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Method for Estimating Moment of Series Viscoelastic Actuator Based on Double Extended Kalman Filter

An extended Kalman and viscoelastic technology, which is applied to instruments, power measurement, torque measurement, etc., can solve problems such as the influence of moment of inertia, friction torque error, model error, etc., and achieve the effect of enhancing robustness

Active Publication Date: 2022-04-01
无锡智动力机器人有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In order to solve the existing problems in the prior art: the torque estimation method based on the viscoelastic body has a large error in estimating the torque under factors such as temperature change, Marlins effect, and natural aging; the torque estimation method based on the motor current is at zero speed , commutation, angular velocity close to the nonlinear region of Stribeck velocity, and in the state of large angular acceleration, it is greatly affected by the friction torque error and moment of inertia, which makes the model error unacceptable

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  • Method for Estimating Moment of Series Viscoelastic Actuator Based on Double Extended Kalman Filter
  • Method for Estimating Moment of Series Viscoelastic Actuator Based on Double Extended Kalman Filter
  • Method for Estimating Moment of Series Viscoelastic Actuator Based on Double Extended Kalman Filter

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Embodiment Construction

[0069] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0070] The structure of the series viscoelastic actuator involved in the present invention is as image 3 As shown, it consists of a motor 1, a harmonic reducer 2, an input angle encoder 3, a viscoelastic body 4, an output angle encoder 5, a dynamic torque sensor 6, a single-chip microcomputer and a host computer.

[0071] The single-chip microcomputer is used as the main controller of the system to control the speed and torque of the motor 1.

[0072] The single-chip microcomputer collects the pulse signals of the input angle encoder 3 and the output angle encoder 5, and solves the angle θ 1 and θ 2 , thus obtaining the deformation θ of the viscoelastic body s = θ 2 -θ 1 , the absolute angular position of the output end of the reducer θ=θ 1 , the output speed of the reducer is derived from the angular position The rate of change of deformation of vis...

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Abstract

The invention discloses a method for estimating the torque of a series viscoelastic actuator based on double extended Kalman filtering, belonging to the technical field of series viscoelastic actuators. Including the following steps: (1) SVA torque estimation based on viscoelastic body; (2) SVA torque estimation based on motor current; (3) torque fusion based on double extended Kalman filter: the torque fusion process includes two extended Kalman filters One is the state estimator EKF1, the other is the parameter estimator EKF2, and the two estimators operate in cascade; the state estimator EKF1 estimates the moment state based on the moment estimation result of step (1), and the parameter estimator EKF2 uses the step The moment estimation result of (2) is used as the basis to correct the viscoelastic parameters. The method provided by the invention can effectively estimate the torque without installing a torque sensor, realize that the error is less than 0.03N·m under any circumstances, and enhance the robustness of the system.

Description

technical field [0001] The invention belongs to the technical field of series viscoelastic actuators, and relates to a method for estimating the moment of the series viscoelastic actuator, in particular to a method for estimating the moment of the series viscoelastic actuator based on double extended Kalman filter (DEKF). Background technique [0002] With the advent of the Industry 4.0 era, the robot industry has developed rapidly. All kinds of robots continue to emerge and serve different industries, improving the intelligence of production and greatly promoting the development of productivity. Robots replace humans to complete many repetitive and dangerous tasks, while improving production efficiency and reducing factory accident rates, it also solves the labor shortage problem brought about by the aging population to a certain extent. With the advancement of science and technology, robots will play an increasingly important role in human production and life. Due to the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L3/00G01B21/32
CPCG01L3/00G01B21/32
Inventor 庞牧野陈海波唐必伟韦辉向馗朱国荣胡琴
Owner 无锡智动力机器人有限公司