A method for high-performance servo control driving of robots
A servo control, high-performance technology, applied in general control systems, program control, digital control, etc., can solve the problems affecting the control performance of the actuator, the current distortion of the actuator, complicated and unreliable communication, etc. The effect of reducing current distortion, improving stability and reliability
Active Publication Date: 2020-12-18
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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Problems solved by technology
The switching device's turn-on time, turn-off time, dead-time setting and device conduction voltage drop will cause nonlinear distortion of the actual output voltage of the switching device compared with the given voltage, which will cause current distortion of the actuator and affect the control of the actuator. performance, making robot motion glitchy and unstable
The traditional servo control driver only makes simple interpolation compensation, the compensation method is simple and inefficient, and cannot meet the requirements of the system
At the same time, the communication mode is only can, which makes the robot's multi-axis mode control complicated and unreliable, and has no certain fault tolerance, which makes the system behave abnormally when the communication is interrupted or a fault occurs.
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[0058] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0059] The invention is a method for high-performance servo control driving of robots, which adds a dead zone control algorithm to the main control unit, corrects the defects of the previous linear interpolation, improves the accuracy of dead zone compensation, and reduces the deformity of the actuator current rate, which is conducive to the smooth control of the robot; it can ensure the real-time communication of each axis and the reliability of the communication during the robot's motion or working phase, and at the same time, it adds a highly reliable dead zone compensation algorithm to reduce the execution time. The abnormal current of the mechanism ensures the smooth progress of the system control drive and the stable work of the robot.
[0060] Such as figure 1 As shown, a high-performance servo control drive system for a robot...
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The invention relates to a high-performance servo control driving method for a robot. A dead zone control algorithm is added to a main control unit, so that the defects of previous linear interpolation are corrected, the dead zone compensation precision is improved, the distortion rate of the current of an executing mechanism is reduced, and smooth control of the robot is facilitated. According tothe method, the real-time performance of communication of all shafts of the robot and the reliability of communication can be guaranteed at the moving or working stage of the robot. Meanwhile, a high-reliability dead-zone compensation algorithm is added, so that current distortion of an executing mechanism is reduced, the stable execution of the system control driving is guaranteed and the robotworks stably.
Description
technical field [0001] The invention relates to a method for high-performance servo control drive of a robot, belonging to the technical fields of robot control drive and servo control drive. Background technique [0002] At present, the servo motor refers to the engine that controls the operation of mechanical components in the servo system, and is an auxiliary motor indirect transmission device. It can control the speed and position accuracy very accurately, and can convert the voltage signal into torque and speed to drive the control object. With the upgrading of the manufacturing industry and the rapid rise of emerging industries, intelligent manufacturing and flexible production have become a development trend. In order to meet the needs of this factory automation, intelligent equipment (such as industrial robots, high-end CNC machine tools, etc.) has been more and more used. [0003] In practical applications, since the structure of the robot is connected in series, ...
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IPC IPC(8): G05B19/414
CPCG05B19/4142G05B2219/34013
Inventor 李鹏飞王燕波郭喜彬赵青杨涛刘书选
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS