A method, device and storage medium for calibrating host control execution consistency by feedforward adjustment

Abstract

This invention discloses a feedforward adjustment method, device, and storage medium for calibrating the consistency of host control execution, belonging to the field of mechanical automation control technology. The method includes: acquiring the control input signal and the actuator output signal during the feedforward system control process, and plotting a measured curve; selecting the dead zone endpoint from the measured curve as the calculation starting point and the extreme point of the actuator output signal as the calculation endpoint, and plotting a desired curve; equally dividing the measured curve and the desired curve into several sampling points to obtain the coordinate data of the measured curve and the desired curve, respectively; obtaining the linearity by calculating the average deviation; comparing the linearity with a preset linearity threshold; if the linearity is greater than the preset linearity threshold, then optimizing by adjusting the actuator input signal. This invention can improve the trajectory accuracy of the host robotic arm in complex high-speed conditions and solve problems such as poor accuracy and lag.

Description

Technical Field

[0001] This invention relates to a feedforward adjustment method, device, and storage medium for calibrating the consistency of host control execution, belonging to the field of mechanical automation control technology. Background Technology

[0002] Mechanical control systems typically adjust parameters based on currently collected data to adapt to working conditions. In this case, the spatial trajectory control of the main robotic arm generally relies on visual recognition feedback to the control system for trajectory adjustments. However, this lack of a consistent adjustment scheme, coupled with the failure to consider mechanical hydraulic transmission delays and inherent machine characteristics, leads to problems such as poor trajectory accuracy and lag. Summary of the Invention

[0003] The technical problem this invention aims to solve is to overcome the shortcomings of existing technologies and provide a feedforward adjustment method, apparatus, and storage medium for calibrating the consistency of host control execution. This method can improve the trajectory accuracy of the host robotic arm in complex high-speed conditions and solve problems such as poor accuracy and lag.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present invention provides a feedforward adjustment method for calibrating the consistency of host control execution, comprising the following steps:

[0006] The control input signal and actuator output signal are acquired during the control process of the feedforward system. The measured curves are plotted with the control input signal as the abscissa and the actuator output signal as the ordinate.

[0007] The dead zone endpoint is selected from the measured curve as the calculation start point, and the extreme point of the actuator output signal is selected as the calculation end point. The desired curve is plotted based on the calculation start point and the calculation end point.

[0008] Divide the measured curve and the expected curve equally between the calculation start point and the calculation end point, and obtain the coordinate data of the measured curve and the coordinate data of the expected curve respectively.

[0009] Linearity is obtained by calculating the average deviation between the measured curve coordinate data and the expected curve coordinate data.

[0010] The linearity is compared with a preset linearity threshold. If the linearity is greater than the preset linearity threshold, the actuator input signal is adjusted for optimization. The above process is repeated until the linearity is not greater than the preset linearity threshold.

[0011] If the linearity is not greater than the preset linearity threshold, it is determined that the control input signal and the actuator output signal have been matched, and the process ends.

[0012] The control input signals include pilot voltage signal, handle opening signal, and foot pedal stroke signal; the actuator output signals include cylinder speed signal, cylinder acceleration signal, and motor angular velocity signal.

[0013] The equation of the desired curve is: y = kx + b, where y is the ordinate value, x is the abscissa value, k is the fitting slope, and b is the fitting constant.

[0014] The average deviation is calculated as follows:

[0015] (1),

[0016] In the formula: The average deviation, Here, n is the coordinate data group number, and n is the total number of sampling points. For the first The ordinate value in the expected curve coordinate data. For the first The ordinate value in the set of measured curve data.

[0017] The preset linearity threshold is set to 3% to 10%.

[0018] The feedforward system control process includes front-end control and execution and back-end control and execution.

[0019] If the desired curve is a bilinear curve, a piecewise function should be used for processing.

[0020] In a second aspect, the present invention provides a feedforward adjustment device for calibrating the consistency of host control execution, comprising:

[0021] The measured curve plotting module is used to acquire the control input signal and the actuator output signal during the control process of the feedforward system, and plot the measured curve with the control input signal as the horizontal axis and the actuator output signal as the vertical axis.

