A method and system for cooperative control of a human-shaped robot limb joint driver

Abstract

The application provides a kind of human type robot four limbs joint driver's cooperative control method and system, belong to driver control technical field.The method includes: obtaining driver state, generates cooperative control action according to driver state;According to the cooperative control action, generate a plurality of cooperative control output signals;With cooperative control output signal as each driver corresponding standard quantity, determine the output quantity of each driver under the cooperative control action according to the preset rule, obtain standard output quantity;According to standard output quantity, generate standard output signal, control the output state of corresponding driver.Through sub-state flag bit, the driver state is obtained, the standard output quantity of the driver is checked, and it is ensured that the output quantity is within the preset working range, and the and value and the ratio of the nominal torque are judged and the proportional minimum value is judged to check.The driver cooperative control system is also provided.The cooperative control of multiple drivers is realized, and the stability and reliability of system operation are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of driver control, in particular to a collaborative control method and system of a human-shaped robot four-limb joint driver. BACKGROUND

[0002] With the rapid development of industrial automation and robot technology, as the core component of the actuator, the control method of the driver is increasingly valued. In the robot system, multi-driver collaborative control is a key technology to achieve complex motion and improve system performance. At present, robots mostly use drivers to drive joints, and the traditional control mode is mainly centralized control mode.

[0003] In the prior art, the multi-motor collaborative control system usually adopts a closed-loop coupling control method. For example, CN104753406A discloses a multi-motor collaborative control method, which uses a speed compensator to compensate the speed signal of each motor, gives a given speed input to a fuzzy controller, and outputs the actual speed after processing by a fuzzy processor through a controller, to realize the collaborative operation of the speed between multiple motors. This method improves the stability of the system and can better overcome the problems of parameter time-varying and nonlinearity in complex systems.

[0004] WO2021184581A1 discloses a fuzzy master-slave feedback collaborative multi-motor closed-loop coupling collaborative control system and method, which connects multiple motors through a controller to form a closed-loop coupling system, each controller includes a master-slave controller, a fuzzy controller and a feedback controller, and the closed-loop coupling of multiple motors relieves the poor synchronization problem of multi-motor coordination control in the prior art.

[0005] In addition, CN117937991A proposes a multi-input multi-output control system, which designs initial constraint conditions according to the number of motors that need to be driven and controlled by the industrial machine transmission system, the corresponding resource data that needs to be occupied, and the occupation situation of the multi-input multi-output interface, and performs single-motor vector control and multi-motor parallel control based on the constraint conditions. This method calculates the deviation data existing in the operation process of each motor through a multi-motor coordination control algorithm, thereby realizing the synchronous control of multiple motors.

[0006] CN115296562B discloses a multi-motor sliding mode collaborative control method and system based on disturbance compensation, which includes a signal input module, a multi-motor collaborative module and a multi-motor control module, and outputs the corresponding compensation signals of each controlled motor by coupling the actual speed of each controlled motor, so that the controlled motor moves synchronously with other motors. This method is based on the sliding mode control theory and the multi-motor deviation coupling control structure, and can better suppress the inherent chattering phenomenon of the sliding mode control.

[0007] CN114826032A proposes a synchronous control method for hub motors in electric vehicles for linear driving. This method utilizes a speed compensator to compensate for the speed signals of each motor, and then processes the signals through a fuzzy controller to output the actual rotational speed, enabling coordinated operation of the motors in a multi-motor synchronous system. This method improves the stability of the motor system and better overcomes problems such as time-varying parameters and nonlinearity in complex systems.

[0008] However, existing multi-actuator cooperative control methods have some significant shortcomings. First, most existing robots employ centralized control, which results in a huge workload for the robot's central processing unit, consuming substantial computing resources, increasing energy consumption, generating significant heat, and consequently affecting other aspects of the robot's performance. Second, existing multi-actuator cooperative control methods often require complex algorithms and control strategies when handling complex movements, increasing system complexity and instability. Furthermore, current technologies employ relatively simple methods for acquiring and processing actuator states, lacking a comprehensive consideration of actuator states, making it difficult to achieve precise cooperative control. Finally, existing technologies lack effective verification mechanisms, failing to guarantee that the outputs of all actuators are within safe operating ranges, posing potential safety hazards.

