamic analysis and impedance control has not yet been formed.

[0032] In view of this, the embodiments of this application provide an integrated design method for a mechanism-type restraint and release device based on configuration optimization and impedance control, so as to overcome the limitations of poor slow release capability and insufficient compliance of the existing mechanism-type restraint and release device, and achieve the comprehensive optimization of mechanism slow release characteristics, gas pressure transmission efficiency and compliance control.

[0033] Figure 1 This is a flowchart illustrating an integrated design method for a mechanism-based restraint and release device based on configuration optimization and impedance control, provided in an embodiment of this application. Figure 1 As shown, the method includes the following steps:

[0034] In step S101, a geometric model of the restraint and release device is constructed.

[0035] The geometric model includes at least a restraining arm, a triangular lever arm, a central fulcrum of the lever arm, and a slow-release cylinder.

[0036] In step S102, kinematic and dynamic analyses are performed on the geometric model to obtain the constraints and design objectives for configuration optimization, as well as the constraints and optimization objectives for impedance control.

[0037] Among them, the constraints of configuration optimization include the range of structural parameter values, and the design objectives of configuration optimization include maximizing the compliance of the slow-release characteristic curve and the amplification factor; the structural parameters include the length of the left lever arm, the length of the right lever arm, the tilt angle of the right lever arm, and the height of the central fulcrum of the lever arm in the triangular lever arm.

[0038] The constraints of impedance control include the range of control parameter values, and the optimization objectives of impedance control include minimizing the step response settling time of the vertical displacement at the end of the restraining arm; the control parameters include the inertia coefficient, damping coefficient, and stiffness coefficient.

[0039] In step S103, a multi-objective optimization algorithm is constructed, with structural parameters and control parameters as decision variables, and the design objective of configuration optimization and the optimization objective of impedance control as the algorithm optimization objectives. The multi-objective optimization algorithm is used to optimize the motion process of the restraint and release device to obtain the optimized structural parameters and control parameters of the restraint and release device.

[0040] In some embodiments of this application, the method can be executed by a server or by a terminal device with certain processing capabilities, for optimizing the parameters of the restraint-release device. The restraint-release device can be a mechanical restraint-release device.

[0041] In some embodiments of this application, a geometric model of the restraint and release device can be constructed first, and then kinematic and dynamic analyses can be performed using the geometric model to obtain the constraints and design objectives for configuration optimization, as well as the constraints and optimization objectives for impedance control.

[0042] The geometric model can be obtained by modeling the position, size, and connection relationship between different components in the restraint and release device in a preset coordinate system.

[0043] Configuration optimization involves optimizing the structural parameters of the restraint and release device, while ensuring that configuration optimization constraints are met during the optimization process. Impedance control involves optimizing the control parameters during the movement of the restraint and release device, while ensuring that impedance control constraints are met during the optimization process.

[0044] Then, a multi-objective optimization algorithm is constructed, with structural parameters and control parameters as decision variables, and the design objective of configuration optimization and the optimization objective of impedance control as the algorithm optimization objectives. The multi-objective optimization algorithm is used to optimize the motion process of the restraint and release device, and the optimized structural parameters and control parameters of the restraint and release device are obtained.

[0045] In other words, the structural and control parameters of the restraint and release device can be jointly optimized, and the configuration optimization constraints and impedance control constraints can be combined to obtain joint constraints, thereby realizing an integrated design method for the restraint and release device.

[0046] According to the technical solution provided in the embodiments of this application, a method is proposed to simultaneously optimize the slope of the slow-release characteristic curve and the amplification factor of the mechanism-type restraint release device, thereby improving the gas pressure transmission efficiency and minimizing the impact response during the slow-release process; an impedance controller for the mechanism-type restraint release device is constructed, which can achieve precise displacement tracking and force compliance control, thereby improving its effectiveness in controlling the restraint arm and its adaptability to the environment; a method for integrated optimization of configuration parameters and impedance control coefficient is proposed to maximize the amplification factor, slow-release performance and control compliance, thereby enabling a more comprehensive optimization design of the mechanism-type restraint release device.

