Method of controlling movement of dynamic object on space trajectory

FIELD: physics.

SUBSTANCE: speed of a dynamic object at specific sections of a trajectory via simultaneous adjustment of signals of programmed action in each control channel is set as high as possible, while increasing it until, in the currently most loaded control channel(s) of the dynamic object, the value(s) of the input signal, which is directly proportional to the speed of the dynamic object on the trajectory, moves the corresponding actuating element(s) of the most loaded control channel(s) into a saturation zone and a zone of nonlinearity of characteristics thereof, and while reducing that speed directly proportional to the value of the input signal, whose modulus is greater than a certain maximum allowable value thereof.

EFFECT: moving a dynamic object with the maximum possible speed on arbitrary trajectories with high dynamic accuracy, which is provided by standard adjustment devices, owing to generation of such programmed signals which are transmitted to inputs of each control channel of the object, which ensure maximally intense operation of one or more actuating elements in corresponding control channels, but only in their linear zones without saturation.

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The invention relates to the field of automatic control of dynamic objects providing precise movement in a predetermined path, in particular multilink manipulators, mobile robots, underwater vehicles and other

A known method of controlling the motion of the dynamic object on a trajectory, comprising applying to the inputs of systems each channel management software influences that determine the desired location of the object on the trajectory at any point in time, the assessment in each control channel of the current deviation from the desired set of signals software impacts of each channel, each channel corresponding to the current deviation to obtain correction control signals, reducing the values of these current deviations from the signals of program impacts, and the signals of all program impacts into account and used in the formation of each control channel additional corrective control signals to further reduce the current deviations from signals software effects [Popov H.E. Theory of linear systems of automatic regulation and control. - M.: Nauka, 1978, s-145].

The disadvantage of this method of control is a low accuracy when the object management software the trajectories, if the parameters of this object due to the interaction with the environment and the effects of interaction between all the degrees of freedom change, and if its Executive members are in the saturation mode, which does not allow them to fully work out the signals of all software associated with the software object motion asked for these trajectories.

There is also known a method of controlling the motion of the dynamic object on a trajectory, comprising applying to the inputs of systems each channel management software influences that determine the desired location of the object on the trajectory at any point in time, the assessment in each control channel of the current deviation from the desired set of signals software impacts of each channel, each channel corresponding to the current deviation to obtain correction control signals, reducing the values of these current deviations from the signals of program impacts, and the signals of all program impacts into account and used in the formation of each control channel additional corrective control signals to further reduce the current deviations from the signals of program impacts, and the velocity of motion of the dynamic object to specific sections of trajectory is using the appropriate simultaneous correction signals software impacts in each control channel set to the maximum possible inversely proportional to the value of the current deviation of the location of this object from the specified signals specified software impact location on the trajectory of the object, but such that the value of the current deviation of the location of this object from the specified signals software impact location on the trajectory of its movement limited by the value not exceeding the pre-defined for this dynamic object is a valid value (Patent of Russia №2406103. Bull. No. 34, 2010).

The disadvantage of this method, which is the closest to the proposed method lies in the fact that the program effects on each channel motion control of the dynamic object, determine the maximum possible speed of its movement in a predetermined path, adjusted on the basis of information about the current error in the testing of this object specified signals, and do not take into account directly the possible inputs of some of the Executive members in saturation. If the dynamic object is inertial, the rapid elimination of existing and newly identified dynamic errors in the practice of prescribed trajectories that exceed the specified permissible values will be difficult, especially if some of the control channels that object already (so far) are saturated and, because saturated channels do not respond to the incoming control signals.

The objective of the invention is to eliminate the above drawback and, in particular, to ensure the required high dynamic accuracy is extremely fast motion of the dynamic object on the specified path is not given its current dynamic errors, and taking into account the possible saturation and inputs in zone nonlinearity of one or more control channels (actuators). While most rapid movement of the object along an arbitrary trajectory must be such that one or more of its Executive elements were constantly on the final parts of their linear regions in prednsione ensure it is extremely fast motion, in which none of the actuators are not included in an area of significant nonlinear distortion of the incoming input signals or in the zone of saturation, and dynamic accuracy of the control object in the specified linear zones of operation of all actuators is provided already available in each control channel controllers, the parameters of which are designed to provide high-quality (precise) operation of these facilities in these linear zones of the Executive elements.

