System for optimizing energy flow and improving balance force of humanoid robot
By combining a new battery system with flywheel energy storage batteries and lithium batteries, the problem of insufficient energy in the humanoid robot when responding to action requests is solved, efficient energy storage and short-term high-power supply are achieved, and energy utilization is improved.
Patent Information
- Application Number
- CN202510669067.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-23
- Publication Date
- 2025-07-18
AI Technical Summary
The existing battery energy system is difficult to meet the energy demand of humanoid robots to quickly respond to action requests, and traditional batteries have insufficient energy when charging and discharging quickly.
A new battery system is adopted that combines flywheel energy storage batteries and lithium batteries. The flywheel energy storage batteries replace the brake resistor, store brake energy through the flywheel and convert it into electrical energy output when needed, and use flywheel inertia to drive the motor to generate electricity, achieving short-term, high-frequency, and high-power energy supply.
It improves energy utilization and can provide greater braking power in a short period of time, solves the problem of insufficient energy in traditional battery systems when responding to action requests quickly, and reduces the risk of increased system weight.
Smart Images
Figure CN120326587A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of robot control, and more particularly, to a system for optimizing the energy flow of a humanoid robot and improving its balance ability. Background Art
[0002] A humanoid robot has a human-like shape, including two legs, two arms, two hands, a head, etc. Due to its closer resemblance to the human shape and movement characteristics, it has stronger versatility and adaptability in human life and work. In the technical field of humanoid robots, there are many key technologies, among which the joint movement mode and the stable balance control of the robot have always been the hotspots and difficulties in technology development.
[0003] The joint drive unit mainly includes a motor, a controller, and a reducer. DC motors and torque motors are the currently mainstream motors in use. The controller is mainly used to control the rotation speed of the motor to achieve the movement of the joint. Since the movement of the joint drive unit needs to simulate human actions, the power of the motor is positive during the driving state, and the battery energy passes from the battery through the controller to the motor and is converted into mechanical energy by the motor. During the braking state, the power of the motor is negative, and the mechanical energy is converted from the motor through the controller into electrical energy and then to the battery. In order to achieve high-speed joint movement, its driving power and braking power are often large, and the charging power of the battery often cannot meet the requirements of joint braking. Therefore, the usual method is to add a switch and a braking resistor at both ends of the battery. When high-power braking is required, this switch is turned on, and this part of the energy is dissipated through the braking resistor.
[0004] However, the above technical solution only starts from the prediction and control of movement, and has high requirements for the actuator of the robot (the motor in the joint drive unit), and requires a rapid response to action requests. However, this also poses a greater challenge to the entire energy system to a certain extent. Rapid actions require rapid energy charging and discharging speeds, and the existing battery energy system is difficult to meet this demand. Summary of the Invention
[0005] The technical problem to be solved by the present invention is how to overcome the technical defect that the existing battery energy system is difficult to meet the energy demand for rapid response to action requests. The present invention provides a system for optimizing the energy flow of a humanoid robot and improving its balance ability.
[0006] A system for optimizing the energy flow of a humanoid robot and improving its balance ability provided by the present invention includes a humanoid robot body, a lithium battery, a flywheel energy storage battery, and a plurality of joint drive units arranged on the humanoid robot body; All of the joint drive units are electrically connected to the lithium battery; The flywheel energy storage battery includes a first controller, a motor, and a flywheel with a rotating shaft provided at the center; The first controller is electrically connected to the lithium battery, and the output pin of the first controller is electrically connected to the motor. One end of the output shaft of the motor is connected to one end of the rotating shaft of the flywheel; The first controller is configured to use the target voltage and the bus voltage of the lithium battery as inputs, output the target value of the energy storage power of the flywheel through a proportional-integral regulation algorithm, then use the current value and speed value of the motor to calculate the energy storage power, and sequentially adjust through a power loop control algorithm, a speed loop control algorithm, and a FOC regulation to output an adjustment signal to the motor.