[0009] Therefore, we need to design a collaborative control method and system for the joint actuators of humanoid robots to solve these problems. Summary of the Invention

[0010] The problem to be solved by the present invention is to provide a driver collaborative control method that can effectively reduce the burden on the central processing unit, improve system stability, achieve precise collaborative control, and have a security verification mechanism.

[0011] To address the technical problem that existing robots mostly use actuators to drive joints, and that robot control is centralized, resulting in a huge workload for the robot's central processing unit, consuming excessive resources, increasing energy consumption, generating significant heat, and consequently affecting other aspects of the robot's performance, this invention provides a collaborative control method and system for actuators of the limb joints of a humanoid robot to enhance control effectiveness. The technical solution adopted by this invention is as follows:

[0012] A collaborative control method for the joint actuators of the four limbs of a humanoid robot is provided, characterized in that:

[0013] S1) Obtain the driver status and generate cooperative control actions based on the driver status;

[0014] S2) Generate multiple collaborative control output signals based on the collaborative control actions;

[0015] S3) Using the collaborative control output signal as the standard quantity corresponding to each driver, determine the output quantity of each driver under collaborative control action according to the preset rules, and obtain the standard output quantity;

[0016] S4) Generate a standard output signal based on the standard output quantity. The standard output signal is used to control the output state of the corresponding driver.

[0017] Preferably, the driver state includes multiple sub-states, each sub-state corresponding to a sub-state flag bit. The sub-state flag bit is a discrete quantity, and the value of the sub-state flag bit reflects the attribute of the sub-state. When the value of the sub-state flag bit is 1, it indicates that the sub-state has occurred, and when the value of the sub-state flag bit is 0, it indicates that the sub-state has not occurred. The driver state is obtained through the state of the sub-state flag bits.

[0018] Furthermore, when the sub-state flag corresponding to multiple sub-states is 1, any one of the preset multiple cooperative control actions will be used as the cooperative control action.

[0019] Preferably, each coordinated control action is pre-set with a corresponding code. The corresponding coordinated control output signal is obtained through the code of the coordinated control action. The sub-state corresponding to the value of the sub-state flag bit being equal to 1 is mapped to the code of the preset coordinated control action, so that the mapped coordinated control output signal is used as the standard output signal.

[0020] Preferably, each coordinated control action has a corresponding output signal pre-set; when a coordinated control action is acquired, the output signal corresponding to the coordinated control action is used as the standard output signal.

[0021] Preferably, step S3) includes:

[0022] S31) Obtain all driver information;

[0023] S32) Determine the standard output quantity corresponding to each driver;

[0024] S33) Verify the standard output of all drivers to ensure that the values ​​of the standard output of all drivers are within the preset operating range.

[0025] Furthermore, the sum of the standard output values ​​of multiple drivers is used as the sum value. The sum value is divided by the standard output value of each driver to obtain the ratio of each driver. The ratios of all drivers are then summed.

[0026] Step S33) includes:

[0027] S331) Determine whether the ratio of the sum value to the preset nominal torque is within the first preset range. If not, output the verification error flag and send the verification error flag to the display unit. If yes, proceed to step S332.

[0028] S332) Determine whether the minimum value among all ratios is within the second preset range. If not, output the verification error flag and send the verification error flag to the display unit. If yes, use the result of step S33) as the verification result.

[0029] Preferably, in step S331), a numerical comparison is used to determine whether the sum is less than a preset nominal torque; in step S332), a numerical comparison is used to determine whether the minimum value among all proportions is within a second preset range; in step S331), a numerical comparison is used to determine whether the minimum value among all proportions is within a second preset range.