[0022] The desired curve plotting module is used to select the dead zone endpoint from the measured curve as the calculation start point and the extreme point of the actuator output signal as the calculation end point, and plot the desired curve based on the calculation start point and the calculation end point.

[0023] The sampling point division module is used to equally divide the measured curve and the expected curve between the calculation start point and the calculation end point to obtain the coordinate data of the measured curve and the coordinate data of the expected curve, respectively.

[0024] The linearity calculation module is used to obtain linearity by calculating the average deviation between the measured curve coordinate data and the desired curve coordinate data.

[0025] The linearity judgment module is used to compare the linearity with a preset linearity threshold. If the linearity is greater than the preset linearity threshold, the input signal of the actuator is adjusted for optimization. The above process is repeated until the linearity is not greater than the preset linearity threshold.

[0026] Thirdly, the present invention provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements any of the aforementioned feedforward adjustment methods for consistency of calibration host control execution.

[0027] The beneficial effects of this invention are as follows: This invention provides a feedforward adjustment method, device, and storage medium for calibrating the consistency of host control execution. The method selects the dead zone endpoint from the measured curve as the calculation starting point. Several sampling points are equally divided on the measured curve and the desired curve between the calculation starting point and the calculation endpoint to obtain the coordinate data of the measured curve and the desired curve, respectively. Linearity is obtained by calculating the average deviation between the measured curve coordinate data and the desired curve coordinate data. The linearity is compared with a preset linearity threshold. If the linearity is greater than the preset linearity threshold, optimization is performed by adjusting the input signal of the actuator. Machine-specific attributes such as control execution linearity, control response dead zone delay, and actuator speed abrupt changes are used as variables to improve the accuracy of the feedforward system. Taking into account motion characteristics, mechanical and hydraulic transmission delays, etc., pre-control is performed based on the inherent characteristics of the system to improve the consistency of host control execution. Furthermore, precision is further improved through discrete calculation. This method can improve the trajectory accuracy of the host and robot in complex high-speed conditions, solve problems such as lag and poor precision, and accurately control the speed adjustment of the robotic arm. Attached Figure Description

[0028] Figure 1 This is a flowchart of the feedforward adjustment method for ensuring consistency of calibration host control execution in an embodiment of the present invention;

[0029] Figure 2 This is a comparison chart of the expected and actual curves of front-end control and execution in an embodiment of the present invention;

[0030] Figure 3 This is a comparison chart of the expected and actual curves of the back-end control and execution in an embodiment of the present invention. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present invention more clearly, and should not be used to limit the scope of protection of the present invention.

[0032] Example 1

[0033] This invention discloses a feedforward adjustment method for calibrating the consistency of host control execution, comprising the following steps:

[0034] Step 1: Obtain the control input signal and actuator output signal during the feedforward system control process, and plot the measured curve with the control input signal as the horizontal axis and the actuator output signal as the vertical axis.

[0035] Step 2: Select the dead zone endpoint from the measured curve as the calculation start point and the extreme point of the actuator output signal as the calculation end point, and plot the desired curve based on the calculation start point and the calculation end point.

[0036] Step 3: Divide the measured curve and the expected curve between the calculation start point and the calculation end point into several sampling points, and obtain the coordinate data of the measured curve and the coordinate data of the expected curve respectively.

[0037] Step four: The linearity is obtained by calculating the average deviation between the measured curve coordinate data and the expected curve coordinate data.

[0038] Step 5: Compare the linearity with the preset linearity threshold. If the linearity is greater than the preset linearity threshold, optimize by adjusting the input signal of the actuator. Repeat the above process until the linearity is not greater than the preset linearity threshold.

[0039] This invention uses machine-specific properties such as control execution linearity, control response dead zone delay, and sudden speed changes of the actuator as variables to improve the accuracy of the feedforward system. Taking into account motion characteristics, mechanical and hydraulic transmission delays, etc., it makes pre-control based on the inherent characteristics of the system to improve the consistency of host control execution, and further improves accuracy through discrete calculation. It can improve the trajectory accuracy of the host and robot in complex high-speed working conditions, solve problems such as lag and poor accuracy, and accurately control the speed adjustment of the robotic arm.