[0007] For the above problems, the system for optimizing the energy flow and improving the balance ability of a humanoid robot disclosed in the present invention adopts a new battery system composed of a flywheel energy storage battery and a lithium battery in the joint drive system of the robot, replaces the original braking resistor with the flywheel energy storage battery. The flywheel energy storage battery includes a first controller, a motor, and a flywheel with a rotating shaft provided at the center. The flywheel energy storage battery can store the braking energy through the flywheel and recycle the energy, greatly improving the energy utilization rate, and can also provide a larger braking power in a short time. At the same time, since the energy of the traditional battery system is stored in the battery, the discharge capacity of the battery is limited and small, generally the maximum discharge capacity is 3 times the rated current. When the humanoid robot needs to perform a rapid response action request, if the required energy exceeds the battery capacity, these actions cannot be completed. If the battery capacity is increased, the system weight will increase. The new battery system formed by the combination of the flywheel energy storage battery and the lithium battery set in the present invention, under the adjustment of the first controller, uses the electric energy of the motor to drive the flywheel to rotate at a high speed, converts the electric energy into mechanical energy, and when needed, drags the motor to generate electricity through the flywheel inertia, and outputs the stored mechanical energy as electric energy (so-called flywheel discharge). Its superiority is reflected in the short-time, high-frequency, and high-power charge and discharge characteristics, thus solving this problem.
[0008] In a possible implementation manner, the target voltage is the output voltage of the lithium battery when the humanoid robot body is stationary; thereby ensuring the stability of the target voltage and realizing the reasonable drive of the motor by the first controller.
[0009] In a possible implementation manner, the first controller includes a target voltage collector, a voltage loop regulator, an energy storage calculator, a speed loop regulator, a FOC regulator, a converter, a current sensor, a speed sensor, and an energy loop regulator; The target voltage collector is electrically connected to the lithium battery to obtain the output voltage of the lithium battery when the humanoid robot body is stationary; The converter is electrically connected to the motor to output a three-phase drive signal to the motor; The current sensor is electrically connected to the converter to obtain three-phase current signals of the three-phase drive signal, and perform Clarke transformation on the three-phase current signals to obtain the d-axis current and q-axis current of the motor; The speed sensor is electrically connected to the motor to obtain the speed signal of the motor; A first input end of the voltage loop regulator is electrically connected to the lithium battery, a second input end of the voltage loop regulator is electrically connected to the target voltage collector, a first input end of the energy loop regulator is electrically connected to an output end of the voltage loop regulator, a second input end of the energy loop regulator is electrically connected to an output end of the energy storage calculator, a first input end of the speed loop regulator is electrically connected to the output end of the energy loop regulator, a second input end of the speed loop regulator is electrically connected to the speed sensor, a first input end of the FOC regulator is electrically connected to the output end of the speed loop regulator, a second input end of the FOC regulator is electrically connected to the current sensor (237), the converter is further electrically connected to the output end of the FOC regulator, and an input end of the energy storage calculator (233) is electrically connected to the speed sensor.
[0010] With the above solution, the voltage target value of the robot battery pack (lithium battery) can be received by the voltage loop regulator, and the voltage loop regulator itself will detect the bus voltage value. These two voltages serve as the inputs of the voltage loop regulator, and the energy storage power target value of the flywheel is output through the voltage loop regulator. The current sensor and the speed sensor sample the current and speed of the motor respectively, and the obtained values are transmitted to the energy storage calculator. The energy storage calculator calculates the energy storage power, and then adjusts and outputs the target speed through the power loop regulator. Then, the speed loop regulator controls the output current command, and finally, the FOC regulator outputs the PWM duty cycle to the converter to control the motor. Through the above control strategy, the stability of the bus voltage can be ensured.
[0011] In a possible implementation manner, the voltage loop regulator is a proportional-integral regulator; thus, the target voltage and the bus voltage of the lithium battery can be used as inputs, and the energy storage power target value of the flywheel is output through the proportional-integral regulation algorithm, with low calculation complexity and high efficiency.
[0012] In a possible implementation manner, the energy storage calculator is set to operate according to the following calculation formula: P = Te*Spd / 9550, Te = 0.5*np*(Phif*iq+(Ld-Lq)*id*iq), In the formula, P represents the energy storage power obtained by the energy storage calculator; Te represents torque; Spd represents the rotational speed obtained by the rotational speed sensor; Np represents the number of pole pairs of the motor; Phif represents the magnetic flux of the motor; Ld represents the d-axis inductance of the motor; Lq represents the q-axis inductance of the motor; Id represents the d-axis current of the motor; Iq represents the q-axis current of the motor.
[0013] The above calculation formula can ensure that the energy storage calculator quickly obtains the energy storage power, reduces the calculation amount on the premise of ensuring reasonable acquisition accuracy, and improves the overall reaction rate.
[0014] In a possible implementation manner, both the speed loop regulator and the energy loop regulator are proportional-integral-derivative regulators.
[0015] In a possible implementation manner, all the joint drive units include a second controller and a joint motor. The second controller is electrically connected to the lithium battery, and the output pin of the second controller is electrically connected to the joint motor. Description of the Drawings
[0016] Figure 1 It is a schematic structural diagram of a system for optimizing the energy flow of a humanoid robot and improving the balance ability disclosed in an embodiment of the present invention; Figure 2 It is a schematic circuit diagram of the first controller and the motor disclosed in an embodiment of the present invention.
