A Spatial Flexible Arm Drive Controller

Abstract

The present invention discloses a spatial flexible arm drive controller, which includes a secondary power supply and power distribution module, a central processor module, a motor drive module, a motor control module, and a resolver control module. Through the cooperation of each module, the coordinated control of the motor set is realized, providing functions such as path planning, task scheduling, resource management, power supply and distribution, and motor drive control for the flexible arm. The present invention has the synchronous drive control function of the flexible arm joint motor, has the redundant design function of arbitration and generator tripping data recovery, and has the on-board 1553B interface and teleoperation interface functions.

Description

Technical Field

[0001] The present invention relates to the field of manipulator control, and particularly to the overall circuit architecture design of the drive control of a spatial flexible arm. Background Art

[0002] The drive controller is the control center of the manipulator and is crucial. Currently, on the market, the controller and the driver of the manipulator are usually separated, and the motor driver is integrated in the manipulator joint. However, the flexible manipulator has the characteristics of multi-joint and multi-degree-of-freedom control, with a total of 15-way motor drive control. Separating the driver and the controller will result in the disadvantages of large volume and heavy weight, and it cannot meet the requirements of space loads. At the same time, there is no dedicated redundancy design for the manipulator controller and driver on the market, and the reliability is relatively low, and it also cannot adapt to the space environment.

[0003] To solve the above problems, the present invention provides a highly reliable and fully modular spatial flexible arm drive controller, which provides functions such as path planning, task scheduling, resource management, power supply and distribution, and motor drive control for the flexible arm. Summary of the Invention

[0004] Aiming at the problems of large volume and low reliability of the current flexible arm driver and controller, the present invention proposes a spatial flexible arm control driver that has the synchronous drive control function of the flexible arm joint motor, has the redundancy design function of arbitration and data recovery for cutting machines, and has the functions of on-board 1553B interface and teleoperation interface.

[0005] To achieve the above object, the present invention proposes a spatial flexible arm control driver, which is a fully modular design, including a secondary power supply and power distribution module, an arbitration redundancy backup module, a motor drive module, a motor control module, and a resolver control module that are independent of each other; the secondary power supply and power distribution module is connected to each module of the controller and provides the secondary power required by each module; the central processing unit module is connected to the motor control module, and after receiving and decoding external instructions, it issues motor control instructions to the motor control module; the motor control module is also respectively connected to the motor drive module and the resolver control module. After receiving the motor control instructions, the motor control module issues motor drive control instructions to the motor drive module and issues control signals to the resolver control module. After receiving the control signals, the resolver control module controls the motor group to generate a resolver; the motor drive module is also connected to the motor group. The motor drive module receives the motor drive control instructions, amplifies the motor drive instructions into motor drive signals, and transmits the signals to the motor group to drive the motor group.

[0006] Preferably, the resolver control module sends the resolver data of the motor set to the motor control module, and the motor control module sends the resolver data to the central processor module; the central processor module calculates the current control state of the motor set according to the resolver data.

[0007] Preferably, the spatial flexible arm drive controller further includes an arbitration redundant backup module, which is connected to the central processor module and can receive and store the flexible arm control data sent by the central processor module; the flexible arm control data includes the resolver data and the current control state of the motor set.

[0008] Preferably, the central processor module includes a central processor main module and a central processor backup module with exactly the same functions, and only the central processor main module or the central processor backup module works at the same time; the current working module of the central processor module sends the flexible arm control data to the arbitration redundant backup module.

[0009] Preferably, the current working module of the central processor module can be switched through the arbitration redundant backup module for arbitration and generator tripping, and at the same time, the arbitration redundant backup module sends the stored flexible arm control data to the current working module of the switched central processor module.

[0010] Preferably, the motor set is an N-channel hall-less DC brushless motor measured by a resolver; the motor drive signal includes N-channel motor drive signals; the resolver control module controls the N motors in the motor set at the same time.

[0011] Preferably, the arbitration redundant backup module includes an arbitration main module and an arbitration backup module with the same functions, and only the arbitration main module or the arbitration backup module works at the same time. When the currently working module fails to work properly, it switches to another module with exactly the same functions.