[0047] Figure 2 This is a structural schematic diagram of a mechanical restraint and release device. For example... Figure 2 As shown, the restraint and release device may include a restraint arm, a triangular lever arm, a central fulcrum of the lever arm, a slow-release cylinder, a restraint buffer cylinder, and a swing rod. All components are connected by hinges.

[0048] Considering that the influence of the restraining buffer cylinder and the swing rod during the slow release process is relatively small, these two components can be ignored when geometrically modeling the restraining release device. Therefore, the constructed geometric model can include the restraining arm, the triangular lever arm, the central fulcrum of the lever arm, and the slow release cylinder.

[0049] In some embodiments of this application, constructing the geometric model of the restraint and release device may include: constructing a rectangular coordinate system with the central fulcrum of the lever arm as the origin, wherein the X-axis, Y-axis, and Z-axis conform to the right-hand rule; constructing a geometric model in the rectangular coordinate system based on the length of the restraint arm, the length of the triangular lever arm, the position of the central fulcrum of the lever arm, and the position of the slow-release cylinder; and determining the angle between the right lever arm of the triangular lever arm and the negative Y-axis in the geometric model. The angle between the left lever arm and the negative X-axis in the triangular lever arm and the easing of restrictions ,according to , and Determine the coordinates of each fulcrum of the triangular lever arm in a rectangular coordinate system; the release stroke is determined by the vertical displacement of the end of the restraining arm.

[0050] In other words, the length of the restraining arm can be determined as follows: The triangular lever arm consists of three lever arms with lengths of respectively , and The height of the center fulcrum of the lever arm above the ground is The slow-release cylinder is placed on the ground, and the initial length of the support arm containing it is... The initial length of the slow-release cylinder The values ​​of each parameter can be determined according to actual needs. In one example, it can be set to... meters (m) m, m, m, m, m.

[0051] Then establish a rectangular coordinate system, and according to , and Determine the coordinates of each fulcrum of the triangular lever arm in a rectangular coordinate system.

[0052] In some embodiments of this application, performing kinematic analysis on the geometric model may include: determining the slow-release cylinder pressure in the geometric model as the slow-release force changes with the movement of the device through kinematic analysis. and restraining arm slow-release force In the geometric model, determine the distance from the central fulcrum of the lever arm to... or the first perpendicular line of its extension and from the central fulcrum of the lever arm to or the second perpendicular line of its extension ;make The kinematic analysis results were obtained.

[0053] Figure 3 This is a schematic diagram of the geometric configuration of the slow-release force-assisted release device provided in this application embodiment. Points A, B, and C correspond to the three fulcrum positions of the triangular lever arm, with point B corresponding to the central fulcrum position of the lever arm. Points A and C are the initial fulcrum positions when the control and release device is not moving. The center of mass of the triangular lever arm corresponds to point N. Point D is the initial end position of the control arm when the control and release device is not moving, point D' is the end position of the control arm when the control and release device is moving, and point O is the contact point between the slow-release cylinder and the ground. This represents the angle through which the triangular lever arm rotates. The red line segment on the left side of the diagram indicates the direction. The red line segment on the right indicates the direction. .

[0054] After the restraint-release device begins to move, the position of point B remains unchanged, while the positions of points A and C can move to points A' and C' respectively, and the center of mass also moves to N'. At this point, the pressure of the slow-release cylinder during the change of the slow-release force with the movement of the restraint-release device can be determined as follows: As shown, the slow-release force of the restraining arm changes during the movement of the restraining and releasing device, as follows: As shown.

[0055] From point B towards Or draw the first perpendicular line from its extension to obtain From point B towards Or, draw a second perpendicular line from its extension to obtain During the process of slow-release force restraining the release as the device moves, and Must always satisfy Furthermore, this allows for the calculation of the numerical change in the slow-release force during the movement of the restraint release device.

