Electronic counterweight method of passive servo matrix

Abstract

The invention provides an electronic counterweight method of a passive servo matrix, which is applied to the technical field of motor equipment and comprises the following steps: at least two motors and a force fusion mechanism form a matrix arrangement; acquiring a torque output threshold value of each motor; determining an output value of the force fusion mechanism according to the required kinetic energy; calculating driving value matching output values of the at least two motors through an algorithm; the optimal output torque value of each motor is obtained; the technical problems that according to the inherent structural characteristics of an existing motor, in a complete electric period, the output electric angles of the motor are different, the force is different, the output has a gullet sense, and the motor is not as smooth as a traditional mechanical balance weight are solved.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to an electronic weight balancing method for a passive servo matrix. Background Art

[0002] Matrix electronic counterweights can be used in automobile suspension systems. By controlling the torque output of each motor, dynamic adjustment of the vehicle suspension can be achieved. In the field of industrial automation, precise control of the robot arm is very important. By using matrix electronic counterweights, the vibration and tremor of the robot arm during movement can be reduced.

[0003] The current electronic counterweight uses a servo system (motor + driver + controller). Due to the inherent structural characteristics of the motor, the electrical angle of the motor output is different within a complete electrical cycle, and the force will be different. There is a toothed feeling in the output, which is not as smooth as the traditional mechanical counterweight. Summary of the invention

[0004] The present application aims to solve the technical problem that due to the inherent structural characteristics of the motor, the electrical angle of the motor output is different within a complete electrical cycle, the force will be different, there is a toothing feeling in the output, and it is not as smooth as the traditional mechanical counterweight. An electronic counterweight method for a passive servo matrix is ​​provided.

[0005] This application adopts the following technical means to solve the technical problem:

[0006] An electronic weight balancing method for a passive servo matrix, the method comprising:

[0007] At least two motors and a force fusion mechanism form a matrix arrangement;

[0008] Get the torque output threshold of each motor;

[0009] The output value of the force fusion mechanism is determined according to the required kinetic energy;

[0010] Calculate the drive values ​​of at least two motors to match output values ​​through an algorithm;

[0011] Obtain the optimal output torque value of each motor.

[0012] Furthermore, in the matrix arrangement consisting of at least two motors and one force fusion mechanism, the optimal number of motors is 5 motors.

[0013] Furthermore, in the step of calculating the drive value matching output value of at least two motors by an algorithm,

[0014] Assume the electrical period of the motor is T, the number of motors is N, and the electrical angle of motor 1 is θ1;

[0015] Then the electrical angle of motor 2 is θ2 = θ1 + T / N;

[0016] The electrical angle of motor 3 is θ3 = θ2 + T / N;

[0017] The torque corresponding to the electrical angle θ is Fθ, and the torque of motor 1 is Fθ1;

[0018] The total torque is Fsum=Fθ1+Fθ2+Fθ3.

[0019] Furthermore, before the step of calculating the drive values ​​of at least two motors to match the output values ​​by an algorithm,

[0020] Obtain the user's navigation distance and time, and calculate the output power of multiple motors based on the mileage and travel time to the destination;

[0021] The calculation is as follows:

[0022] The navigation distance is X and the travel time is Y;

[0023] The torque output range of motor 1 is [Min1, Max1], and the torque output range of motor 2 is [Min2, Max2];

[0024] The navigation distance is divided by the travel time to calculate the average speed V in kilometers per hour;

[0025] Based on the average speed and load conditions, calculate the total power demand P_total in kilowatts;

[0026] F_total is the total load force (in Newton);

[0027] Total power demand P_total = F_total*V) / 1000;

[0028] Set P_i as the output power of the i-th motor, Max_i and Min_i as the upper and lower limits of the torque output range of the i-th motor respectively;

[0029] According to the torque output range and total power requirement of the motor, calculate the output power P_i of each motor

[0030] P_i=(P_total*(Max_i-Min_i) / (Max1+Max2+...+Max_n-Min1-Min2-...-Min_n))+Min_i.

[0031] Further, after the step of calculating the output power P_i of each motor according to the torque output range and the total power demand of the motor,

[0032] Calculate the adaptation of the angle in the motor for the preset operation;

[0033] The formula is as follows:

[0034] The number of pole pairs of the motor is P, and the output speed of the motor is V. The angle adaptation value A can be calculated by the following formula: A = 360 / (P*V);

[0035] Among them, A is the angle adaptation value, P is the number of pole pairs of the motor, and V is the output speed of the motor.