[0040] Example 2

[0041] In this invention, the actuator can be a boom, stick, bucket, crane telescopic boom, or outrigger of a wheeled excavator, etc., driven by a hydraulic cylinder or motor. An angle sensor and gyroscope are installed to monitor the motor's angular velocity parameters, and a displacement sensor is installed to monitor parameters such as the hydraulic cylinder's speed and acceleration. A monitor is installed to collect control input signals, including pilot voltage signals, handle opening signals, and foot pedal travel signals. A computer and controller process the input and output data and perform linearity analysis, calculating and optimizing the linearity between the control signals and the actuator, and optimizing the performance parameters of the main pump solenoid valve to achieve consistent control execution.

[0042] like Figure 1 As shown, the present invention provides a feedforward adjustment method for calibrating the consistency of host control execution, comprising the following steps:

[0043] Step 1: Acquire the control input signals and actuator output signals during the feedforward system control process. The feedforward system control process includes front-end control and execution and back-end control and execution. Plot the measured curves with the control input signals as the x-axis and the actuator output signals as the y-axis.

[0044] Step two: Select the dead zone endpoint from the measured curve as the calculation starting point, and select the extreme point of the actuator output signal as the calculation ending point. Plot the desired curve based on the calculation starting point and the calculation ending point. For example... Figure 2 As shown, the feedforward system control process consists of front-end control and execution. The end point of the front-end dead zone is taken as the calculation starting point x1, and the maximum speed point of the cylinder / motor is taken as the calculation ending point x2; as shown... Figure 3 As shown, the endpoint of the dead zone in the latter part is taken as the starting point x1, and the point of minimum cylinder / motor speed is taken as the endpoint x2. Substituting the coordinates of points x1 and x2 into the equation, the equation of the desired curve is: y = kx + b, where y is the ordinate value, x is the abscissa value, k is the fitting slope, and b is the fitting constant. If the desired curve is a bilinear curve, a piecewise function is used for processing.

[0045] Step 3: Divide the measured curve and the expected curve between the calculation start point and the calculation end point into several sampling points, and obtain the coordinate data of the measured curve and the coordinate data of the expected curve respectively.

[0046] Step four: The linearity is obtained by calculating the average deviation between the measured curve coordinate data and the desired curve coordinate data. The average deviation is calculated as follows:

[0047] (1),

[0048] In the formula: The average deviation is expressed as a percentage (%). The coordinate data group number ranges from 1 to n, where n is the total number of sampling points. For the first The ordinate value in the expected curve coordinate data, For the first The vertical axis value in the set of measured curve data, in this embodiment, is the percentage of the cylinder / motor speed, in percentage (%).

[0049] Step 5: Compare the linearity with a preset linearity threshold, which is set to 3% to 10%, preferably 5% in this embodiment. If the linearity is greater than the preset linearity threshold, optimization is performed by adjusting the actuator input signal. This process is repeated until the linearity is no greater than the preset linearity threshold. If the linearity is no greater than the preset linearity threshold, the control input signal and the actuator output signal are considered to be matched, and the process ends.

[0050] Example 3

[0051] This embodiment discloses a feedforward adjustment device for calibrating the consistency of host control execution, comprising:

[0052] The measured curve plotting module is used to acquire the control input signal and the actuator output signal during the control process of the feedforward system, and plot the measured curve with the control input signal as the horizontal axis and the actuator output signal as the vertical axis.

[0053] The desired curve plotting module is used to select the dead zone endpoint from the measured curve as the calculation start point and the extreme point of the actuator output signal as the calculation end point, and plot the desired curve based on the calculation start point and the calculation end point.

[0054] The sampling point division module is used to equally divide the measured curve and the expected curve between the calculation start point and the calculation end point to obtain the coordinate data of the measured curve and the coordinate data of the expected curve, respectively.

[0055] The linearity calculation module is used to obtain linearity by calculating the average deviation between the measured curve coordinate data and the desired curve coordinate data.

[0056] The linearity judgment module is used to compare the linearity with a preset linearity threshold. If the linearity is greater than the preset linearity threshold, the input signal of the actuator is adjusted for optimization. The above process is repeated until the linearity is not greater than the preset linearity threshold.