[0056] In some embodiments of this application, performing a dynamic analysis on the geometric model may include: determining the kinetic energy of the restraint-release device as it rotates about the Z-axis. for ;in, The mass of the triangular lever arm, To control the mass of the traction arm, Let be the angular velocity of the triangular lever arm. Let be the moment of inertia of the triangular lever arm about the Z-axis. To ease the journey The first derivative, The length of the second lever arm in the triangular lever arm is given; simultaneously, the gravitational potential energy of the restraint and release device when it rotates around the Z-axis is determined. for ;in, It is the acceleration due to gravity. The angle between the line connecting the origin and the center of mass of the triangular lever arm and the negative Y-axis; the free joint torque about the central fulcrum of the lever arm when the restraint and release device is not subjected to environmental forces is determined based on the Lagrange equation. The dynamic response equation is According to kinetic energy gravitational potential energy And the dynamic response equation, determine The kinetic analysis results were obtained; among them, The inertia matrix, For Coriolis force and centrifugal force terms, For gravity, Jacobian matrix for restraining release device, Let be the angular acceleration of the arm of the triangular lever.

[0057] In other words, the Lagrange method can be used to establish a nonlinear dynamic model that includes the restraint and release device and obtain the joint torque.

[0058] Figure 4 This is a schematic diagram illustrating the slow-release force following the slow-release stroke of the restraint-release device according to an embodiment of this application. Wherein, X is the horizontal axis of a rectangular coordinate system, Y is the vertical axis of a rectangular coordinate system, and the meanings of points B, C, C', and N are as follows: Figure 3The meanings of the corresponding points are the same, and will not be repeated here. Point G is derived from... and The intersection of its extension or the point where it intersects. The red line segment from point D to point D' can represent... The red line segments in the diagram indicate the direction. .

[0059] like Figure 4 As shown, the restraint and release device rotates around the Z-axis. The mass of the device is mainly concentrated on the triangular lever arm and the restraint arm; therefore, the effects of the slow-release cylinder and the support arm on the kinetic energy and gravitational potential energy can be ignored. The kinetic energy can then be calculated. and gravitational potential energy .

[0060] This and Substituting the moment of the free joint of the lever arm's central fulcrum when the restraint and release device is not subjected to environmental forces, as determined by the Lagrange equation... The dynamic response equation can be expressed as: This dynamic response equation will serve as the basis for impedance control optimization.

[0061] In some embodiments of this application, the constraints for configuration optimization can be determined as follows: the range of structural parameter values ​​is determined so that the restraint and release device always satisfies the following conditions during movement. This can be used as a structural parameter. , , and Establish upper and lower limits, obtain feasible combinations of structural parameters within these limits, and maintain a constant restraint arm length while keeping... ,Depend on , , and The values ​​can be used to calculate the pressure of the slow-release cylinder, the slow-release force of the restraining arm, and the slow-release stroke at each moment during the movement of the device.

[0062] Sustained-release characteristic curve compliance The sustained-release characteristic curve can be quantified by its maximum absolute slope. The slope of the sustained-release characteristic curve can be expressed as the rate of change of the sustained-release force relative to the sustained-release path. ;in, This is the function for finding the maximum value.

[0063] Magnification factor This is the ratio of the slow-release force acting on the traction arm to the slow-release cylinder pressure. This reflects the ability of the slow-release cylinder to increase the output restraining force relative to the input pressure. Combining the geometric model and kinematic analysis of the restraining and release device, it can be seen that the restraining force gradually decreases during the slow-release process, while the cylinder pressure gradually increases due to gas compression, thus causing the amplification factor to gradually decrease. To maintain consistency, the amplification factor in the original state can be used as an optimization target. . To gradually release the initial air pressure in the cylinder, This is the initial slow-release force transmitted to the traction arm.

[0064] In some embodiments of this application, the range of control parameter values ​​is determined according to the impedance control law of the restraint and release device.

[0065] The impedance control law can be determined as follows: determine the displacement at the end of the restraining arm. relative to the ideal trajectory position Deviation between for By characterizing the impedance characteristics of the restraint-release device using a second-order system, the corresponding resistive force generated at the end of the restraint arm is obtained. for ;in, The inertia coefficient, The damping coefficient is... This is the stiffness coefficient. for The first derivative, for The second derivative; determine the relationship between the end velocity of the restraining arm and the angular velocity of the triangular lever arm as follows: And thus obtain ;in, To control the acceleration at the end of the traction arm, Find the derivative of the Jacobian matrix of the restraining and releasing device; determine the free joint torque about the central fulcrum of the lever arm when the restraining and releasing device is subjected to environmental forces. The dynamic response equation is The impedance control law is determined as follows: ;in, To achieve the ideal acceleration at the end of the restraining arm, , , To control the initial displacement of the end of the traction arm, For environmental stiffness.