[0036] Further, calculating the motor speed switching in the preset operation;

[0037] If the initial speed of the motor is V1, the target speed is V2, and the transition time is T,

[0038] Then the acceleration a and deceleration d can be calculated by the following formula:

[0039] a=(V2-V1) / T d=(V1-V2) / T

[0040] During the transition time, according to the change of the current time t, the actual speed V(t) can be calculated by the following formula: V(t) = V1 + a*t, when t < = T / 2 V(t) = V2 - d*(tT / 2), when t> T / 2

[0041] Among them, V(t) is the actual speed during the transition time, V1 is the initial speed, V2 is the target speed, T is the transition time, a is the acceleration, d is the deceleration, and t is the current time.

[0042] The present application provides an electronic weight balancing method for a passive servo matrix, which has the following beneficial effects:

[0043] By reasonably distributing the torque output, this method can achieve load balance. Each motor adjusts its output torque according to the load demand and the output value of the force fusion mechanism, so that the load is evenly distributed in the entire matrix arrangement, improving the stability and reliability of the entire system.

[0044] The output value of the force fusion mechanism is determined according to the required kinetic energy. By adjusting the output value in real time, the system can adapt to different kinetic energy requirements. For example, when greater kinetic energy is required, the force fusion mechanism can provide a greater output value.

[0045] By calculating the drive value and matching the output value through the algorithm, each motor can achieve the optimal output torque value when working. The optimized output torque value can improve the efficiency of the motor and reduce energy waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 The flowchart is one embodiment of the electronic weight balancing method of the passive servo matrix of the present application.

[0047] The implementation, functional features and advantages of the present application will be further described in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] It should be noted that the terms "include", "comprises" and "have" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. In the claims, specification and drawings of the present application, relational terms such as "first" and "second" are merely used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects.

[0051] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0052] Reference Figure 1 , is a flow chart of an electronic weight balancing method for a passive servo matrix in an embodiment of the present application;

[0053] Embodiment 1

[0054] An electronic weight balancing method for a passive servo matrix, the method comprising:

[0055] At least two motors and a force fusion mechanism form a matrix arrangement;

[0056] Get the torque output threshold of each motor;

[0057] The output value of the force fusion mechanism is determined according to the required kinetic energy;

[0058] Calculate the drive values ​​of at least two motors to match output values ​​through an algorithm;

[0059] Obtain the optimal output torque value of each motor.

[0060] In this embodiment, in the matrix arrangement consisting of at least two motors and one force fusion mechanism, the optimal number of motors is 5 motors.

[0061] In this embodiment, in the step of calculating the drive value matching output values ​​of at least two motors by an algorithm,

[0062] Assume the electrical period of the motor is T, the number of motors is N, and the electrical angle of motor 1 is θ1;

[0063] Then the electrical angle of motor 2 is θ2 = θ1 + T / N;

[0064] The electrical angle of motor 3 is θ3 = θ2 + T / N;

[0065] The torque corresponding to the electrical angle θ is Fθ, and the torque of motor 1 is Fθ1;

[0066] The total torque is Fsum=Fθ1+Fθ2+Fθ3.

[0067] In this embodiment, before the step of calculating the drive values ​​of at least two motors to match the output values ​​by an algorithm,

[0068] Obtain the user's navigation distance and time, and calculate the output power of multiple motors based on the mileage and travel time to the destination;

[0069] The calculation is as follows:

[0070] The navigation distance is X and the travel time is Y;

[0071] The torque output range of motor 1 is [Min1, Max1], and the torque output range of motor 2 is [Min2, Max2];

[0072] The navigation distance is divided by the travel time to calculate the average speed V in kilometers per hour;

[0073] Based on the average speed and load conditions, calculate the total power demand P_total in kilowatts;

[0074] F_total is the total load force (in Newton);

[0075] Total power demand P_total = F_total*V) / 1000;

[0076] Set P_i as the output power of the i-th motor, Max_i and Min_i as the upper and lower limits of the torque output range of the i-th motor respectively;

[0077] According to the torque output range and total power requirement of the motor, calculate the output power P_i of each motor

[0078] P_i=(P_total*(Max_i-Min_i) / (Max1+Max2+...+Max_n-Min1-Min2-...-Min_n))+Min_i.

[0079] Specifically, the following examples are given:

[0080] Assume that the rated torque of motor A is 15NM. Under the rated working environment, due to the structural characteristics of the motor, the actual torque output at different electrical angles will be different, as follows:

[0081] Electrical angle value The torque value corresponding to this electrical angle

[0082] 0°14.5NM

[0083] 72°15.1NM

[0084] 144°15.7NM

[0085] 216°15.0NM

[0086] 288°14.7NM

[0087] If a single motor A is used as an electronic counterweight, the maximum torque gap (the gap between the maximum and minimum values) that can be obtained from the above known data is 1.2NM during the entire electrical cycle. This torque gap will cause uneven motor output, i.e., cogging.

