A torque control method, device, terminal equipment and storage medium

A control method and torque technology, applied in torque/mechanical power control, control/regulation system, non-electric variable control, etc. It can improve the dynamic response performance, ensure the control accuracy, and improve the control effect.

Active Publication Date: 2021-12-10
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a torque control method, device, terminal equipment, and storage medium to solve the problem that the force control al

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  • A torque control method, device, terminal equipment and storage medium
  • A torque control method, device, terminal equipment and storage medium
  • A torque control method, device, terminal equipment and storage medium

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[0024] In the following description, specific details such as specific system structures and techniques are proposed for explanation, such as specific details, such as specific system structures, and techniques. However, it will be apparent to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, a detailed description of well known systems, devices, circuits, and methods is omitted to prevent unnecessary details to prevent the presentation.

[0025] It should be understood that when used in the present application and the appended claims, the term "comprising" indicates the existence described in the description, the overall, steps, operations, elements, and / or components, but does not exclude one or more other Features, overall, steps, operations, elements, components, and / or their set presence or addition.

[0026] It should also be understood that terms "and / or" as used in the pr...

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Abstract

This application is applicable to the technical field of series elastic drives, and provides a torque control method, device, terminal equipment and storage medium, by establishing the nominal dynamic model of the series elastic drive; through the disturbance observer according to the nominal dynamic model, the current moment The current value input by the motor and the output torque of the elastic driver in series at the current moment are used to obtain the real-time disturbance; the feedforward dynamics model is obtained through the feedforward compensator according to the scaling factor of the nominal dynamics model and the moment of inertia of the motor; according to the feedforward The dynamic model and the expected output torque of the series elastic driver obtain the feedforward compensation amount; according to the real-time disturbance amount, the feedforward compensation amount and the ideal current value obtained by the proportional-derivative controller, the expected current value is obtained and output to The motor can improve dynamic response performance, ensure control accuracy and robustness to external disturbances, achieve better control effects, improve stability, and have a simple algorithm.

Description

Technical field [0001] The present application belongs to the technical field of Series Elastic Actuator, SEA, and more particularly to a torque control method, a device, a terminal device, and a storage medium. Background technique [0002] The series elastic drive technology is a power-control joint technology that is realized by a series elastic element (spring, etc.) between the motor and the load, when the motor drives the load movement, first cause elastic deformation to generate elasticity, by elasticity The torque drive load movement can obtain the size of the elastic torque for driving the load by measuring the variable of the elastic element. The elastic element increases the softness and impact resistance of the load, making the load easy to reverse drive, natural passive safety characteristics; at the same time, by detecting the modulus of the elasticity of the elastic element that has been calibrated, there is a high power guarantee. True, in turn, it can achieve acc...

Claims

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Application Information

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IPC IPC(8): G05D17/02
CPCG05D17/02Y02T10/72
Inventor 赵文赵明国熊友军
Owner UBTECH ROBOTICS CORP LTD
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