A method for dynamic regulation of motor current

Abstract

The invention discloses a method for dynamically adjusting motor current. The method includes: setting parameters through a motor control system; setting a current adjustment trigger mechanism through the motor control system; setting a current loop output protection limit through the motor control system; when the real-time current of the motor When it is less than the over-current protection limit and overload protection limit, the alarm will not be triggered, and the motor will output at the maximum torque; when the real-time current of the motor increases suddenly and the current value exceeds the current protection threshold, the current adjustment mechanism will be activated: dynamically limit the output current of the current loop , to adjust the bus voltage coefficient to reduce the output capability of the motor within the preset time; when the real-time current of the motor is less than the current protection threshold, adjust the bus voltage coefficient to restore the current loop output protection limit to the preset value, so that the motor Return to maximum output capability. The invention can not only ensure the output capacity of the motor, but also prevent the alarm from being triggered due to excessive instantaneous current, thereby effectively prolonging the continuity of the robot's running process.

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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