[0030] Furthermore, the method for presetting the nominal torque includes: determining the output of multiple drives under coordinated control, selecting the maximum output as the first standard output, and using the first standard output as the nominal torque.

[0031] Preferably, in step S1), a coordinated control action is generated based on the driver status; each driver has a corresponding output instruction preset; after determining the output instructions of multiple drivers, the output quantity of the corresponding driver is determined according to a preset rule and superimposed; the result of the superposition process is used as the sum value, and the sum value is used as the standard output quantity of the driver.

[0032] Furthermore, a sum value corresponding to the coordinated control action is generated based on the driver status; multiple drivers are used as the first input quantity, the sum of the input quantities of multiple drivers is used as the sum value, and the sum of the squares of the differences between the sum value and the output quantity of each driver is used as the second input quantity; the sum value is the adjustment value of the second input quantity; the sum value and the second input quantity are processed according to a preset algorithm to obtain the result; the result is used as the standard output quantity of multiple drivers.

[0033] The present invention also provides a driver cooperative control system, characterized in that: a cooperative control module is used to acquire the driver state and generate cooperative control actions based on the driver state; a sub-state module is used to generate multiple cooperative control output signals based on the cooperative control actions; a driver coordination module is used to use the cooperative control output signals as standard quantities corresponding to each driver, determine the output quantity of each driver under the cooperative control actions according to preset rules, and obtain a standard output quantity; and a driver processing module is used to generate a standard output signal based on the standard output quantity, the standard output signal being used to control the output state of the corresponding driver.

[0034] The beneficial effects of this invention are as follows: By acquiring the actuator status and generating cooperative control actions, and then generating multiple cooperative control output signals, these signals are used as standard quantities to determine the output of each actuator. Finally, a standard output signal is generated to control the actuators, achieving cooperative control of the actuators. This avoids the centralized control method of the central processing unit, reduces the workload of the central processing unit, lowers resource consumption and energy consumption, and reduces heat generation, thereby enhancing the control effect and improving the overall performance of the robot. Simultaneously, the design of sub-state flags makes the acquisition of actuator status more accurate, and the verification mechanism for the standard output ensures that the actuators operate within a reasonable range, further improving the reliability and stability of the control. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the control method of the present invention;

[0037] Figure 2 This is a schematic diagram of the control system structure of the present invention. Detailed Implementation

[0038] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] Example 1: A cooperative control method for limb joint actuators of a humanoid robot. This method achieves coordinated and consistent actuator outputs by coordinating the control of multiple actuators, thereby improving system operating efficiency and stability. The method includes the following steps:

[0042] S1: Obtain the driver status and generate cooperative control actions based on the driver status;

[0043] Specifically, the driver state includes multiple sub-states, each corresponding to a sub-state flag. The sub-state flag is a discrete value, and its value reflects the attribute of the sub-state. When the sub-state flag value is 1, it indicates that the sub-state has occurred; when the sub-state flag value is 0, it indicates that the sub-state has not occurred. The driver state is obtained through the status of the sub-state flags.

[0044] In this embodiment, the driver state may include multiple sub-states such as driver operating state, load state, ambient temperature state, and power supply state. For example, the driver operating state may include normal operation, overload operation, and low-speed operation; the load state may include light load, heavy load, and overload; the ambient temperature state may include normal temperature, high temperature, and low temperature; and the power supply state may include normal power supply, undervoltage, and overvoltage.

[0045] When the sub-state flags corresponding to multiple sub-states are 1, any one of the preset cooperative control actions is taken as the cooperative control action. Each cooperative control action has a pre-set corresponding code. The corresponding cooperative control output signal is obtained through the code of the cooperative control action. The sub-states corresponding to the sub-state flags being 1 are mapped to the pre-set codes of the cooperative control actions, and the mapped cooperative control output signal is used as the standard output signal. Each cooperative control action has a pre-set corresponding output signal. When a cooperative control action is obtained, the output signal corresponding to that cooperative control action is used as the standard output signal. For example, when the driver is in overload operation (sub-state flag is 1) and the ambient temperature is high (sub-state flag is 1), "reduce output power" can be selected as the cooperative control action.