[0017] Description of the Reference Numerals: 1. Lithium battery, 2. Flywheel energy storage battery, 21. Housing, 22. Bearing, 23. First controller, 231. Target voltage collector, 232. Voltage loop regulator, 233. Energy storage calculator, 234. Speed loop regulator, 235. FOC regulator, 236. Converter, 237. Current sensor, 238. Rotational speed sensor, 239. Energy loop regulator, 24. Motor, 25. Flywheel, 3. Joint drive unit, 31. Second controller, 32. Joint motor. Detailed Embodiments
[0018] First of all, those skilled in the art should understand that these embodiments are only used to explain the technical principles of the embodiments of the present application, and are not intended to limit the protection scope of the embodiments of the present application. Those skilled in the art can adjust them as needed to adapt to specific application scenarios.
[0019] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.
[0020] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "electrically connected" and "electrical connection relationship" should be understood in a broad sense, that is, it refers to a connection method with an electrical relationship. For example, it can be a circuit connection through a conductive wire, or an electrical connection through a radio signal channel (channel), or a combination of both. In addition, "electrically connected" and "electrical connection relationship" can be based on a mechanical connection (such as a conductive wire being arranged in a connection key); it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.
[0021] In the embodiments of the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.
[0022] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0023] See Figures 1 to 2 As shown, the embodiments of the present application disclose a system for optimizing the energy flow of a humanoid robot and improving the balance ability. Figure 1 As a structural schematic diagram of the system, the system includes a humanoid robot body and a lithium battery 1, a flywheel energy storage battery 2, and a plurality of joint drive units 3 arranged on the humanoid robot body. All the joint drive units 3 are electrically connected to the lithium battery 1.
[0024] See Figure 1 and Figure 2, in this system, the flywheel energy storage battery 2 includes a housing 21, two bearings 22, a first controller 23, a motor 24, and a flywheel 25 with a rotating shaft at its center. The two bearings 22, the first controller 23, the motor 24, and the flywheel 25 are all arranged within the area enclosed by the housing 21. In the flywheel energy storage battery 2, the first controller 23 is electrically connected to the lithium battery 1, and the output pins of the first controller 23 are electrically connected to the motor 24; one end of the output shaft of the motor 24 is connected to one bearing 22, the other end of the output shaft of the motor 24 is connected to one end of the rotating shaft of the flywheel 25, and the other end of the rotating shaft of the flywheel 25 is connected to the other bearing 22. The first controller 23 is configured to take the target voltage and the bus voltage of the lithium battery 1 as inputs, output the target value of the energy storage power of the flywheel 25 through a proportional-integral (PI) regulation algorithm, then use the current value and the rotation speed value of the motor 24 to calculate the energy storage power, and sequentially adjust through a power loop control algorithm, a speed loop control algorithm, and a FOC (Field-oriented control) regulation to output an adjustment signal to the motor 24. The target voltage is the output voltage of the lithium battery 1 when the humanoid robot body is stationary.
[0025] See Figure 2 , in this embodiment, the first controller 23 includes a target voltage collector 231, a voltage loop regulator 232, an energy storage calculator 233, a speed loop regulator 234, a FOC regulator 235, a converter 236, a current sensor 237, a rotation speed sensor 238, and an energy loop regulator 239; the target voltage collector 231 is electrically connected to the lithium battery 1 to obtain the output voltage of the lithium battery 1 when the humanoid robot body is stationary; the converter 236 is electrically connected to the motor 24 to output a three-phase drive signal to the motor 24; the current sensor 237 is electrically connected to the converter 236 to obtain the three-phase current signals of the three-phase drive signal and perform a Clarke transformation on the three-phase current signals to obtain the d-axis current and q-axis current of the motor 24; the rotation speed sensor 238 is electrically connected to the motor 24 to obtain the rotation speed signal of the motor 24.
[0026] Please continue to see Figure 2, in the first controller 23, the first input terminal of the voltage loop regulator 232 is electrically connected to the lithium battery 1, the second input terminal of the voltage loop regulator 232 is electrically connected to the target voltage collector 231, the first input terminal of the energy loop regulator 239 is electrically connected to the output terminal of the voltage loop regulator 232, the second input terminal of the energy loop regulator 239 is electrically connected to the output terminal of the energy storage calculator 233, the first input terminal of the speed loop regulator 234 is electrically connected to the output terminal of the energy loop regulator 239, the second input terminal of the speed loop regulator 234 is electrically connected to the rotational speed sensor 238, the first input terminal of the FOC regulator 235 is electrically connected to the output terminal of the speed loop regulator 234, the second input terminal of the FOC regulator 235 is electrically connected to the current sensor 237, the converter 236 is also electrically connected to the output terminal of the FOC regulator 235, and the input terminal of the energy storage calculator 233 is electrically connected to the rotational speed sensor 238. The voltage loop regulator (232) is a proportional-integral regulator. The speed loop regulator 234 and the energy loop regulator 239 are both proportional-integral-derivative regulators.