The technical result of the invention consists in moving on nomicheskogo object with the maximum possible speed on arbitrary trajectories with high dynamic accuracy, provide typical corrective devices, due to the formation of such signals fed to the inputs of each channel control object, which will provide the extremely hard work of one or more actuators in the respective control channels, but only in their linear zones without entering saturation.

The problem is solved in that a method of controlling the motion of the dynamic object on a trajectory, comprising applying to the inputs of systems each channel management software influences that determine the desired location of the object on the trajectory at any point in time, the assessment in each control channel of the current deviation from the desired set of signals software impacts of each channel, each channel corresponding to the current deviation to obtain correction control signals, reducing the values of these current deviations from the signals of program impacts, and the signals of all program impacts into account and used in the formation of each control channel additional corrective control signals to further reduce the current deviations from signals software effects,the difference is that the speed of motion of the dynamic object on the concrete the x parts of the trajectory with simultaneous correction signals software impacts in each control channel set to the maximum possible increasing it until, while in the most loaded in the current time channel (or channels) control of dynamic object value (magnitude) of the input signal, directly proportional to the speed of motion of the dynamic object on the trajectory, yet introduces a corresponding actuating element (s) of the most loaded channel (channels) control in the saturation zone and in the zone nonlinearity his (their) characteristics, and reducing this speed is directly proportional to the magnitude of the input signal exceeding modulo some (of them) maximum permissible value.

Comparative analysis of the characteristics of the claimed solution with the characteristics of the prototype and analogues demonstrates compliance of the claimed solution to the criterion "novelty".

Signs of a distinctive part of the formula of the invention provide a solution to the following functional tasks.

The characteristic speed of the dynamic object to specific sections of the trajectory with simultaneous correction signals software impacts in each control channel set to the maximum possible, increasing it until, while in the most loaded in the current time channel (or channels) control of dynamic object value (magnitude) of the input signal, directly proportional to the speed of motion of the dynamic object in t is actorii, yet introduces a corresponding actuating element (s) of the most loaded channel (channels) control in the saturation zone and in the zone nonlinearity his (their) characteristics, and reducing this speed is directly proportional to the magnitude of the input signal exceeding modulo some (of them) maximum permissible value ensures the production of such software impacts in each control channel, which allow the dynamic object to reach specific sections of the trajectory of its movement as quickly as possible given the limitations of power and the possible distortion of a particular of the most loaded in a given time element (control element) of a specific channel (channels) control, while maintaining the desired dynamic accuracy control.

Because the specified input signal simultaneously with the velocity of motion of the dynamic object on the trajectory decreases in direct proportion to the magnitude of the signal exceeds the modulo some (of them) maximum permissible value, then the value of the velocity of motion of the dynamic object is always limited.

The indication to use the "magnitude of the input signal exceeding modulo some maximum allowable value, ensures the feasibility of sve is both since experimentally it is easy to determine the magnitude of the signal, in which the characteristics of a particular element are already starting to deviate from the linear, for which calculated all the corrective device, and then this element is in the saturation region.

The claimed invention is illustrated in the drawings, where figure 1 shows a diagram of one control channel dynamic object that implements the claimed method; figure 2 schematically shows a nonlinear characteristic element.

In these drawings is shown a device 1 software control; the first 2 and second 3 corrective device; amplifier 4; level 5, characterizing the nonlinear characteristic element 6; the object 7 control; the first 8, second 9 and third 10 adders; line 11 negative feedback; the system control 12 of the i-th channel; block 13 of the capture module.

In addition, in the drawings, the x_psignal software management consider the i-th channel; X_jsignals software controls applied to the j-e channels (i≠j,object 7 control; ε_i- the current error of the considered i-th control channel; x_i- the current value of the output coordinates of the i-th channel of the object 7 governance; U_{WH/sub> and Uwhieaccordingly, the input signals of the element 5 and element 6; Upipositive threshold value of the input signal of the most loaded in the current time of the control channel dynamic object 7 that for each control channel is selected on the basis of the specific element 6; UKicritical value of the modulus of the signal Uwhie.}

As the device 1 of the programme management, the first 2 and second 3 corrective devices, amplifier 4, element 6, the first 8, second 9 and third 10 adders and block 13 sampling module used the known device and the nodes corresponding destination whose technical and operational characteristics correspond to the operating parameters of the object 7 of the control.