[0012] Preferably, the motor control module, the motor drive module, and the resolver control module include two sets of modules with the same functions: the motor control main module, the motor drive main module, and the resolver control main module. After the motor control main module sends the main motor drive control instruction to the motor drive main module and sends the main control signal to the resolver control main module, the motor drive main module sends the main motor drive signal to the motor set, and the resolver control main module controls the resolver of the motor set; the motor control backup module, the motor drive backup module, and the resolver control backup module. After the motor control backup module sends the backup motor drive instruction to the motor drive backup module and sends the backup control signal to the resolver control backup module, the motor drive backup module sends the backup motor drive signal to the motor set, and the resolver control backup module controls the resolver of the motor set; only one set of modules works at the same time.

[0013] Preferably, when a problem occurs in one of the motor control main module, the motor drive main module, and the resolver control main module, the system switches to the motor control backup module, the motor drive backup module, and the resolver control backup module; when a problem occurs in one of the motor control backup module, the motor drive backup module, and the resolver control backup module, the system switches to the motor control main module, the motor drive main module, and the resolver control main module.

[0014] Preferably, the spatial flexible arm drive controller further includes a motor drive isolation module, which is arranged between the motor drive module and the motor set; after the motor drive signal passes through the motor drive isolation module, it is then transmitted to the motor set.

[0015] Preferably, the motor drive isolation module includes a relay. When switching between the motor control main module, the motor drive main module, and the resolver control main module and the motor control backup module, the motor drive backup module, and the resolver control backup module, the main motor drive signal and the backup motor drive signal are selectively output through the relay.

[0016] In summary, the spatial flexible arm drive controller proposed by the present invention can achieve spatial flexible arm drive control and has the following advantages:

[0017] (1) Adopting a full modular design, each module has independent functions and does not affect each other, and can be independently replaced;

[0018] (2) Adopting a commutation control technology for brushless DC motors without Hall by means of a resolver for position measurement, which occupies a small volume and has a small weight, and has the function of synchronous drive control for the flexible arm joint motors;

[0019] (3) A fully redundant spatial flexible arm drive control circuit that eliminates all single points in the circuit and has a redundant design function for arbitration cut-off data recovery, with high reliability. Description of the Drawings

[0020] Figure 1 It is an internal functional architecture diagram of a single-machine circuit of a spatial flexible arm control driver according to an embodiment of the present invention. Detailed Embodiments

[0021] The following will combine with the Figure 1 in the embodiments of the present invention to elaborate in detail on the technical solutions, structural features, achieved objectives, and effects in the embodiments of the present invention.

[0022] It should be noted that the attached drawings are in a very simplified form and all use non-precise scales, only for the purpose of conveniently and clearly assisting in explaining the embodiments of the present invention, rather than being used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have technical substantial significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0023] It should be noted that in the present invention, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements clearly listed, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device.

[0024] A spatial flexible arm drive controller, as Figure 1 shown, is a fully modular design, including a secondary power supply and power distribution module, a central processor module 1, a motor drive module 4, a motor control module 3, and a resolver control module 5; the secondary power supply and power distribution module is connected to each module of the controller and provides the secondary power required by each module; the central processor module 1 is connected to the motor control module 3 and has a 1553B interface and a teleoperation interface. After decoding the 1553B instruction or the teleoperation instruction, the central processor module 1 issues a motor control instruction to the motor control module 3, and the motor control instruction includes an instruction for controlling the motor drive and an instruction for controlling the motor position; the motor control module 3 is also respectively connected to the motor drive module 4 and the resolver control module 5. After receiving the motor control instruction, the motor control module 3 issues a motor drive control instruction to the motor drive module 4 and issues a control signal to the resolver control module 5; after receiving the control signal, the resolver control module 5 controls the resolver of the motor set to occur, so as to realize the position adjustment of the motor set; the motor drive module 4 is also connected to the motor set. The motor drive module 4 receives the motor drive control instruction, amplifies the motor drive instruction into a motor drive signal, and transmits the motor drive signal to the motor set to drive the motor set; the functions of each module are independent of each other and do not affect each other, and can be independently replaced.

[0025] To reduce the occupied space and simplify the structure, a 15-channel hall-less DC brushless motor with resolver position measurement is adopted as the motor set in this embodiment. Therefore, the motor drive signals generated by the motor drive module 4 include 15 motor drive signals, namely the 1st motor drive signal, the 2nd motor drive signal... the 14th motor drive signal and the 15th motor drive signal, which are respectively transmitted to the joint motors of channels 1 to 15 to drive the motors; the resolver control module 5 simultaneously controls the positions of the 15 motors in the motor set.