[0066] In other words, the embodiments of this application design an impedance controller that can be used in a restraint release device to achieve precise displacement tracking and force compliance control, and verify its effectiveness in controlling the restraint arm and its adaptability to the environment.

[0067] The impedance control law of an impedance controller can be determined as follows: First, determine the deviation. Then, the impedance characteristics of the restraint-release device are characterized using a second-order system, thereby obtaining the corresponding resistance force generated at the end of the restraint arm. Simultaneously define And thus obtain Next, determine the free joint torque of the lever arm's central fulcrum when the restraint and release device is subjected to environmental forces. The dynamic response equation, and Substituting this into the dynamic response equation yields the impedance control law.

[0068] This method allows for the assessment of the impact of environmental stiffness on the device's response curve under stress.

[0069] Figure 5 This is an experimental result diagram showing the position tracking of a sinusoidal signal using the impedance controller provided in the embodiments of this application. (See diagram for example.) Figure 5 As shown, the sinusoidal response obtained by the impedance controller provided in this application almost completely coincides with the initial sinusoidal signal, indicating that the impedance controller has a good tracking effect.

[0070] In some embodiments of this application, a multi-objective optimization algorithm can be used to optimize the movement process of the restraint and release device.

[0071] The optimization process for structural parameters can be as follows: , , and The value is input, and with , , and The range of values ​​is a constraint condition, and iterative optimization is performed. and until Less than the preset compliance threshold and The process terminates when the amplification factor exceeds the preset threshold.

[0072] The optimization process for control parameters can begin by appropriately selecting parameters based on the impedance control law. , and The value will be the driving torque obtained. Input the joint at the origin of the restraint-release device to achieve the desired movement of the restraint arm. Then, optimization is performed. The optimization process involves shortening the response time of the restraint-release device while maintaining force compliance to further achieve the desired dynamic performance. This requires adjusting the equations... , and Change to the optimal value.

[0073] Specifically, the decision variable can be set as the control parameter by applying a step displacement input at the end of the traction arm. , and Based on the steady-state value and settling time in the dynamic response The performance of impedance controllers is analyzed using performance indicators such as overshoot. For stable control, the overshoot must be zero, meaning the steady-state value equals the input step displacement. Based on this, the optimization objective is to minimize the settling time of this process. Therefore, the desired displacement can be quickly tracked simply by optimizing the control parameters.

[0074] The integrated optimization of the restraint and release device can be achieved by combining the optimization processes of structural parameters and control parameters. In this case, the structural parameters... , , , and control parameters , , As a decision variable, to minimize ,maximize and minimize To optimize the objective, a multi-objective optimization algorithm is employed. This multi-objective optimization algorithm can be, for example, the Coevolutionary Constrained Multi-Objective Optimization (CCMO) algorithm.

[0075] At this point, optimizing the motion process of the restraint and release device using a multi-objective optimization algorithm may include: constructing an initial population with structural parameters and control parameters as decision variables; obtaining an objective function by combining the design objective of configuration optimization and the optimization objective of impedance control; evaluating the initial population using the objective function; iteratively executing steps of updating the population and evaluating the updated population using the objective function based on the evaluation results, until the evaluation results meet the iteration termination condition; wherein, the iteration termination condition includes any one of the following: the evaluation results meet the algorithm optimization objective requirements, and the number of iterations reaches a preset threshold.

[0076] Figure 6 This is a flowchart illustrating the integrated optimization design strategy provided in an embodiment of this application. For example... Figure 6 As shown, the restraint and release device can be geometrically modeled first, and then kinematic and dynamic analyses can be performed on the constructed geometric model to obtain the constraints and objective functions for configuration optimization and impedance control.

