Closed-loop double-feedback collaborative robot regeneration control method and device and storage medium

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By using a closed-loop dual-feedback control method, combined with the bus voltage and the temperature of the bleeder resistor, the IGBT switching state is dynamically adjusted, which solves the energy management problem during rapid braking of the servo joints of collaborative robots and achieves stable operation and temperature control of the bleeder resistor.

CN120985660APending Publication Date: 2025-11-21PANASONIC WELDING SYST TANGSHAN

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Patent Information

Application Number: CN202511225109.X
Authority / Receiving Office: CN · China
Patent Type: Applications(China)
Current Assignee / Owner
Filing Date: 2025-08-29
Publication Date: 2025-11-21

AI Technical Summary

Technical Problem

In existing technologies, when the servo joints of collaborative robots brake rapidly, the bleed resistors operate at their limit load for extended periods, leading to a high probability of abnormal temperature alarms and an inability to effectively manage the problem of reverse energy inflow.

Method used

A closed-loop dual feedback control method is adopted. By acquiring the bus voltage and the temperature of the bleeder resistor, the duty cycle of the IGBT is calculated. The switching state of the IGBT is dynamically adjusted using weighted gain and PI algorithm to form a dual feedback control closed loop of temperature and voltage, thereby reducing the probability of abnormal temperature alarm of the bleeder resistor.

Benefits of technology

Effective management of servo bus voltage energy release reduces the probability of abnormal temperature alarms from the bleeder resistor, ensures stable operation of the bleeder resistor within its extreme load range, and avoids prolonged high-temperature alarms.

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Abstract

The invention discloses a closed-loop double-feedback collaborative robot regeneration control method and device and a storage medium, and belongs to the technical field of servo bus voltage regeneration control, and the method comprises the following steps: continuously obtaining a bus voltage and a bleeder resistor temperature of a collaborative robot; comparing the real-time bleeder resistor temperature with a preset bleeder resistor temperature threshold interval set, and judging a bleeder resistor temperature threshold interval specifically corresponding to the bleeder resistor temperature; according to different temperature threshold intervals of the bleeder resistor, different weight analysis algorithms are adopted to calculate weight gains, and the weight gains are obtained; a PI algorithm is adopted to calculate the real-time bus voltage and a preset bus voltage target value to obtain a PI calculation result, and the PI calculation result and the weight gain are summed to obtain an IGBT turn-on duty ratio value; and controlling the switching action of the IGBT according to the IGBT turn-on duty ratio value. When the servo joint of the robot is braked quickly, the bleeder resistor can work within the limit load for a long time, and the temperature abnormity alarm probability of the bleeder resistor is reduced.

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Description

TECHNICAL FIELD

[0001] The application relates to a closed-loop double-feedback collaborative robot regenerative control method, device and storage medium, and belongs to the technical field of servo bus voltage regenerative control. BACKGROUND

[0002] During the action process of the collaborative robot, energy is reversely poured into the servo bus voltage when the arm is lowered under gravity or the servo motor is rapidly braked, and the bleeder resistor can convert the electric energy into heat energy to release the energy and ensure the bus voltage to be stable. Figure 1 The open-loop control or voltage single-closed-loop control, i.e. temperature detection and voltage hysteresis control, can basically meet the regenerative control requirements of the robot, but when the poured energy is too large, such as when the multi-joint motor is suddenly stopped, the voltage hysteresis will make the bleeder resistor release energy for a long time, and the control will often exceed the load of the resistor, and the temperature of the resistor is only used as a monitoring variable to generate an alarm. SUMMARY

[0003] The application aims to overcome the defects of the prior art and provide a closed-loop double-feedback collaborative robot regenerative control method, device and storage medium, which can make the bleeder resistor work in the limit load for a long time and reduce the probability of abnormal temperature alarm of the bleeder resistor when the servo joint of the robot is rapidly braked.

[0004] To solve the above technical problems, the technical scheme adopted by the application is as follows:

[0005] In a first aspect, the application provides a closed-loop double-feedback collaborative robot regenerative control method, comprising the following steps:

[0006] The bus voltage and the bleeder resistor temperature of the collaborative robot are continuously obtained;

[0007] The real-time bleeder resistor temperature is compared with a preset bleeder resistor temperature threshold interval set to determine the specific bleeder resistor temperature threshold interval corresponding to the bleeder resistor temperature;

[0008] Different weight gain calculation algorithms are used to calculate the weight gain according to different bleeder resistor temperature threshold intervals;

[0009] The PI algorithm is used to calculate the real-time bus voltage and the preset bus voltage target value to obtain a PI calculation result, and then the IGBT opening duty cycle value is obtained by summing the PI calculation result and the weight gain;

[0010] The switching action of the IGBT is controlled according to the IGBT opening duty cycle value.

