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Calibration method, system and terminal equipment for proportional relationship between torque and current of motor

A proportional relationship and motor current technology, applied in the direction of motor generator testing, measuring electricity, measuring electrical variables, etc., can solve the problems of high cost, difficult to realize in batches, and high cost

Active Publication Date: 2021-06-29
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a calibration method, system and terminal equipment for the proportional relationship between the torque and the current of the motor, so as to solve the problem of using a dynamometer with a high cost and a complex structure for motor calibration in the prior art. Problems that lead to high cost and difficult mass realization

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  • Calibration method, system and terminal equipment for proportional relationship between torque and current of motor
  • Calibration method, system and terminal equipment for proportional relationship between torque and current of motor
  • Calibration method, system and terminal equipment for proportional relationship between torque and current of motor

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Embodiment 1

[0037] figure 2 It shows the realization flowchart of the calibration method of the proportional relationship between the torque and current of the motor provided by an embodiment of the present invention. For the convenience of explanation, only the parts related to the embodiment of the present invention are shown, and the details are as follows:

[0038] Such as figure 2 As shown, a method for calibrating the proportional relationship between torque and current of a motor provided in an embodiment of the present invention includes:

[0039] In step S101, the output shaft of the motor is controlled to drive the mass block to rotate at a preset speed according to a first preset movement track, and a first motor current during the rotation process is collected.

[0040] In step S102, the output shaft of the motor is controlled to drive the mass to rotate at the preset speed according to the second preset movement trajectory, and the second motor current during the rotation ...

Embodiment 2

[0095] Such as Figure 4 As shown, an embodiment of the present invention provides a proportional relationship calibration system 100 for the torque and current of the motor, which is used to perform figure 2 The method step in the corresponding embodiment, it comprises:

[0096] The first rotation control module 110 is configured to control the output shaft of the motor to drive the mass block to rotate at a preset speed according to a first preset movement track, and collect the first motor current during the rotation.

[0097] The second rotation control module 120 is used to control the output shaft of the motor to drive the mass block to rotate at the preset speed according to the second preset movement track, and collect the second motor current during the rotation process, the first The two preset moving tracks coincide with the first preset moving track and have opposite directions.

[0098] The first torque calculation module 130 is configured to calculate the firs...

Embodiment 3

[0124] Figure 6 It is a schematic diagram of a terminal device provided by an embodiment of the present invention. Such as Figure 6 As shown, the terminal device 6 of this embodiment includes: a processor 60 , a memory 61 , and a computer program 62 stored in the memory 61 and operable on the processor 60 . When the processor 60 executes the computer program 62, it realizes the steps in each embodiment as described in Embodiment 1, for example figure 2 Steps 101 to 105 are shown. Alternatively, when the processor 60 executes the computer program 62, it realizes the functions of each module / unit in each system embodiment as described in Embodiment 2, for example Figure 4 The functions of the modules 110 to 150 are shown.

[0125] The terminal device 6 may be computing devices such as smart phones, desktop computers, notebooks, tablet computers, palmtop computers, and cloud servers. The terminal device may include, but not limited to, a processor 60 and a memory 61 . T...

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Abstract

The invention discloses a method, system and terminal equipment for calibrating the proportional relationship between torque and current of a motor. The method for calibrating the proportional relationship includes: controlling the output shaft of the motor to drive the mass block to rotate at a preset speed according to a first preset moving track , and collect the first motor current during the rotation process; control the output shaft of the motor to drive the mass block to rotate at a preset speed according to the second preset movement trajectory, and collect the second motor current during the rotation process, the second preset movement trajectory It coincides with the first preset movement trajectory and is in the opposite direction; calculate the first motor torque when the motor rotates according to the first preset movement trajectory; calculate the second motor torque when the motor rotates according to the second preset movement trajectory; thus obtain the torque and The proportional relationship between the currents. The invention can calibrate the proportional relationship between the moment of the motor and the current, and the method is simple and easy to operate on the motor in large quantities.

Description

technical field [0001] The invention belongs to the technical field of motor calibration, and in particular relates to a calibration method, system and terminal equipment for the proportional relationship between torque and current of a motor. Background technique [0002] The robot technology develops rapidly, in order to realize the action of the robot, it is necessary to set the joints on the robot. The combination of permanent magnet synchronous motor and harmonic reducer is the main way to realize robot joints at present. When the position mode is used to track the movement trajectory of the joints, it is often necessary to increase the tracking accuracy and stability of the system by increasing the current feedforward compensation, and one of the key technologies of the current feedforward compensation is to determine the relationship between the motor torque and the motor current. Relationship. In order to facilitate engineering implementation, it is usually set tha...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01R31/34
CPCG01R31/343
Inventor 熊友军董浩王岳嵩赵明国
Owner UBTECH ROBOTICS CORP LTD
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