[0077] On the one hand, constraints can be obtained based on kinematic and dynamic analysis results, and the upper and lower limits of configuration parameters and control parameters can be determined based on the constraints, with configuration parameters and control parameters used as decision variables; on the other hand, the maximum absolute slope and amplification factor can be determined based on kinematic and dynamic analysis results, and the objective function can be determined in combination with the designed impedance controller.

[0078] The impedance controller may include a restraint and release device module, a force controller module, a rocket outrigger stiffness module, and an impedance module. The control parameters are determined by designing a suitable impedance control law.

[0079] An initial population is constructed using configuration parameters and control parameters as decision variables, and the initial population is evaluated using an objective function. During the evaluation process, the population can be continuously updated based on the evaluation results. The update process is iteratively executed until the updated population meets the conditions, thus obtaining a set of Pareto optimization results that satisfy reliability constraints.

[0080] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0081] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0082] Figure 7 This is a schematic diagram of an integrated design device for a mechanism-type restraint and release device based on configuration optimization and impedance control, provided in an embodiment of this application. Figure 7 As shown, the device includes:

[0083] Module 701 is configured to construct a geometric model of the restraint and release device; the geometric model includes at least a restraint arm, a triangular lever arm, a central fulcrum of the lever arm, and a slow-release cylinder.

[0084] Analysis module 702 is configured to perform kinematic and dynamic analysis on the geometric model to obtain the constraints and design objectives for configuration optimization, as well as the constraints and optimization objectives for impedance control.

[0085] Among them, the constraints of configuration optimization include the range of structural parameter values, and the design objectives of configuration optimization include maximizing the compliance of the slow-release characteristic curve and the amplification factor; the structural parameters include the length of the left lever arm, the length of the right lever arm, the tilt angle of the right lever arm, and the height of the central fulcrum of the lever arm in the triangular lever arm.

[0086] The constraints of impedance control include the range of control parameter values, and the optimization objectives of impedance control include minimizing the step response settling time of the vertical displacement at the end of the restraining arm; the control parameters include the inertia coefficient, damping coefficient, and stiffness coefficient.

[0087] The optimization module 703 is configured to construct a multi-objective optimization algorithm, using structural parameters and control parameters as decision variables, and the design objective of configuration optimization and the optimization objective of impedance control as the algorithm optimization objectives. The multi-objective optimization algorithm is used to optimize the motion process of the restraint and release device to obtain the optimized structural parameters and control parameters of the restraint and release device.

[0088] According to the technical solution provided in the embodiments of this application, a method is proposed to simultaneously optimize the slope of the slow-release characteristic curve and the amplification factor of the mechanism-type restraint release device, thereby improving the gas pressure transmission efficiency and minimizing the impact response during the slow-release process; an impedance controller for the mechanism-type restraint release device is constructed, which can achieve precise displacement tracking and force compliance control, thereby improving its effectiveness in controlling the restraint arm and its adaptability to the environment; a method for integrated optimization of configuration parameters and impedance control coefficient is proposed to maximize the amplification factor, slow-release performance and control compliance, thereby enabling a more comprehensive optimization design of the mechanism-type restraint release device.

[0089] In some implementations, constructing a geometric model of the restraint and release device includes: constructing a Cartesian coordinate system with the central fulcrum of the lever arm as the origin, wherein the X, Y, and Z axes conform to the right-hand rule; constructing a geometric model in the Cartesian coordinate system based on the length of the restraint arm, the length of the triangular lever arm, the position of the central fulcrum of the lever arm, and the position of the slow-release cylinder; and determining the angle between the right lever arm of the triangular lever arm and the negative Y-axis in the geometric model. The angle between the left lever arm and the negative X-axis in the triangular lever arm and the easing of restrictions ,according to , and Determine the coordinates of each fulcrum of the triangular lever arm in a rectangular coordinate system; the release stroke is determined by the vertical displacement of the end of the restraining arm.

[0090] In some implementations, kinematic analysis is performed on the geometric model, including: determining the slow-release cylinder pressure in the geometric model as the slow-release force changes with the movement of the device through kinematic analysis. and restraining arm slow-release force In the geometric model, determine the distance from the central fulcrum of the lever arm to... or the first perpendicular line of its extension and from the central fulcrum of the lever arm to or the second perpendicular line of its extension ;make The kinematic analysis results were obtained.