[0057] Example 4

[0058] This embodiment discloses a computer-readable storage medium storing a computer program / instruction thereon. When the computer program / instruction is executed by a processor, it implements the steps of the feedforward adjustment method for calibrating host control execution consistency in embodiment 1 or 2.

[0059] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0060] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0061] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0062] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A feedforward adjustment method for calibrating host control execution consistency, characterized in that: Includes the following steps: Acquire the control input signal and the actuator output signal during the control process of the feedforward system, and plot the measured curve with the control input signal as the horizontal axis and the actuator output signal as the vertical axis. The dead zone endpoint is selected from the measured curve as the calculation start point, and the extreme point of the actuator output signal is selected as the calculation end point. The desired curve is plotted based on the calculation start point and the calculation end point. Divide the measured curve and the expected curve equally between the calculation start point and the calculation end point, and obtain the coordinate data of the measured curve and the coordinate data of the expected curve respectively. Linearity is obtained by calculating the average deviation between the measured curve coordinate data and the expected curve coordinate data. The linearity is compared with a preset linearity threshold. If the linearity is greater than the preset linearity threshold, the actuator input signal is adjusted for optimization. The above process is repeated until the linearity is not greater than the preset linearity threshold.

2. The feedforward adjustment method for ensuring consistency of calibration host control execution according to claim 1, characterized in that: If the linearity is not greater than the preset linearity threshold, it is determined that the control input signal and the actuator output signal have been matched, and the process ends.

3. The feedforward adjustment method for ensuring consistency of calibration host control execution according to claim 1, characterized in that: The control input signals include pilot voltage signal, handle opening signal, and foot pedal stroke signal; the actuator output signals include cylinder speed signal, cylinder acceleration signal, and motor angular velocity signal.

4. The feedforward adjustment method for ensuring consistency of calibration host control execution according to claim 1, characterized in that: The equation of the desired curve is: y = kx + b, where y is the ordinate value, x is the abscissa value, k is the fitting slope, and b is the fitting constant.

5. The feedforward adjustment method for ensuring consistency of calibration host control execution according to claim 1, characterized in that: The average deviation is calculated as follows: （1）， In the formula: The average deviation, Here, n is the coordinate data group number, and n is the total number of sampling points. For the first The ordinate value in the expected curve coordinate data. For the first The ordinate value in the set of measured curve data.

6. The feedforward adjustment method for ensuring consistency of calibration host control execution according to claim 1, characterized in that: The preset linearity threshold is set to 3% to 10%.

7. The feedforward adjustment method for ensuring consistency of calibration host control execution according to claim 1, characterized in that: The feedforward system control process includes front-end control and execution and back-end control and execution.

8. The feedforward adjustment method for ensuring consistency of calibration host control execution according to claim 4, characterized in that: If the desired curve is a bilinear curve, a piecewise function should be used for processing.

9. A feedforward adjustment device for calibrating the consistency of host control execution, characterized in that: include: The measured curve plotting module is used to acquire the control input signal and the actuator output signal during the control process of the feedforward system, and plot the measured curve with the control input signal as the horizontal axis and the actuator output signal as the vertical axis. The desired curve plotting module is used to select the dead zone endpoint from the measured curve as the calculation start point and the extreme point of the actuator output signal as the calculation end point, and plot the desired curve based on the calculation start point and the calculation end point. The sampling point division module is used to equally divide the measured curve and the expected curve between the calculation start point and the calculation end point to obtain the coordinate data of the measured curve and the coordinate data of the expected curve, respectively. The linearity calculation module is used to obtain linearity by calculating the average deviation between the measured curve coordinate data and the desired curve coordinate data. The linearity judgment module is used to compare the linearity with a preset linearity threshold. If the linearity is greater than the preset linearity threshold, the input signal of the actuator is adjusted for optimization. The above process is repeated until the linearity is not greater than the preset linearity threshold.

10. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that: When the computer program / instruction is executed by the processor, it implements the feedforward adjustment method for consistency of calibration host control execution as described in any of claims 1-8.

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