[0046] S2: Generate multiple collaborative control output signals based on the collaborative control actions;

[0047] In this embodiment, a coordinated control action is generated based on the state of the control device. Each driver has a pre-set corresponding output command. After determining the output commands of multiple drivers, the output quantity of the corresponding driver is determined according to a preset rule and then summed. The sum is used as the sum value, and this sum value is the standard output quantity of the driver.

[0048] For example, suppose there are three drivers in the system: driver A, driver B, and driver C. When the cooperative control action is "load balancing," the output command for driver A can be set to "increase output by 30%," the output command for driver B can be set to "maintain current output," and the output command for driver C can be set to "decrease output by 20%." Based on these output commands, the output of each driver is determined and then summed to obtain the standard output.

[0049] In addition, the sum value corresponding to the coordinated action is determined based on the state of the control device. Multiple drivers are used as the first input quantity, the sum of the input quantities of the multiple drivers is used as the sum value, and the sum of the squares of the differences between the sum value and the output quantity of each driver is used as the second input quantity. The sum value is an adjustment value for the second input quantity. The sum value and the second input quantity are processed according to a preset algorithm to obtain the result. The result is used as the standard output quantity of the multiple drivers.

[0050] S3: Using the collaborative control output signal as the standard quantity corresponding to each driver, determine the output quantity of each driver under collaborative control action according to the preset rules, and obtain the standard output quantity;

[0051] This step includes the following sub-steps:

[0052] S31: Get all driver information;

[0053] In this embodiment, the driver information includes parameters such as driver model, rated power, rated speed, rated voltage, rated current, and efficiency. Obtaining this information can provide a basis for determining the subsequent standard output.

[0054] S32: Determine the standard output for each driver;

[0055] Based on the coordinated control output signal and preset rules, the standard output value corresponding to each driver is determined. The preset rules can be based on factors such as driver parameters, load conditions, and operating efficiency. For example, the total output value can be allocated according to the driver's rated power ratio, or the optimal output allocation scheme can be selected based on the driver's efficiency curve.

[0056] S33: Verify the standard output values ​​of all drivers to ensure that the values ​​of the standard output values ​​of all drivers are within the preset operating range.

[0057] The sum of the standard output values ​​of multiple drivers is used as the sum value. The sum value is divided by the standard output value of each driver to obtain the ratio of each driver. The ratios of all drivers are then summed.

[0058] The verification steps include:

[0059] S331: Determine whether the ratio of the sum value to the preset nominal torque is within the first preset range. If not, output the verification error flag and send the verification error flag to the display unit. If yes, proceed to step S332.

[0060] In this embodiment, a numerical comparison is used to determine whether the sum is less than a preset nominal torque. The first preset range can be set between 0.8 and 1.2, that is, the ratio of the sum to the nominal torque should be between 0.8 and 1.2. If the ratio is less than 0.8 or greater than 1.2, a verification error flag is output and sent to the display unit to prompt the operator to make adjustments.

[0061] The method for presetting the nominal torque includes: determining the output of multiple drives under coordinated control, selecting the maximum output as the first standard output, and using the first standard output as the nominal torque. For example, assuming there are three drives in the system, and under a certain coordinated control action, the outputs of the three drives are 100 N·m, 120 N·m, and 90 N·m, respectively, then the maximum output of 120 N·m is selected as the nominal torque.

[0062] S332: Determine whether the minimum value among all ratios is within the second preset range. If not, output the verification error flag and send the verification error flag to the display unit. If yes, use the result of step S33 as the verification result.

[0063] In this embodiment, a numerical comparison is used to determine whether the minimum value among all ratios falls within a second preset range. The second preset range can be set between 0.5 and 1.5, meaning the minimum ratio of all drivers should be between 0.5 and 1.5. If the minimum value is less than 0.5 or greater than 1.5, a verification error flag is output and sent to the display unit to prompt the operator to make adjustments.