[0088] Now if there is a motor B, all the parameters of which are exactly 1 / 5 of those of motor A, then the actual torque output at different electrical angles is listed as follows:

[0089] Electrical angle value The torque value corresponding to this electrical angle

[0090] 0°14.5 / 5=2.9NM

[0091] 72°15.1 / 5=3.02NM

[0092] 144°15.7 / 5=3.14NM

[0093] 216°15.0 / 5=3.0NM

[0094] 288°14.7 / 5=2.94NM

[0095] Now, five motors B are arranged in a matrix with an evenly divided electrical cycle according to the method described in the present invention. These five motors B are named motors 1 to 5. Then when motor 1 is at an electrical angle of 0°, motor 2 is at an electrical angle of 72°, motor 3 is at an electrical angle of 144°, motor 4 is at an electrical angle of 216°, and motor 5 is at an electrical angle of 288°, the torque values ​​of these five motors are listed as follows:

[0096] Motor name The torque value corresponding to this motor

[0097] 0°2.9NM

[0098] 72°3.02NM

[0099] 144°3.14NM

[0100] 216°3.0NM

[0101] 288°2.94NM

[0102] According to the method described in the present invention, the total torque of the above five motors after passing through the fusion mechanism is Fsum=Fθ1+Fθ2+Fθ3+Fθ4+Fθ5=2.9+3.02+3.14+3.0+2.94=15NM;

[0103] According to the same method, the total torque after fusion when the motor 1 is at the electrical angles of 72°, 144°, 216°, and 288° is calculated to be 15NM;

[0104] Through this method, the torque fluctuation caused by the inherent structural characteristics of the motor is eliminated, achieving the purpose of eliminating the tooth feeling.

[0105] In this embodiment, after the step of calculating the output power P_i of each motor according to the torque output range and the total power demand of the motor,

[0106] Calculate the adaptation of the angle in the motor for the preset operation;

[0107] The formula is as follows:

[0108] The number of pole pairs of the motor is P, and the output speed of the motor is V. The angle adaptation value A can be calculated by the following formula: A = 360 / (P*V);

[0109] Among them, A is the angle adaptation value, P is the number of pole pairs of the motor, and V is the output speed of the motor.

[0110] Calculate the motor speed switching in the preset operation;

[0111] If the initial speed of the motor is V1, the target speed is V2, and the transition time is T,

[0112] Then the acceleration a and deceleration d can be calculated by the following formula:

[0113] a=(V2-V1) / T d=(V1-V2) / T

[0114] During the transition time, according to the change of the current time t, the actual speed V(t) can be calculated by the following formula: V(t) = V1 + a*t, when t < = T / 2 V(t) = V2 - d*(tT / 2), when t> T / 2

[0115] Among them, V(t) is the actual speed during the transition time, V1 is the initial speed, V2 is the target speed, T is the transition time, a is the acceleration, d is the deceleration, and t is the current time.

[0116] Specifically,

[0117] Calculate the angle adaptation value A:

[0118] If the number of pole pairs P of the motor is 4, and the output speed V of the motor is 1000RPM:

[0119] A=360 / (P*V)A=360 / (4*1000)A=0.09 degree / revolution

[0120] Calculate the motor speed change:

[0121] If the initial speed V1 of the motor is 500RPM, the target speed V2 is 1500RPM, and the transition time T is 10 seconds:

[0122] a=(V2-V1) / T a=(1500-500) / 10a=100RPM / s

[0123] d=(V1-V2) / T d=(500-1500) / 10d=-100RPM / s

[0124] According to the change of the current time t during the transition time, the actual speed V(t) is calculated:

[0125] When t<=T / 2: V(t)=V1+a*t V(t)=500+100*t

[0126] When t>T / 2: V(t)=V2-d*(tT / 2)V(t)=1500-(-100)*(t-10 / 2)V(t)=1500+100*(t-5)

[0127] If the transition time T is 45 minutes, that is, T = 45*60 = 2700 seconds;

[0128] According to the change of the current time t during the transition time, the actual speed V(t) is calculated:

[0129] When t<=T / 2: V(t)=V1+a*t V(t)=500+100*t

[0130] When t>T / 2: V(t)=V2-d*(tT / 2)V(t)=1500-(-100)*(t-2700 / 2)V(t)=1500+100*(t-1350);

[0131] In summary, when the number of motors is 5, the angle distribution can be achieved by evenly dividing 360 degrees into 5 parts. The angle adaptation value A of each motor can be calculated by the formula A=360 / (P*V), where P is the number of pole pairs of the motor and V is the output speed of the motor. The advantage of evenly distributing the angles on the force fusion mechanism is that balanced force transmission can be achieved. The load borne by each motor is relatively uniform, thereby reducing the load of a single motor and eliminating the torque fluctuation caused by the inherent structural characteristics of the motor, thereby eliminating the cogging feeling.

