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Optimal pi parameter optimization method and system for time-delay visual servo system

A technology of visual servoing and optimization methods, applied in the computer field, can solve problems such as complex calculations, difficult delay suppression, and unclear system lag time

Active Publication Date: 2020-07-14
上海墨向机械科技有限公司
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Problems solved by technology

However, when this method is used, the specific lag time of the system is not clear, and it is difficult to suppress the lag to the maximum extent. At the same time, the calculation of this method is more complicated, and additional lag time may be introduced

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Embodiment Construction

[0070] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0071] The optimal PI parameter optimization method of a time-delay visual servo system provided by the present invention includes:

[0072] 1. Determining the time lag step: taking a visual servo system as the test object to determine the time lag of the visual servo system;

[0073] 2. Kinematic modeling step: Carry out kinematic modeling on the visual servo system according to the time delay to obtain a kinematic model;

[0074] 3. State space transformation step: perform state space transformation ...

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Abstract

The invention provides a time-lag visual servo system optimal PI parameter optimization method and system. The method includes the steps: determining time lag of a visual servo system; performing kinematical modeling on the visual servo system according to the time lag; performing state space transformation on a kinematical model; calculating a state-transition matrix of a state space equation bya differential quadrature method; changing a parameter of a PI controller in the visual servo system, calculating a maximum value of modules of characteristic values under different parameters; makingthe maximum value of modules of characteristic values of the state-transition matrix to be 1, and calculating a stability boundary of the visual servo system in PI controller parameter space; optimally minimizing the maximum value of the modules of the characteristic values of the state-transition matrix in the stability boundary, and comparing the maximum values of the modules of the characteristic values of the state-transition matrix under different controller parameter conditions to obtain optimized PI controller parameter. According to the method, the response performance of the visual servo system is improved, and the application range of visual servo technologies is widened.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method and system for optimizing PI parameters of a time-delay visual servo system. Background technique [0002] Visual servo system is one of the common control systems in the field of robot control. With the wide application of robots, people have higher and higher requirements for the response performance of the visual servo system, and the time lag effect is one of the key factors affecting the system performance. Reducing the influence of time lag is an inevitable requirement to ensure the response performance of the visual servo system. The time delay of the system comes from image processing, signal transmission, etc., and the time delay generated by signal transmission is the main component of the system time delay. [0003] There are many methods to suppress the influence of time lag, the more commonly used method is the extended Kalman filter method, such as the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42
Inventor 丁烨金轲王逸潇
Owner 上海墨向机械科技有限公司
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