[0064] S4: Generates a standard output signal based on the standard output quantity. The standard output signal is used to control the output state of the corresponding driver.

[0065] In this embodiment, a standard output signal is generated based on a standard output quantity. This signal can be in the form of a voltage signal, current signal, PWM signal, etc. The standard output signal is transmitted to the driver to control the output state, including parameters such as speed, torque, and power.

[0066] Through the above steps, coordinated control of multiple drives is achieved, enabling each drive to work in coordination according to preset rules, thereby improving the system's operating efficiency and stability.

[0067] Example 2: A collaborative control system for the joint actuators of a humanoid robot's limbs. This system is used to achieve collaborative control of multiple actuators and includes the following modules:

[0068] The collaborative control module is used to acquire the driver status and generate collaborative control actions based on the driver status.

[0069] In this embodiment, the collaborative control module acquires various state information of the driver through a sensor network, including driver operating status, load status, ambient temperature status, and power supply status. The driver status includes multiple sub-states, each corresponding to a sub-state flag bit. The sub-state flag bit is a discrete quantity, and its value reflects the attribute of the sub-state. When the sub-state flag bit is 1, it indicates that the sub-state has occurred; when the sub-state flag bit is 0, it indicates that the sub-state has not occurred. The driver status is obtained through the status of the sub-state flag bits.

[0070] The cooperative control module selects an appropriate cooperative control action from a preset cooperative control action library based on the acquired driver status. When multiple sub-state flags are set to 1, any one of the preset cooperative control actions is selected as the cooperative control action. For example, when driver overheating (sub-state flag set to 1) and excessive load (sub-state flag set to 1) are detected, "reduce power output" can be selected as the cooperative control action.

[0071] The sub-state module is used to generate multiple collaborative control output signals based on the collaborative control actions;

[0072] The sub-state module receives cooperative control actions from the cooperative control module and generates multiple cooperative control output signals based on these actions. These signals are targeted at different drivers, instructing them on how to cooperate. For example, when the cooperative control action is "load balancing," the sub-state module may generate signals that increase the output of some drivers and decrease the output of others to achieve a balanced distribution of the load among multiple drivers.

[0073] The driver coordination module is used to determine the output quantity of each driver under the coordinated control action according to preset rules, using the coordinated control output signal as the standard quantity for each driver;

[0074] The driver coordination module first acquires information about all drivers, including driver model, rated parameters, and current operating status. Then, based on the coordinated control output signals generated by the sub-status module and preset rules, it determines the standard output value for each driver. Finally, it verifies the standard output values ​​of all drivers to ensure they are within the preset operating range.

[0075] The verification process includes: using the sum of the standard output values ​​of multiple drivers as the sum value, dividing the sum value by the standard output value of each driver to obtain the ratio of each driver, and summing the ratios of all drivers. Then, it is determined whether the ratio of the sum value to the preset nominal torque is within a first preset range. If not, a verification error flag is output; if yes, it is further determined whether the minimum value among all ratios is within a second preset range. If not, a verification error flag is output; if yes, the verification result is taken as the final result.

[0076] The driver processing module is used to generate a standard output signal based on the standard output quantity. The standard output signal is used to control the output state of the corresponding driver.

[0077] The driver processing module receives standard output quantities from the driver coordination module and converts them into standard output signals suitable for driver recognition. These signals can be analog quantities (such as voltage and current) or digital quantities, such as PWM signals, used to control the motor's output state, including parameters such as speed, torque, and power.

[0078] Through the coordinated operation of the above modules, the system can achieve coordinated control of multiple drives, enabling each drive to work in coordination according to preset rules, thereby improving the system's operating efficiency and stability.

[0079] Example 3: A specific application example of a collaborative control method and system for the joint actuators of a humanoid robot limbs. This method can not only be used to control the joints of a humanoid robot, but also to collaboratively control the actuators of some industrial equipment. For example, in an industrial equipment containing three actuators, the three actuators are actuator A, actuator B and actuator C, with rated powers of 10kW, 15kW and 20kW respectively.

