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A robot balance control method and device based on reduced-order pole allocation method

A pole configuration method and balance control technology, which is applied in vehicle position/route/height control, attitude control, control/adjustment system, etc., can solve the problems of closed-loop control system oscillation, many feedback variables, and difficult implementation, and eliminate Effects of jerk, reducing feedback variables, and reducing design difficulty

Active Publication Date: 2022-01-14
SUN YAT SEN UNIV
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Problems solved by technology

Among them, most of the intelligent control algorithms have the disadvantages of large amount of calculation, many feedback variables, and not easy to implement.
The existing pole configuration method has the characteristics of simple structure and effective, but the problem that the jerk in the feedback variable cannot be measured limits the application of this algorithm; trying to obtain the jerk by differentiating the acceleration will not only affect the accuracy of the sensor It puts forward extremely high requirements, and it is likely to introduce harsh noise and eventually lead to oscillation or even instability of the closed-loop control system

Method used

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  • A robot balance control method and device based on reduced-order pole allocation method
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  • A robot balance control method and device based on reduced-order pole allocation method

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Embodiment Construction

[0042] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. For the step numbers in the following embodiments, it is only set for the convenience of illustration and description, and the order between the steps is not limited in any way. The execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art sexual adjustment.

[0043] The whole implementation process is divided into two parts. First, the kinematics and dynamics analysis of the new configuration of the second-order inverted pendulum is carried out, and a mathematical model is established; Standing posture balance controller, and torque control based on the designed controller.

[0044] refer to figure 1 and image 3 , the present invention provides a robot balance control method based on the reduced-order pole allocation method, the method includes the following steps:

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Abstract

The invention discloses a robot balance control method and device based on a reduced-order pole configuration method. The method includes: performing dynamic analysis on a pre-built new configuration of a second-order inverted pendulum to obtain a model of a controlled object; The object's model builds a reduced-order standing posture balance controller based on the pole configuration method; obtains parameter information and calculates the combined mass center angle, angular velocity and angular acceleration; inputs the combined mass center angle, angular velocity and angular acceleration to the standing posture balance controller and outputs the control torque signal to achieve standing balance. The device includes a memory and a processor for executing the robot balance control method based on the reduced-order pole allocation method. By using the invention, the amount of online calculation can be effectively reduced and the balance control of the standing posture of the robot can be realized. As a robot balance control method and device based on the reduced-order pole configuration method, the invention can be widely used in the field of robot balance control.

Description

technical field [0001] The invention relates to the field of robot balance control, in particular to a robot balance control method and device based on a reduced-order pole configuration method. Background technique [0002] At present, the zero-moment point method (ZMP) is often used in the posture balance control strategy of humanoid robots, but the premise is that a certain area of ​​support polygon can be formed between the two feet of the robot; Jointed point-legged robot. Among them, most of the intelligent control algorithms have the disadvantages of large amount of calculation, many feedback variables, and not easy to implement. The existing pole configuration method has the characteristics of simple structure and effective, but the problem that the jerk in the feedback variable cannot be measured limits the application of this algorithm; trying to obtain the jerk by differentiating the acceleration will not only affect the accuracy of the sensor It puts forward ex...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 丁北辰李锦钊韩瑜古博李雪芳
Owner SUN YAT SEN UNIV
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