[0027] In this embodiment, the energy storage calculator 233 is set to operate according to the following calculation formula: P = Te*Spd / 9550, Te = 0.5*np*(Phif*iq+(Ld-Lq)*id*iq), In the formula, P represents the energy storage power obtained by the energy storage calculator 233; Te represents torque; Spd represents the rotational speed obtained by the rotational speed sensor 238; Np represents the number of pole pairs of the motor 24 Phif represents the magnetic flux of the motor 24; Ld represents the d-axis inductance of the motor 24; Lq represents the q-axis inductance of the motor 24; Id represents the d-axis current of the motor 24; iq represents the q-axis current of the motor 24.
[0028] See Figure 2, the target voltage value (Udc_ref) of the lithium battery 1 of the robot obtained by the target voltage collector 231 can be received by the voltage loop regulator 232. The voltage loop regulator 231 itself will detect the bus voltage value (Udc_samp). These two voltages serve as the inputs of the voltage loop regulator, and the target energy storage power value (P_ref) of the flywheel is output through the voltage loop regulator. The current sensor and the speed sensor sample the current and speed of the motor respectively, and the obtained values are transmitted to the energy storage calculator. The energy storage calculator calculates the energy storage power, and then adjusts it through the power loop regulator to output the target speed (Spd_ref). Then, the speed loop regulator controls the output current command, and after passing through the FOC regulator, the PWM duty cycle is output to the converter to control the motor. Through the above control strategy, the stability of the bus voltage can be ensured.
[0029] See Figure 1 , in this system, all joint drive units 3 include a second controller 31 and a joint motor 32. The second controller 31 is electrically connected to the lithium battery 1, and the output pin of the second controller 31 is electrically connected to the joint motor 32.
[0030] When each joint motor in the whole humanoid robot system needs to output a large power, due to the need to output a large current instantaneously, the bus voltage will drop. At this time, the flywheel energy storage battery 2 will adjust the stored energy through the voltage loop regulator 232, and output the energy originally stored in the flywheel 25 to the bus to stabilize the bus voltage; when there is a large braking energy in each joint motor, the bus voltage will rise rapidly. At this time, the flywheel energy storage battery 2 adjusts the stored energy in real time through the voltage loop regulator 232, and quickly stores the energy on the bus into the flywheel 25; through the above control strategy, the stability of the bus voltage is ensured.
[0031] The system for optimizing the energy flow of a humanoid robot and improving its balance disclosed in this embodiment adopts a new battery system composed of a flywheel energy storage battery 2 and a lithium battery 1 in the joint drive system of the robot. The flywheel energy storage battery 2 replaces the original braking resistor. The flywheel energy storage battery 2 includes a first controller 23, a motor, and a flywheel with a rotating shaft at its center. By using the flywheel energy storage battery, braking energy can be stored by the flywheel and the energy can be recycled, greatly improving the energy utilization rate. Moreover, it can provide a greater braking power in a short time. At the same time, since the energy of the traditional battery system is stored in the battery, the discharge capacity of the battery is limited and small, generally the maximum discharge capacity is 3 times the rated current. When the humanoid robot needs to perform rapid response action requests, if the required energy exceeds the battery capacity, these actions cannot be completed. If the battery capacity is increased, the system weight will increase. The new battery system formed by the combination of the flywheel energy storage battery 2 and the lithium battery 1 set in this embodiment, under the adjustment of the first controller 23, uses the electric energy of the motor to drive the flywheel to rotate at high speed, converting the electric energy into mechanical energy. When needed, the flywheel inertia is used to drive the motor to generate electricity, and the stored mechanical energy is converted into electric energy for output (i.e., the so-called flywheel discharge). Its superiority lies in the short-time, high-frequency, and high-power charge and discharge characteristics, thus solving this problem.
[0032] In the description of the embodiments of the present application, it should be noted that in the description of the present application, the terms "inner", "outer", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.