[0080] S1: Obtain the driver status and generate cooperative control actions based on the driver status;

[0081] In this embodiment, the driver state includes the following sub-states:

[0082] -Driver A operating status: Normal operation (sub-status flag is 0)

[0083] -Driver B operating status: Overload operation (sub-status flag is 1)

[0084] -Driver C operating status: Normal operation (sub-status flag is 0)

[0085] - Ambient temperature status: High temperature (sub-status flag is 1)

[0086] - Load status: Overloaded (sub-status flag is 1)

[0087] Since the driver B is in an overloaded operating state, the ambient temperature is in a high-temperature state, and the load is in a heavy-load state, the flag bits of these three sub-states are all 1. Therefore, "load redistribution" is selected as the cooperative control action from the preset cooperative control actions.

[0088] S2: Generate multiple collaborative control output signals based on the collaborative control actions;

[0089] Based on the "load redistribution" coordinated control action, the following coordinated control output signals are generated:

[0090] -Driver A: Increases output power by 30%

[0091] -Driver B: Reduces output power by 20%

[0092] -Driver C: Increases output power by 10%

[0093] The purpose of these signals is to alleviate the burden on drive B by transferring some of the load to drives A and C, while taking into account the rated power and current operating status of each drive.

[0094] S3: Using the collaborative control output signal as the standard quantity corresponding to each driver, determine the output quantity of each driver under collaborative control action according to the preset rules, and obtain the standard output quantity;

[0095] S31: Get all driver information;

[0096] The information for the three drives is as follows:

[0097] -Driver A: Rated power 10kW, current output power 7kW

[0098] -Driver B: Rated power 15kW, current output power 14kW

[0099] -Driver C: Rated power 20kW, current output power 15kW

[0100] S32: Determine the standard output for each driver;

[0101] Calculate the standard output of each driver based on the coordinated control output signal and the current output power of the driver:

[0102] -Driver A: 7kW × (1 + 30%) = 9.1kW

[0103] -Driver B: 14kW × (1-20%) = 11.2kW

[0104] -Driver C: 15kW × (1 + 10%) = 16.5kW

[0105] S33: Verify the standard output values ​​of all drivers to ensure that the values ​​of the standard output values ​​of all drivers are within the preset operating range.

[0106] Calculate the sum: 9.1kW + 11.2kW + 16.5kW = 36.8kW

[0107] Calculate the proportion of each driver:

[0108] - Drive A ratio: 36.8kW ÷ 9.1kW = 4.04

[0109] - Drive B ratio: 36.8kW ÷ 11.2kW = 3.29

[0110] -Driver C ratio: 36.8kW ÷ 16.5kW = 2.23

[0111] S331: Determine whether the ratio of the sum to the preset nominal torque is within the first preset range;

[0112] The preset nominal torque is 40kW (determined based on the sum of the rated power of the three drives).

[0113] The ratio of the sum to the nominal torque: 36.8kW ÷ 40kW = 0.92

[0114] The first preset range is 0.8 to 1.2. 0.92 is within this range, so proceed to step S332.

[0115] S332: Determine whether the minimum value among all proportions is within the second preset range;

[0116] The minimum value among all scales is 2.23 (scale of driver C).

[0117] The second preset range is 0.5 to 3.0. 2.23 is within this range, so the verification is passed, and the standard output is taken as the final result.

[0118] S4: Generates a standard output signal based on the standard output quantity. The standard output signal is used to control the output state of the corresponding driver.

[0119] The following standard output signal is generated based on the standard output value:

[0120] -Driver A: Control signals (such as voltage, current, or PWM signals) corresponding to 9.1kW

[0121] -Driver B: Control signal corresponding to 11.2kW

[0122] -Driver C: Control signal corresponding to 16.5kW

[0123] Upon receiving these signals, the corresponding driver controls the output state to redistribute the load, reduce the burden on driver B, and avoid potential failures caused by overload and high temperature.

