Motor stall protection method for coexisting-cooperative-cognitive robot

Abstract

The invention discloses a motor stall protection method for a coexisting-cooperative-cognitive robot. A rotor position monitoring module and a stall processing module are arranged on a motor controller; the rotor position monitoring module collects rotor position signals at intervals of a certain time and judges whether the position of a rotor changes through the change of the rotor position signals so as to judge whether a motor normally operates or stalls; and after it is detected that the position of the rotor no longer changes, the stall processing module starts to operate and enters a corresponding protection process. According to the motor stall protection method for the coexisting-cooperative-cognitive robot of the invention, whether the rotation of the rotor exceeds a certain rangewithin a certain period of time is identified, so that whether the motor is in a stall state can be judged. With the method adopted, any additional detection circuit and other hardware are not required to be adopted; it only needs to additionally adopt a corresponding software program on the basis of the existing hardware of the controller, so that a stall judgment function can be realized with early no cost. The method is flexible; and different software can be configured according to the different application conditions of the motor, so that a stall protection action can be completed fast and accurately.

Description

technical field [0001] The invention belongs to the technical field of robot application, and in particular relates to a motor stall protection method for a human-inclusive robot. Background technique [0002] The power drive of the human-inclusive robot mainly comes from the permanent magnet synchronous motors of each joint. When the motor cannot rotate due to a locked rotor, the current of the motor is very large, and it is very easy to burn out the motor, so it is necessary to set up a locked rotor protection. The traditional motor stall protection usually first automatically judges whether the motor is in a complete stall state, running state or motor short circuit state when the overcurrent occurs. , to ensure the safety of the controller and battery. This traditional motor stall protection needs to rely on the motor winding current information obtained by the current sampling circuit in the controller. After the winding current signal is collected by the hardware circ...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the defects in the motor protection structure existing in the prior art, such as high product precision requirements, poor real-time protection, complex controller structure and high cost, the present invention provides a motor stall protection method that does not rely on current detection. The response speed of motor stall protection is greatly improved, and the control is simple and easy to apply

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