[0026] The resolver control module 5 can realize the excitation signal of the resolver and the positive and negative cosine filtering of the returned signal, and adopts the hall-less DC brushless motor commutation control technology with the help of resolver position measurement, so as to control the resolver of the 15 motors; at the same time, the resolver control module 5 sends the resolver data of the 15 motors to the motor control module 3, and the motor control module 3 feeds back the resolver data to the central processor module 1, and the central processor module 1 calculates the current control states of the 15 motors according to the resolver data.

[0027] The spatial flexible arm drive controller further includes an arbitration redundant backup module 2, which is connected to the central processor module 1; the central processor module 1 includes a central processor main module and a central processor backup module with exactly the same functions, and only the main module or the backup module works at the same time; the current working module (the central processor main module or the central processor backup module) of the central processor module 1 sends the flexible arm control data to the arbitration redundant backup module 2, and the arbitration redundant backup module 2 can receive and backup store the flexible arm control data, and the flexible arm control data includes the resolver data and the current control states of the 15 motors; when the current working module (the central processor main module or the central processor backup module) of the central processor module 1 needs to be switched, the arbitration redundant backup module 2 arbitrates the machine switching, and the current working module can be switched (switched to the central processor backup module or the central processor main module), and at the same time, the arbitration redundant backup module 2 sends the stored flexible arm control data to the switched current working module.

[0028] The arbitration redundant backup module 2 also includes an arbitration main module and an arbitration backup module with the same functions, and only the arbitration main module or the arbitration backup module works at the same time. When the currently working module (the arbitration main module or the arbitration backup module) cannot work normally, it will be switched to another module with exactly the same functions (the arbitration backup module or the arbitration main module).

[0029] The motor control module 3, the motor drive module 4, and the resolver control module 5 include two sets of modules with the same functions, namely the main motor control module, the main motor drive module, and the main resolver control module, as well as the backup motor control module, the backup motor drive module, and the backup resolver control module. Only one set of the motor control module 3, the motor drive module 4, and the resolver control module 5 works at the same time. That is, after the main motor control module receives the motor control instruction sent by the central processor module 1 (main module or backup module), it sends the main motor drive control instruction to the main motor drive module and sends the main control signal to the main resolver control module. The main motor drive module sends the main motor drive signal to the motor set after receiving the main motor drive control instruction, and the main resolver control module controls the resolver of the motor set after receiving the main control signal. Or after the backup motor control module receives the motor control instruction sent by the central processor module 1 (main module or backup module), it sends the backup motor drive control instruction to the backup motor drive module and sends the backup control signal to the backup resolver control module. The backup motor drive module sends the backup motor drive signal to the motor set after receiving the backup motor drive control instruction, and the backup resolver control module controls the resolver of the motor set after receiving the backup control signal. When a certain module among the main motor control module, the main motor drive module, and the main resolver control module has a problem, it switches to the backup motor control module, the backup motor drive module, and the backup resolver control module. Similarly, when a certain module among the backup motor control module, the backup motor drive module, and the backup resolver control module has a problem, it switches to the main motor control module, the main motor drive module, and the main resolver control module.

[0030] The spatial flexible arm drive controller further includes a motor drive isolation module 6. The motor drive isolation module 6 includes a relay, which is arranged between the motor drive module 4 and the motor set. When the main motor drive signal (or backup motor drive signal) drives the motor set, the main motor drive signal (or backup motor drive signal) first passes through the motor drive isolation module 6 and then is sent to the motor set. When the motor control module 3, the motor drive module 4, and the resolver control module 5 are working properly, the motor drive isolation module 6 does not process the motor drive signal. When the main and backup switching of the motor control module 3, the motor drive module 4, and the resolver control module 5 is performed, the relay can be used to select the main motor drive signal or the backup motor drive signal to be output after the switching, so as to realize the isolation of the main motor drive signal and the backup motor drive signal, avoid the mutual influence between the main motor drive signal and the backup motor drive signal, and enable the motor set to receive the correct motor drive signal.

[0031] The space flexible arm controller of the embodiment of the present invention adopts a fully modular design. The functions of each module are independent and do not affect each other, and can be independently replaced. Through the cooperation of each module, the coordinated control of 15 DC brushless joint motors can be realized, giving full play to the flexibility advantages of the flexible arm.

