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Method and device for implementing intrinsically safe servo system

An intrinsically safe servo system technology, applied in the realization field of intrinsically safe servo system, can solve problems such as unusable, limited detection range, difficult to set sensitivity and protection threshold, etc., to ensure safety and improve post-event safety Effect

Inactive Publication Date: 2019-03-22
SHANGHAI SIGRINER STEP ELECTRIC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At present, most of the mainstream intrinsic safety research needs to be realized by installing a multi-angle vector moment sensor at the end of the robot, which limits the detection range and limits the practical application.
In addition, some devices use motor current or feedback torque to detect collisions, but due to factors such as time-varying motor load, uncertain load torque, and large motor current fluctuation range, it is difficult for users to set more appropriate sensitivity and protection thresholds , or in cases where the installed load is uncertain, it is not even possible to use

Method used

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  • Method and device for implementing intrinsically safe servo system
  • Method and device for implementing intrinsically safe servo system
  • Method and device for implementing intrinsically safe servo system

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Embodiment Construction

[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, various implementation modes of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized.

[0019] The servo system is an automatic control system that enables the output of the object's position, orientation, and state to follow any change in the input (or given value). Usually, the servo system consists of three parts: the controller, the power drive device, and the motor. Wherein, the controlle...

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Abstract

The invention relates to the technical field of servo systems, and discloses a method and a device for implementing an intrinsically safe servo system. The method comprises: calculating a given command acceleration according to an issued position command; acquiring and recording an encoder feedback value of each sampling period in real time; calculating feedback acceleration of the current periodand acceleration of the previous period according to the encoder feedback value; calculating an acceleration sudden change value, comparing the acceleration sudden change value with a preset acceleration sudden change threshold, and combined with the given command acceleration and the feedback acceleration and the feedback current, determining whether the servo system collides during operation, and stopping operation of the servo system when collision occurrence is determined. The method realizes sensorless safety elastic collision by adopting a self-adaptive composite control technology, andrealizes safe operation of a motor based on current coupling relationship of encoder and the motor, thereby realizing intrinsic safety of the servo system.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of servo systems, and in particular to an implementation method and device of an intrinsically safe servo system. Background technique [0002] Intrinsic safety refers to making the production equipment or production system itself safe through design and other means. Specifically include: fail-safe, that is, when the system fails, machines and equipment can automatically prevent operating errors or accidents; and fail-safe, even if due to human error, the equipment system can automatically eliminate, switch or safely stop the operation , so as to ensure the safety of people, equipment and property. [0003] At present, the research of high-precision AC servo system has attracted widespread attention in the control field, and has become a research hotspot in the field of automation. As the core of automation equipment such as robots, the servo system determines the precise, stable ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P23/00
CPCH02P23/0022
Inventor 李虎修丁信忠姜荣辉刘虎付博周美娟
Owner SHANGHAI SIGRINER STEP ELECTRIC
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