Unlock instant, AI-driven research and patent intelligence for your innovation.

Improved motor three-ring control method

A technology of three-loop control and current loop, applied in the direction of AC motor control, general control strategy, control system, etc., can solve the problems of long time-consuming, complicated process, etc., and achieve the effect of fast switching and saving switching time

Active Publication Date: 2020-07-14
EFORT INTELLIGENT EQUIP CO LTD +1
View PDF10 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Because the up and down servo is required, the process is more complicated and time-consuming

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Improved motor three-ring control method
  • Improved motor three-ring control method
  • Improved motor three-ring control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0028] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] Such as figure 1 As shown, an improved three-loop motor control method, the specific steps are as follows:

[0030] (1) Add an output limit module that can set the minimum and maximum range after the speed loop in the three-loop control of the motor to judge the output of the speed loop and adjust the output of the speed loop.

[0031] Specifically, the minimum and maximum range formulas of the output limit module in the step (1) are as follows:

[0032]

[0033] In formula (1) V in Is the input of the output limit module, that is the output of the speed loop, V out To output the output value of the limit module, min is the minimum value defined by the output limit module, and max is the maximum value defined by the output limit mo...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to an improved motor three-loop control method. The method comprises the following specific steps: adding an output limiting module capable of setting a minimum value range and amaximum value range to judge the output quantity of a speed loop and adjust the output quantity of the speed loop behind the speed loop in motor three-loop control; according to the mode needing to be switched, setting the range of the output limiting module, and sending the instruction position, the torque feedforward amount and the set range of the output limiting module to the motor through acontroller, so that the motor is switched to the needed mode. Compared with the prior art, rapid switching between a position control mode and a moment control mode can be achieved, and a large amountof switching time is saved; in addition, the output quantity of the speed ring can be dynamically adjusted, and then the response characteristic of robot position control can be controlled.

Description

Technical field [0001] The invention relates to the technical field of robot control, in particular to an improved three-loop motor control method. Background technique [0002] With the development of robotics, the dynamics-based drag teaching function has been widely used. In the drag teaching application, a common drag realization method is to make the motor work in the torque control mode. The controller calculates the torque value required for the static balance of each axis in real time and sends it to the motor as the command torque. , So that the robot can realize self-balancing, so that the operator can realize the dragging of each axis with less force. When the robot is in the teaching and reproduction mode, the motor needs to work in the position control mode to ensure good position accuracy. That is to say, in the application of drag teaching, the motor needs to switch between torque control mode and position control mode frequently. [0003] At present, the motor ge...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): H02P23/00
CPCH02P23/0004Y02T10/72
Inventor 储昭琦冯海生文潇邱海迪毛大超党进肖永强游玮郑龙邢褀琪陈青曹琳
Owner EFORT INTELLIGENT EQUIP CO LTD