[0091] In some implementations, a dynamic analysis of the geometric model is performed, including determining the kinetic energy of the restraint-release device as it rotates about the Z-axis. for ;in, The mass of the triangular lever arm, To control the mass of the traction arm, The angle through which the triangular lever arm rotates. Let be the angular velocity of the triangular lever arm. Let be the moment of inertia of the triangular lever arm about the Z-axis. To ease the journey The first derivative, The length of the second lever arm in the triangular lever arm is given; simultaneously, the gravitational potential energy of the restraint and release device when it rotates around the Z-axis is determined. for ;in, It is the acceleration due to gravity. The angle between the line connecting the origin and the center of mass of the triangular lever arm and the negative Y-axis; the free joint torque about the central fulcrum of the lever arm when the restraint and release device is not subjected to environmental forces is determined based on the Lagrange equation. The dynamic response equation is According to kinetic energy gravitational potential energy And the dynamic response equation, determine The kinetic analysis results were obtained; among them, The inertia matrix, For Coriolis force and centrifugal force terms, For gravity, Jacobian matrix for restraining release device, Let be the angular acceleration of the arm of the triangular lever.

[0092] In some implementations, the constraints for configuration optimization are determined by defining the range of structural parameter values ​​to ensure that the restraint and release device always meets the following conditions during movement. ; Compliance of sustained-release characteristic curve Determined in the following manner ;in, To find the maximum value function; amplification factor It is the ratio of the slow-release force acting on the traction arm to the slow-release cylinder pressure.

[0093] In some implementations, the range of control parameter values ​​is determined based on the impedance control law of the restraint and release device; the impedance control law is determined as follows: determining the displacement of the end of the restraint arm. relative to the ideal trajectory position Deviation between for By characterizing the impedance characteristics of the restraint-release device using a second-order system, the corresponding resistive force generated at the end of the restraint arm is obtained. for ;in, The inertia coefficient, The damping coefficient is... This is the stiffness coefficient. for The first derivative, for The second derivative; determine the relationship between the end velocity of the restraining arm and the angular velocity of the triangular lever arm as follows: And thus obtain ;in, To control the acceleration at the end of the traction arm, Find the derivative of the Jacobian matrix of the restraining and releasing device; determine the free joint torque about the central fulcrum of the lever arm when the restraining and releasing device is subjected to environmental forces. The dynamic response equation is The impedance control law is determined as follows: ;in, To achieve the ideal acceleration at the end of the restraining arm, , , To control the initial displacement of the end of the traction arm, For environmental stiffness.

[0094] In some implementations, the multi-objective optimization algorithm is a genetic algorithm. Optimizing the movement process of the restraint and release device using a multi-objective optimization algorithm includes: constructing an initial population using structural parameters and control parameters as decision variables; obtaining an objective function by combining the design objective of configuration optimization and the optimization objective of impedance control; evaluating the initial population using the objective function; iteratively executing steps of updating the population and evaluating the updated population using the objective function based on the evaluation results, until the evaluation results meet the iteration termination condition; wherein the iteration termination condition includes any one of the following: the evaluation results meet the algorithm's optimization objective requirements, or the number of iterations reaches a preset threshold.

[0095] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0096] Figure 8 This is a schematic diagram of the electronic device provided in an embodiment of this application. For example... Figure 8 As shown, the electronic device 8 of this embodiment includes a processor 801, a memory 802, and a computer program 803 stored in the memory 802 and executable on the processor 801. When the processor 801 executes the computer program 803, it implements the steps in the various method embodiments described above. Alternatively, when the processor 801 executes the computer program 803, it implements the functions of each module / unit in the various device embodiments described above.

[0097] Electronic device 8 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 8 may include, but is not limited to, processor 801 and memory 802. Those skilled in the art will understand that... Figure 8 This is merely an example of electronic device 8 and does not constitute a limitation on electronic device 8. It may include more or fewer components than shown, or different components.