Objects 7 controls can be a multi-link manipulator, mobile robot, underwater and aerial vehicles, and other objects with known structures, equipped with an automatic control system, including appropriate measures. Actuators may be electric motors of all degrees of freedom of the robots and manipulators, as well as the propulsion of underwater vehicles and other

It should be noted that in some areas of the movement of the object 7 to set lineinoi spatial trajectory precision, provide corrective devices 2 and 3 drops sharply when high speeds of these objects some U_WHgenerated by the device 1, be such, in which corresponding elements 6 are in areas where their characteristics are essentially nonlinear, or even fall into the zone of saturation. This is due to the fact that the adjusting devices 2 and 3 are calculated only for the linear characteristics of the amplifier and actuators. And when input element in the saturation of the object 7 in General become unmanageable.

To maintain the desired dynamic accuracy of movement of the object 7 with the maximum possible speed in addition to using system 12 combined control (line 11 negative feedback and two typical corrective devices 2 and 3) require additional management software effects (speed) in the respective control channels so that the process control at higher speeds no Executive item 6 in all channels management has not entered not only into the zone of saturation and the zone of strong nonlinear distortion characteristics when to achieve the required accuracy of control of the objects 7 with a large inertia cannot even price re the who reduce software speed, when the error control has already reached a great size and when, while in the saturation or working with highly distorted signals, some control elements 6 have been unable to properly respond to the control signals.

As a result, the need to use information about the approximation of all actuators 6 object 7 to the areas of their nonlinearities (zone of saturation) (see Figure 2). The speed of movement of the object 7 and the trajectory should be reduced prior to the occurrence of a large error control when to decrease it already you will need to spend a lot of time, during which it can continue to grow if some actuators 6 are already logged in saturation.

It is necessary to create such a control method, in which the objects 7 must move with such maximum possible rate at which one or more of its Executive elements 6 (may alternately depending on the trajectory) must always be near a zone nonlinearity or saturation without going far in these areas and quickly in response to the control signals in the respective channels by reducing the programming speed of the object 7 before a significant increase in error control. This allows us to make the proposed method.

Declared with whom persons is as follows.

When the motion of the dynamic object 7 on the set of non-linear spatial trajectory, the permissible error of this movement is provided by the introduction of systems of control 12: two adjustment devices 2 and 3, and lines 11 negative feedback, but only when all its actuators 6 are in the linear zone without entering saturation. The speed of movement of the object 7 of the device 1 of the programme management will increase if all the differencea positive. If some input signals of these elements begin to exceed the threshold U_pi, which start zone nonlinearities or even the zone of saturation of these elements, the speed of movement of the object 7 will decrease the device 1 is directly proportional to the negative value of, thereby improving the dynamic accuracy of control of the object 7.

The method of controlling the motion of the dynamic object on a trajectory, comprising applying to the inputs of systems each channel management software influences that determine the desired location of the object on the trajectory at any point in time, the assessment in each control channel of the current deviation from the desired set of signals software impacts of each channel, use the existence in each channel corresponding to the current deviation to obtain correction control signals, reducing the values of these current deviations from the signals of program impacts, and the signals of all program impacts into account and used in the formation of each control channel additional corrective control signals to further reduce the current deviations from the signals of program impacts, characterized in that the speed of motion of the dynamic object to specific sections of the trajectory with simultaneous correction signals software impacts in each control channel set to the maximum possible, increasing it until, while in the most loaded in the current time channel (or channels) control of dynamic object value (magnitude) of the input signal, directly proportional to the speed of motion of the dynamic object sweep, yet introduces a corresponding actuating element (s) of the most loaded channel (channels) control in the saturation zone and in the zone nonlinearity his (their) characteristics, and reducing this speed is directly proportional to the magnitude of the input signal exceeding modulo some (of them) maximum permissible value.