Robot servo torque control method based on speed control mode

A speed control and controller technology, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of long design and development cycle and high cost, and achieve the effect of avoiding speeding and reducing costs

Active Publication Date: 2020-02-21
SIASUN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In view of the problems of long design and development cycle and relatively high cost in the control of servo motor torque in the prior art, the present invention provides a relatively low-cost robot servo torque control method based on speed control mode, so as to realize the control of servo motor Constant torque output

Method used

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  • Robot servo torque control method based on speed control mode
  • Robot servo torque control method based on speed control mode
  • Robot servo torque control method based on speed control mode

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0017] A robot servo torque control method based on speed control mode, including the speed control system loop, the improvement is: by adding a saturator with adjustable threshold after the PI controller of the speed control system loop, when the PI control When the control output of the controller reaches the upper and lower limit thresholds of the saturator, the speed control mode enters the constant torque control mode to realize the constant torque output of the servo motor.

[0018] The servo motor torque control method in the prior art is to add a torque sensor in the control loop to achieve torque control, such as figure 1 As shown, the torque sensor is used to measure the torque output by the servo motor, and the negative feedback is used to compare with the torque given value, and the control error is input into the torque controller for calculation to produce the motor control quantity, so as to realize the error-free control of the servo system torque steady state ...

Embodiment 2

[0021] On the basis of Example 1, the threshold value of the saturator is set to change with the change of the expected given torque value, and the clockwise rotation of the servo motor is defined as positive, and the counterclockwise rotation is negative, and the speed given by the speed control system is The value and saturator threshold are set to satisfy the following relationship:

[0022]

[0023] where T up and T down are the upper and lower limit thresholds of the saturator, W set is the speed given value of the speed control system, T * and|W limit |respectively, the torque value and speed boundary limit value expected by the user, |W limit | is the maximum speed value to prevent the servo motor from flying, T limit It is the reverse control torque value that can realize the speed control in time when the servo motor speeds up, T limit Not limited by the saturator; the question mark is a conditional operator, which means that the value on both sides of the co...

Embodiment 3

[0027] On the basis of Example 2, when the user expects the servo system to output positive torque, the upper limit threshold T of the saturator in the speed control system up set to T * , the lower threshold T of the saturator down set to -T limit , speed given value W set set to |W limit |, the speed deviation ΔW input to the PI controller is positive, after the integral action of the PI controller, the output of the PI controller is continuously accumulated, and finally exceeds the upper limit threshold T of the saturator up , the speed control system controls the output size of the servo motor to be T * constant torque.

[0028] In this embodiment, when the user expects the servo system to output positive torque, according to the formula in Embodiment 2, it can be known that the upper limit threshold T of the saturator in the speed control system up Set to user desired given torque value T * , the saturator lower threshold T down Set as reverse control torque value...

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PUM

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Abstract

The invention relates to a robot servo torque control method based on a speed control mode. A speed control system loop is included. A saturator capable of adjusting the threshold is additionally arranged behind a PI controller of the speed control system loop, when the controlling quantity output by the PI controller reaches the upper threshold and the lower threshold of the saturator, a speed control system enters a constant torque control mode from a speed control mode, and therefore constant torque output of a servo motor is achieved. By means of the robot servo torque control method basedon the speed control mode, control over the servo torque of a robot is achieved by means of the speed control mode, the cost for achieving torque control is reduced, meanwhile, smooth conversion between the torque control mode and the speed control mode is completed, and the phenomenon of galloping happening to robot moving is avoided.

Description

technical field [0001] The invention belongs to robot control technology, in particular to a robot servo torque control method based on speed control mode. Background technique [0002] The way to achieve torque control in the existing servo system is generally to design the torque control loop separately, and add a torque sensor in the torque control loop, such as figure 1 As shown, the torque control is accomplished by tracking the given torque command. The torque sensor is used to measure the output torque of the servo motor, and the negative feedback is used to compare with the given torque, and the control error is input to the torque controller to calculate the control amount of the production motor, so as to realize the error-free control of the torque steady state of the servo system. Designing the torque control loop separately not only increases the development time, but the additional torque sensor also increases the cost of the robot. In a word, the control of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1651
Inventor 杨跞袁小敏程小猛陈宏伟许楠
Owner SIASUN CO LTD
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