[0098] The processor 801 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0099] The memory 802 can be an internal storage unit of the electronic device 8, such as a hard disk or RAM of the electronic device 8. The memory 802 can also be an external storage device of the electronic device 8, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the electronic device 8. The memory 802 can also include both internal and external storage units of the electronic device 8. The memory 802 is used to store computer programs and other programs and data required by the electronic device.

[0100] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0101] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0102] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An integrated design method for a mechanism-based restraint and release device based on configuration optimization and impedance control, characterized in that, include: Construct a geometric model of the restraint and release device; the geometric model includes at least a restraint arm, a triangular lever arm, a central fulcrum of the lever arm, and a slow-release cylinder. Kinematic and dynamic analyses are performed on the geometric model to obtain the constraints and design objectives for configuration optimization, as well as the constraints and optimization objectives for impedance control. Among them, the constraints of configuration optimization include the range of structural parameter values, and the design objectives of configuration optimization include maximizing the compliance of the slow-release characteristic curve and the amplification factor; the structural parameters include the length of the left lever arm, the length of the right lever arm, the tilt angle of the right lever arm, and the height of the central fulcrum of the lever arm in the triangular lever arm. The constraints of impedance control include the range of control parameter values, and the optimization objectives of impedance control include minimizing the step response settling time of the vertical displacement at the end of the restraining arm; the control parameters include the inertia coefficient, damping coefficient, and stiffness coefficient. A multi-objective optimization algorithm is constructed, with the structural parameters and control parameters as decision variables, and the design objectives of the configuration optimization and impedance control as the algorithm optimization objectives. The multi-objective optimization algorithm is used to optimize the motion process of the restraint and release device to obtain the optimized structural parameters and control parameters of the restraint and release device.

2. The integrated design method for a mechanism-based restraint and release device based on configuration optimization and impedance control according to claim 1, characterized in that, Constructing the geometric model of the restraint and release device includes: A rectangular coordinate system is constructed with the central fulcrum of the lever arm as the origin, and the X-axis, Y-axis and Z-axis conform to the right-hand rule; A geometric model is constructed in the Cartesian coordinate system based on the length of the restraining arm, the length of the triangular lever arm, the position of the central fulcrum of the lever arm, and the position of the slow-release cylinder. In the geometric model, determine the angle between the right lever arm and the negative Y-axis in the triangular lever arm. The angle between the left lever arm and the negative X-axis in the triangular lever arm and the easing of restrictions ,according to , and The coordinates of each fulcrum of the triangular lever arm in the rectangular coordinate system are determined; the slow-release stroke is determined by the vertical displacement of the end of the restraining arm.

3. The integrated design method for a mechanism-based restraint and release device based on configuration optimization and impedance control according to claim 2, characterized in that, Perform kinematic analysis on the geometric model, including: Through kinematic analysis, the pressure of the slow-release cylinder during the change of the slow-release force with the movement of the restraint-release device is determined in the geometric model. and restraining arm slow-release force ; In the geometric model, determine the distance from the central fulcrum of the lever arm to... or the first perpendicular line of its extension and from the central fulcrum of the lever arm to or the second perpendicular line of its extension ; make The kinematic analysis results were obtained.

4. The integrated design method for a mechanism-based restraint and release device based on configuration optimization and impedance control according to claim 3, characterized in that, The dynamic analysis of the geometric model includes: Determine the kinetic energy of the restraint and release device when it rotates about the Z-axis. for ;in, The mass of the triangular lever arm, To control the mass of the traction arm, The angle through which the triangular lever arm rotates. Let be the angular velocity of the triangular lever arm. Let be the moment of inertia of the triangular lever arm about the Z-axis. To ease the journey The first derivative, This is the length of the second lever arm in the triangular lever arm; Determine the gravitational potential energy of the restraint and release device when it rotates about the Z-axis. for ;in, It is the acceleration due to gravity. The angle between the line connecting the origin and the center of mass of the triangular lever arm and the negative Y-axis; Based on the Lagrange equation, the free joint torque of the lever arm's central fulcrum is determined when the restraint and release device is not subjected to environmental forces. The dynamic response equation is ; According to the kinetic energy The gravitational potential energy And the dynamic response equation, determine The kinetic analysis results were obtained. in, The inertia matrix, For Coriolis force and centrifugal force terms, For gravity, Jacobian matrix for restraining release device, Let be the angular acceleration of the arm of the triangular lever.

