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Method for adjusting driving motor speed ring of robot

A technology of transmission motor and adjustment method, which is applied in the direction of electric speed/acceleration control, etc., can solve the problems of large motor load vibration and high motor load rate, and achieve the effects of reducing load vibration, reducing load rate, and minimizing errors

Inactive Publication Date: 2017-05-10
HECHI UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for adjusting the speed loop of the robot transmission motor to solve the technical problems in the prior art that the speed loop parameters do not match the control unit control parameters, which will cause excessive vibration of the motor load and high load rate of the motor

Method used

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Embodiment Construction

[0015] Embodiments of the present invention will be described in detail below.

[0016] A preferred embodiment of the present invention provides a method for adjusting the speed loop of a robot transmission motor, comprising the following steps:

[0017] a. Preliminarily set the position loop gain of the motor, and start setting the speed loop parameters of the motor on the basis of the position loop gain.

[0018] b. First, set the integral of the speed loop to the maximum to disable it, and set the gain of the speed loop to the minimum.

[0019] c. Then, gradually increase the gain of the speed loop, so that the feedback speed curve of the motor and the command curve gradually match as much as possible; the command curve is the input speed after the driver of the motor converts the given speed according to the PID parameters.

[0020] d. Finally, gradually reduce the integral of the speed loop, so that the feedback speed curve of the motor further matches the command curve....

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Abstract

The invention discloses a method for adjusting a driving motor speed ring of a robot. The method comprises: a position ring gain of a motor is initially set and a speed ring parameter of the motor is started to be set on the basis of the position ring gain; an integral of the speed ring is set to be maximum and thus the speed ring fails to work, and the speed ring gain is set to be minimum; the speed ring gain increases gradually, so that a feedback speed curve of the motor and a command curve matches gradually to the greatest extent; and then the speed ring integral decreases gradually, so that the feedback speed curve of the motor matches the command curve further. With the method, the motor speed ring is adjusted and thus the practical rotating speed of the motor matches the instruction driving speed to the greatest extent, so that the error is minimized and the load vibration of the motor can be reduced. Besides, the load rate of the motor also can be reduced.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method for adjusting a speed loop of a robot transmission motor. Background technique [0002] The technical research and development of robots has been developed for decades, and the main applications are concentrated on industrial robots, which replace people in dangerous, precise or monotonous repetitive operations at the production site. In recent years, due to the increase in labor costs and the maturity of robot-related technologies, robots are increasingly used in various fields. [0003] The motor is the power output and control component of the robot, which can not only realize the power output, but also control the precise positioning control, speed control and torque control of each component. It is widely used in automatic robots in packaging, printing, robotic arms, injection molding and other industries. The adjustment of motor parameters is mainly to adju...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 彭建盛彭金松
Owner HECHI UNIV
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