[0132] When some of the five motors rotate and some do not, a specific effect can be achieved by calculating the actual speed V(t) of each motor. If the initial speed V1 and target speed V2 of the motor are known, and the transition time T is also known, the acceleration a and deceleration d can be calculated by the formula a=(V2-V1) / T and d=(V1-V2) / T, and then the actual speed V(t) can be calculated according to the change of the current time t using the formula V(t)=V1+a*t or V(t)=V2-d*(tT / 2);

[0133] When the angles of the motors are different and the number of drives is different, the angle adaptation value A can be calculated according to the pole pair number P and output speed V of each motor, and then the overall effect of the force fusion mechanism can be calculated according to the actual speed V(t) of each motor. The specific calculation method and formula are similar to the above calculation method, except that the calculation needs to be performed according to the different parameters of each motor.

[0134] When the angles of the motors are different and the number of drives is different, calculations are performed based on the parameters of each motor to achieve more precise force fusion and motion control. Motors at different angles can provide forces in different directions, and different numbers of motors can provide different power outputs. By comprehensively utilizing the characteristics of different motors, more efficient and flexible motion effects can be achieved.

[0135] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0136] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0137] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0138] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0139] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An electronic weight balancing method for a passive servo matrix, characterized in that: The method comprises: At least two motors and a force fusion mechanism form a matrix arrangement; Get the torque output threshold of each motor; The output value of the force fusion mechanism is determined according to the required kinetic energy; Calculate the drive values ​​of at least two motors to match output values ​​through an algorithm; Obtain the optimal output torque value of each motor.

2. The electronic weight balancing method of a passive servo matrix according to claim 1, characterized in that: In the matrix arrangement consisting of the at least two motors and one force fusion mechanism, the optimal number of motors is 5 motors.

3. The electronic weight balancing method of a passive servo matrix according to claim 1, characterized in that: In the step of calculating the drive values ​​of at least two motors to match the output values ​​by an algorithm, Assume the electrical period of the motor is T, the number of motors is N, and the electrical angle of motor 1 is θ1; Then the electrical angle of motor 2 is θ2 = θ1 + T / N; The electrical angle of motor 3 is θ3 = θ2 + T / N; The torque corresponding to the electrical angle θ is Fθ, and the torque of motor 1 is Fθ1; The total torque is Fsum=Fθ1+Fθ2+Fθ3.

4. The electronic weight balancing method of a passive servo matrix according to claim 3, characterized in that: Before the step of calculating the drive values ​​of at least two motors to match the output values ​​by an algorithm, Obtain the user's navigation distance and time, and calculate the output power of multiple motors based on the mileage and travel time to the destination; The calculation is as follows: The navigation distance is X and the travel time is Y; The torque output range of motor 1 is [Min1, Max1], and the torque output range of motor 2 is [Min2, Max2]; The navigation distance is divided by the travel time to calculate the average speed V in kilometers per hour; Based on the average speed and load conditions, calculate the total power demand P_total in kilowatts; F_total is the total load force (in Newton); Total power demand P_total = F_total*V) / 1000; Set P_i as the output power of the i-th motor, Max_i and Min_i as the upper and lower limits of the torque output range of the i-th motor respectively; According to the torque output range and total power requirement of the motor, calculate the output power P_i of each motor P_i=(P_total*(Max_i-Min_i) / (Max1+Max2+...+Max_n-Min1-Min2-...-Min_n))+Min_i.

5. The electronic weight balancing method of a passive servo matrix according to claim 4, characterized in that: After the step of calculating the output power P_i of each motor according to the torque output range and the total power demand of the motor, Calculate the adaptation of the angle in the motor for the preset operation; The formula is as follows: The number of pole pairs of the motor is P, and the output speed of the motor is V. The angle adaptation value A can be calculated by the following formula: A = 360 / (P*V); Among them, A is the angle adaptation value, P is the number of pole pairs of the motor, and V is the output speed of the motor.

6. The electronic weight balancing method of a passive servo matrix according to claim 5, characterized in that: Calculate the motor speed switching in the preset operation; If the initial speed of the motor is V1, the target speed is V2, and the transition time is T, Then the acceleration a and deceleration d can be calculated by the following formula: a=(V2-V1) / T d=(V1-V2) / T During the transition time, according to the change of the current time t, the actual speed V(t) can be calculated by the following formula: V(t) = V1 + a*t, when t < = T / 2 V(t) = V2 - d*(tT / 2), when t> T / 2 Among them, V(t) is the actual speed during the transition time, V1 is the initial speed, V2 is the target speed, T is the transition time, a is the acceleration, d is the deceleration, and t is the current time.

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