Power-stage semi-physical simulation system of robot joint controller

Abstract

Provided in the invention is a power-stage semi-physical simulation system of a robot joint controller. The system is composed of an upper computer, a real-time robot joint simulation system, a CAN communication board card, a to-be-tested motor driver, and a motor power simulation device. The upper computer calculates a robot joint position given signal and outputs the signal to the to-be-tested motor driver through the CAN communication board; the to-be-tested motor driver calculates a control voltage, receives the robot joint position given signal and an actual position feedback signal, anddetermines closed-loop control parameter; the real-time robot joint simulation system carries out real-time simulation of a robot joint control motor and a load to obtain an actual position feedback signal of the robot joint, an adjustment current and a current load; and the motor power simulation device obtains an adjustment voltage, superposes the adjustment voltage with the control voltage of the to-be-tested motor driver, and then outputs the superposed voltages to the real-time robot joint simulation system. Therefore, the variable load performance testing and simulation of the servo system are completed, so that the good simulation of the semi-physical simulation accuracy and dynamic performance of the robot is realized.

Description

technical field [0001] The invention relates to a power level semi-physical simulation system of a robot joint controller, which belongs to the field of semi-physical simulation. Background technique [0002] At present, for the semi-physical simulation of the motor control system, the signal-level model simulation technology is a mature test method, which has been widely used in many industries such as automobiles, aviation, and aerospace at home and abroad. The key technology of signal-level simulation is the real-time simulation system. The motor signal-level simulation test technology has the advantages of flexible configuration, no safety hazard, high cost performance, and fast completion of control law testing. It can cover the testing and verification requirements of most motor control systems. However, because the signal level test can only realize the test of the control unit, in the real-time simulation system of variable load joints for multi-joint robots, the var...

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Problems solved by technology

However, since the signal level test can only realize the test of the control unit, in the real-time simulation system of variable load joints for multi-joint robots, the variable load performance test and simulation of the servo system cannot be well completed, thus affecting the semi-physical simulation accuracy of the robot and Kinetics cannot be modeled well

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