[0124] Through the above steps, coordinated control of the three drives is achieved, and the output is dynamically adjusted according to the status of each drive, thereby improving the system's operating efficiency and stability.

[0125] It should be noted that Embodiment 1, Embodiment 2, and Embodiment 3 are all methods of driver cooperative control.

[0126] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1.A method for cooperative control of a human-shaped robot limb joint driver, comprising the steps of: S1) obtaining a driver state and generating a cooperative control action according to the driver state; S2) generating a plurality of cooperative control output signals according to the cooperative control action; S3) taking the cooperative control output signals as corresponding standard quantities of each driver, determining output quantities of each driver under the cooperative control action according to a preset rule, and obtaining standard output quantities; and S4) generating a standard output signal according to the standard output quantities, the standard output signal being used to control an output state of the corresponding driver. The driver state comprises a plurality of sub-states, each sub-state corresponding to a sub-state flag bit, the sub-state flag bit being a discrete quantity, and the value of the sub-state flag bit reflecting the attribute of the sub-state; when the value of the sub-state flag bit is 1, it indicates that the sub-state has occurred, and when the value of the sub-state flag bit is 0, it indicates that the sub-state has not occurred; the state of the driver is obtained through the state of the sub-state flag bit; when the sub-state flag bits corresponding to the plurality of sub-states are 1, any one of a plurality of preset cooperative control actions is taken as the cooperative control action; step S3) comprises: S31) obtaining all driver information; S32) determining the standard output quantity corresponding to each driver; S33) checking the standard output quantities of all drivers so that the values of the standard output quantities of all drivers are within a preset working range; summing the standard output quantities of the plurality of drivers to obtain a sum value, dividing the sum value by the standard output quantity of each driver to obtain a proportion of each driver, and summing the proportions of all drivers; and step S33) comprises: S331) judging whether the ratio of the sum value to a preset nominal torque is within a first preset range, outputting a check error flag bit if not, and sending the check error flag bit to a display unit if yes; S332) judging whether the minimum value among all the proportions is within a second preset range, outputting a check error flag bit if not, and obtaining the checking result of the standard output quantities of all drivers in step S33) if yes. The method for presetting the nominal torque comprises: determining the output quantities of the plurality of drivers under the cooperative control action, and selecting the maximum output quantity as a first standard output quantity; and taking the first standard output quantity as the nominal torque. In step S1), the cooperative control action is generated according to the driver state; each driver is previously provided with a corresponding output instruction; after the output instructions of the plurality of drivers are determined, the output quantities of the corresponding drivers are determined according to the preset rule and are subjected to superposition processing; the result of the superposition processing is taken as the sum value, and the sum value is taken as the standard output quantity of the driver. The sum value of the plurality of drivers is taken as a first input quantity, the sum of the first input quantities of the plurality of drivers is taken as a sum value, and the square sum of the difference between the sum value and the output quantity of each driver is taken as a second input quantity. The sum value is an adjustment value of the second input quantity. The sum value and the second input quantity are processed according to a preset algorithm to obtain a result, and the result is taken as the standard output quantity of the plurality of drivers. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 2. The cooperative control method of the anthropomorphic robotic limb joint actuator according to claim 1, wherein: ​ 3. The method of claim 1, wherein: ​ 4. The cooperative control method of the anthropomorphic robotic limb joint actuator according to claim 3, characterized in that: ​ ​ ​ 5. The cooperative control system of a humanoid robot limb joint actuator according to any one of claims 1-4, characterized in that: The cooperative control module is configured to acquire a driver state and generate a cooperative control action according to the driver state; the sub-state module is configured to generate a plurality of cooperative control output signals according to the cooperative control action; and the driver coordination module is configured to take the cooperative control output signals as corresponding standard quantities of each driver, determine output quantities of the drivers under the cooperative control action according to a preset rule, and obtain standard output quantities. The driver processing module is configured to generate standard output signals according to the standard output quantities, and the standard output signals are used to control output states of the corresponding drivers.

Images