[0033] In the description of the present application, the description with reference to terms such as "one embodiment", "some embodiments", "in this embodiment", "specific examples", or "some examples" means that the specific features, mechanisms, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0034] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims
1. A system for optimizing the energy flow of a humanoid robot and improving its balance, comprising a humanoid robot body, characterized in that, It further includes a lithium battery (1), a flywheel energy storage battery (2) and a plurality of joint drive units (3) provided on the humanoid robot body; All of the joint drive units (3) are electrically connected to the lithium battery (1); The flywheel energy storage battery (2) includes a first controller (23), a motor (24) and a flywheel (25) with a rotating shaft provided at the center; The first controller (23) is electrically connected to the lithium battery (1), the output pin of the first controller (23) is electrically connected to the motor (24), and one end of the output shaft of the motor (24) is connected to one end of the rotating shaft of the flywheel (25); The first controller (23) is configured to take the target voltage and the bus voltage of the lithium battery (1) as inputs, output the target value of the energy storage power of the flywheel (25) through a proportional-integral regulation algorithm, then use the current value and the rotation speed value of the motor (24) to calculate the energy storage power, and sequentially adjust through a power loop control algorithm, a speed loop control algorithm and a FOC regulation to output an adjustment signal to the motor (24).
2. The system for optimizing the energy flow of a humanoid robot and improving the balance ability according to claim 1, characterized in that, The target voltage is the output voltage of the lithium battery (1) when the humanoid robot body is stationary.
3. The system for optimizing the energy flow of a humanoid robot and improving balance according to claim 2, wherein The first controller (23) includes a target voltage collector (231), a voltage loop regulator (232), an energy storage calculator (233), a speed loop regulator (234), a FOC regulator (235), a converter (236), a current sensor (237), a rotation speed sensor (238) and an energy loop regulator (239); The target voltage collector (231) is electrically connected to the lithium battery (1) to obtain the output voltage of the lithium battery (1) when the humanoid robot body is stationary; The converter (236) is electrically connected to the motor (24) to output a three-phase drive signal to the motor (24); The current sensor (237) is electrically connected to the converter (236) to obtain the three-phase current signals of the three-phase drive signal and perform a Clarke transformation on the three-phase current signals to obtain the d-axis current and q-axis current of the motor (24); The rotation speed sensor (238) is electrically connected to the motor (24) to obtain the rotation speed signal of the motor (24); The first input terminal of the voltage loop regulator (232) is electrically connected to the lithium battery (1), the second input terminal of the voltage loop regulator (232) is electrically connected to the target voltage collector (231), the first input terminal of the energy loop regulator (239) is electrically connected to the output terminal of the voltage loop regulator (232), the second input terminal of the energy loop regulator (239) is electrically connected to the output terminal of the energy storage calculator (233), the first input terminal of the speed loop regulator (234) is electrically connected to the output terminal of the energy loop regulator (239), the second input terminal of the speed loop regulator (234) is electrically connected to the rotational speed sensor (238), the first input terminal of the FOC regulator (235) is electrically connected to the output terminal of the speed loop regulator (234), the second input terminal of the FOC regulator (235) is electrically connected to the current sensor (237), the converter (236) is also electrically connected to the output terminal of the FOC regulator (235), and the input terminal of the energy storage calculator (233) is electrically connected to the rotational speed sensor (238).
4. The system for optimizing the energy flow of a humanoid robot and improving the balance ability according to claim 3, wherein, The voltage loop regulator (232) is a proportional-integral regulator.
5. The system for optimizing the energy flow of a humanoid robot and improving balance according to claim 4, characterized in that, The energy storage calculator (233) is set to operate according to the following calculation formula: P = Te*Spd / 9550, Te = 0.5*np*(Phif*iq+(Ld-Lq)*id*iq), In the formula, P represents the energy storage power obtained by the energy storage calculator (233); Te represents torque; Spd represents the rotational speed obtained by the rotational speed sensor (238); Np represents the number of pole pairs of the motor (24); Phif represents the magnetic flux of the motor (24); Ld represents the d-axis inductance of the motor (24); Lq represents the q-axis inductance of the motor (24); Id represents the d-axis current of the motor (24); iq represents the q-axis current of the motor (24).
6. The system for optimizing the energy flow of a humanoid robot and improving the balance force according to claim 5, wherein Both the speed loop regulator (234) and the energy loop regulator (239) are proportional-integral-derivative regulators.
7. The system for optimizing the energy flow of a humanoid robot and improving balance according to claim 6, characterized in that, All of the joint drive units (3) include a second controller (31) and a joint motor (32). The second controller (31) is electrically connected to the lithium battery (1), and the output pin of the second controller (31) is electrically connected to the joint motor (32).