[0032] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be recognized that the above description should not be construed as a limitation of the present invention. After those skilled in the art have read the above content, various modifications and alternatives to the present invention will be obvious. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims

1. A spatial flexible arm drive controller, characterized in that, It includes a secondary power supply and distribution module, a central processing unit module, a motor drive module, a motor control module, and a resolver control module. Through the cooperation of each module, the coordinated control of the motor set is achieved; The secondary power supply and distribution module is connected to each module of the controller and provides the secondary power required by each module; The central processing unit module is connected to the motor control module. After receiving and decoding external instructions, the central processing unit module issues motor control instructions to the motor control module; the central processing unit module includes a central processing unit main module and a central processing unit standby module with exactly the same functions. Only the central processing unit main module or the central processing unit standby module works at the same time; The motor control module is also respectively connected to the motor drive module and the resolver control module. After receiving the motor control instructions, the motor control module issues motor drive control instructions to the motor drive module and issues control signals to the resolver control module. After receiving the control signals, the resolver control module controls the resolver of the motor set; The motor drive module is also connected to the motor set. The motor drive module receives the motor drive control instructions, amplifies the motor drive instructions into motor drive signals, and transmits the signals to the motor set to drive the motor set; The spatial flexible arm drive controller further includes a motor drive isolation module, which is arranged between the motor drive module and the motor set; after the motor drive signal passes through the motor drive isolation module, it is then transmitted to the motor set; The resolver control module sends the resolver data of the motor set to the motor control module, and the motor control module sends the resolver data to the central processing unit module; the central processing unit module calculates the current control state of the motor set based on the resolver data; The spatial flexible arm drive controller further includes an arbitration redundancy backup module, which is connected to the central processing unit module. The central processing unit module sends the flexible arm control data including the resolver data and the current control state of the motor set to the arbitration redundancy backup module; The arbitration redundancy backup module can receive and store the flexible arm control data sent by the central processing unit module; The arbitration redundancy backup module includes an arbitration main module and an arbitration standby module with the same functions. Only the arbitration main module or the arbitration standby module works at the same time. When the currently working arbitration redundancy backup module cannot work properly, it switches to another arbitration redundancy backup module with exactly the same functions; The motor control module, the motor drive module, and the resolver control module include two sets of modules with the same functions. Only one set of modules works at the same time; the motor drive isolation module includes a relay, and the isolation of the two sets of motor drive signals is achieved through the relay.

2. The space flexible arm drive controller according to claim 1, wherein The currently working module of the central processing unit module sends the flexible arm control data to the arbitration redundancy backup module; The arbitration for switching the machine can be performed by the arbitration redundancy backup module, which can switch the current working module of the central processing unit module. Meanwhile, the arbitration redundancy backup module sends the stored flexible arm control data to the current working module of the central processing unit module after switching.

3. The spatial flexible arm drive controller according to claim 1, wherein, The motor set is an N-channel brushless DC motor without Hall for resolver position measurement; the motor drive signals include N-channel motor drive signals; the resolver control module controls the N motors in the motor set simultaneously.

4. The spatial flexible arm drive controller according to claim 1, wherein, The main motor control module, the main motor drive module, and the main resolver control module. After the main motor control module sends the main motor drive control instruction to the main motor drive module and sends the main control signal to the main resolver control module, the main motor drive module sends the main motor drive signal to the motor set, and the main resolver control module controls the resolver of the motor set to occur; the backup motor control module, the backup motor drive module, and the backup resolver control module. After the backup motor control module sends the backup motor drive instruction to the backup motor drive module and sends the backup control signal to the backup resolver control module, the backup motor drive module sends the backup motor drive signal to the motor set, and the backup resolver control module controls the resolver of the motor set to occur.

5. The spatial flexible arm drive controller according to claim 4, characterized in that When a problem occurs in one of the main motor control module, the main motor drive module, and the main resolver control module, it switches to the backup motor control module, the backup motor drive module, and the backup resolver control module; when a problem occurs in one of the backup motor control module, the backup motor drive module, and the backup resolver control module, it switches to the main motor control module, the main motor drive module, and the main resolver control module.

6. The spatial flexible arm drive controller according to claim 5, wherein, When switching between the main motor control module, the main motor drive module, and the main resolver control module and the backup motor control module, the backup motor drive module, and the backup resolver control module, the main motor drive signal and the backup motor drive signal are selectively output through the relay.

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