5. The integrated design method for a mechanism-based restraint and release device based on configuration optimization and impedance control according to claim 3, characterized in that, The constraints for the configuration optimization are determined as follows: The range of structural parameter values ​​is determined to ensure that the restraint and release device always meets the following conditions during movement. ; Sustained-release characteristic curve compliance Determined in the following manner ;in, This is a function to find the maximum value. Magnification factor It is the ratio of the slow-release force acting on the traction arm to the slow-release cylinder pressure.

6. The integrated design method for a mechanism-based restraint and release device based on configuration optimization and impedance control according to claim 4, characterized in that, The range of values ​​for the control parameters is determined based on the impedance control law of the restraint and release device. The impedance control law is determined in the following manner: Determine the displacement of the end of the traction arm relative to the ideal trajectory position Deviation between for ; By characterizing the impedance characteristics of the restraint-release device using a second-order system, the corresponding resistive force generated at the end of the restraint arm can be obtained. for ;in, The inertia coefficient, The damping coefficient is... This is the stiffness coefficient. for The first derivative, for The second derivative; The relationship between the end velocity of the restraining arm and the angular velocity of the triangular lever arm is determined as follows: And thus obtain ;in, To control the acceleration at the end of the traction arm, The derivative of the Jacobian matrix of the restraint and release device; Determine the free joint torque about the central fulcrum of the lever arm when the restraint and release device is subjected to environmental forces. The dynamic response equation is ; The impedance control law is determined to be ;in, To achieve the ideal acceleration at the end of the restraining arm, , , To control the initial displacement of the end of the traction arm, For environmental stiffness.

7. The integrated design method for a mechanism-based restraint and release device based on configuration optimization and impedance control according to claim 1, characterized in that, The multi-objective optimization algorithm is a genetic algorithm; The multi-objective optimization algorithm is used to optimize the movement process of the restraint and release device, including: An initial population is constructed using the structural parameters and the control parameters as decision variables, and the objective function is obtained by combining the design objective of the configuration optimization and the optimization objective of the impedance control. The initial population is evaluated using the objective function, and the steps of updating the population and evaluating the updated population using the objective function are iteratively executed based on the evaluation results until the evaluation results meet the iteration termination condition. The iteration termination condition includes any one of the following: the evaluation result meets the algorithm optimization target requirements, and the number of iterations reaches a preset threshold.

8. An integrated design device for a mechanism-type restraint and release device based on configuration optimization and impedance control, characterized in that, include: The construction module is configured to construct a geometric model of the restraint and release device; the geometric model includes at least a restraint arm, a triangular lever arm, a central fulcrum of the lever arm, and a slow-release cylinder. The analysis module is configured to perform kinematic and dynamic analysis on the geometric model to obtain the constraints and design objectives for configuration optimization, as well as the constraints and optimization objectives for impedance control. Among them, the constraints of configuration optimization include the range of structural parameter values, and the design objectives of configuration optimization include maximizing the compliance of the slow-release characteristic curve and the amplification factor; the structural parameters include the length of the left lever arm, the length of the right lever arm, the tilt angle of the right lever arm, and the height of the central fulcrum of the lever arm in the triangular lever arm. The constraints of impedance control include the range of control parameter values, and the optimization objectives of impedance control include minimizing the step response settling time of the vertical displacement at the end of the restraining arm; the control parameters include the inertia coefficient, damping coefficient, and stiffness coefficient. The optimization module is configured to construct a multi-objective optimization algorithm, using the structural parameters and the control parameters as decision variables, and the design objective of the configuration optimization and the optimization objective of the impedance control as the algorithm optimization objectives. The multi-objective optimization algorithm is used to optimize the movement process of the restraint and release device to obtain the optimized structural parameters and control parameters of the restraint and release device.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the integrated design method for a mechanism-based restraint and release device based on configuration optimization and impedance control as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the integrated design method for the mechanism-based restraint and release device based on configuration optimization and impedance control as described in any one of claims 1 to 7.

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