Motor current dynamic adjustment method

Abstract

The invention discloses a motor current dynamic adjustment method, which comprises that parameters are set through a motor control system; a current regulation triggering mechanism is set through themotor control system; a current loop output protection limit value is set through the motor control system; when the real-time current of the motor is smaller than an overcurrent protection limit value and an overload protection limit value, an alarm is not triggered, and the motor outputs at the maximum torque; when the real-time current of the motor is suddenly increased and the current value exceeds a current protection threshold value, a current regulation mechanism is started, wherein the current loop output current is dynamically limited, and a bus voltage coefficient is regulated to reduce the output capability of the motor within a preset time; and when the real-time current of the motor is smaller than the current protection threshold value, the bus voltage coefficient is regulated, and the current loop output protection limit value is restored to the preset value, so that the motor is restored to the maximum output capacity. According to the invention, the output capability of the motor can be ensured, alarm triggering caused by overlarge instantaneous current can be prevented, and the continuity of the operation process of the robot is effectively prolonged.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a method for dynamically adjusting motor current. Background technique [0002] In the prior art, in the field of robot control, such as bed and chair robots, such robots have a large load. When the robot starts, the motor needs to overcome a large resistance. At this time, the starting current is large, or in the process of sharp turning, The motor still needs to overcome a large resistance. At this time, the output current of the motor is large. These situations can easily trigger the robot to alarm. If the robot alarms frequently, it will affect the continuity of the robot’s operation, so it is difficult to meet the technical requirements and user needs. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a dynamic motor current adjustment method that can not only ensure the output capacity of the motor, but also...

AI Technical Summary

Problems solved by technology

[0002] In the prior art, in the field of robot control, such as bed and chair robots, such robots have a large load. When the robot starts, the motor needs to overcome a large resistance. At this time, the starting current is large, or in the process of sharp turning, The motor still needs to overcome a large resistance. At this time, the output current of the motor is large. These situations can easily trigger the robot to alarm. If the robot alarms frequently, it will affect the continuity of the robot’s operation, so it is difficult to meet the technical requirements and user needs.

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