[0011] The temperature threshold interval set includes a first bleed resistor temperature threshold interval, a second bleed resistor temperature threshold interval, a third bleed resistor temperature threshold interval and a fourth bleed resistor temperature threshold interval, wherein the first bleed resistor temperature threshold interval is set to be less than the first bleed resistor temperature threshold, the second bleed resistor temperature threshold interval is set to be greater than or equal to the first bleed resistor temperature threshold and less than the second bleed resistor temperature threshold, the third bleed resistor temperature threshold interval is set to be greater than or equal to the second bleed resistor temperature threshold and less than the third bleed resistor temperature threshold, and the fourth bleed resistor temperature threshold interval is set to be greater than the third bleed resistor temperature threshold; the first bleed resistor temperature threshold, the second bleed resistor temperature threshold and the third bleed resistor temperature threshold are sequentially set from small to large.

[0012] The weight gain is obtained by calculating the weight gain according to different temperature threshold intervals using different weight analysis algorithms.

[0013] When the bleed resistor temperature is located in the first temperature threshold interval, the weight gain calculation formula is as follows: ;

[0014] When the bleed resistor temperature is located in the second temperature threshold interval, the weight gain calculation formula is as follows: ;

[0015] When the bleed resistor temperature is located in the third temperature threshold interval, the weight gain is 0.

[0016] When the bleed resistor temperature is located in the fourth temperature threshold interval, the weight gain calculation formula is as follows: ;

[0017] Wherein, is the weight gain, T fd is the bleed resistor temperature, T th1 is the first bleed resistor temperature threshold, T th2 is the second bleed resistor temperature threshold, T th3 is the third bleed resistor temperature threshold, K k1 is the first weight parameter, K k2 is the second weight parameter, K k3 is the third weight parameter.

[0018] The calculation formula of the IGBT on-duty output control value is:

[0019] ;

[0020] ;

[0021] Wherein, is the IGBT on-duty control value of the kth calculation period, is a total sum of voltage difference values for 5 cycles, is a proportional parameter of the PI controller, is a voltage difference value for the kth calculation cycle, is a bus voltage for the kth calculation cycle, is an integral parameter of the PI controller, is a target value of the robot servo bus voltage, is a weight gain for the kth calculation cycle.

[0022] When the IGBT on-duty value is greater than or equal to a preset full value, the IGBT is controlled to be fully on; when the IGBT on-duty value is less than the preset full value, the percentage of the IGBT on state is controlled according to the percentage of the IGBT on-duty value and the preset full value.

[0023] If it is determined that the real-time bus voltage exceeds the warning voltage threshold, the IGBT is controlled to be turned off.

[0024] If it is determined that the real-time discharge resistance temperature exceeds the warning temperature threshold, the IGBT is controlled to be turned off.

[0025] The discharge resistance on-duty value is continuously obtained, and if it is determined that the discharge resistance on-duty value ratio exceeds the warning on-duty ratio threshold and the duration reaches a specified value, the IGBT is controlled to be turned off.

[0026] In a second aspect, the application provides a closed-loop double-feedback collaborative robot regenerative control device, comprising:

[0027] A sampling data acquisition module is configured to continuously obtain the bus voltage and the discharge resistance temperature of the collaborative robot.

[0028] A temperature threshold interval comparison module is configured to compare the real-time discharge resistance temperature with a preset discharge resistance temperature threshold interval set to determine the specific discharge resistance temperature threshold interval corresponding to the discharge resistance temperature.

[0029] A weight gain calculation module is configured to calculate the weight gain by using different weight analysis algorithms according to different discharge resistance temperature threshold intervals to obtain the weight gain.

[0030] An on-duty ratio calculation module is configured to calculate the PI calculation result by using a PI algorithm to calculate the real-time bus voltage and the preset bus voltage target value, and then calculate the IGBT on-duty value by summing the PI calculation result and the weight gain.

[0031] A switch action control module is configured to control the switching action of the IGBT according to the IGBT on-duty value.

[0032] In a third aspect, the present application provides a computer readable storage medium having stored thereon a computer program / instructions, which, when executed by a processor, implements the closed-loop double feedback collaborative robot regenerative control method.

[0033] The present application provides a closed-loop double feedback collaborative robot regenerative control method, device and storage medium. The IGBT opening duty cycle is calculated comprehensively by the feedback bus voltage and the discharge resistor temperature. The weight gain is calculated by different weight analysis algorithms according to different discharge resistor temperature threshold intervals. The IGBT opening duty cycle value is calculated according to the bus voltage and the weight gain. When the robot is under gravity or the servo motor is braked, the energy on the servo bus voltage can be released. The discharge resistor can work in the extreme load for a long time, and the probability of abnormal alarm of the discharge resistor temperature is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a schematic diagram of the discharge resistor in the present application;

[0035] Figure 2 is a double feedback closed-loop control diagram in the present application;

[0036] Figure 3 is a schematic diagram of four branches of the discharge resistor temperature in the present application. DETAILED DESCRIPTION

[0037] The present application will be further described below in conjunction with the drawings. The following examples are only used to more clearly illustrate the technical solutions of the present application, and cannot be used to limit the protection scope of the present application.

[0038] Example 1

[0039] As shown in the drawings, Figure 2 The present application discloses a closed-loop double feedback collaborative robot regenerative control method, which comprises the following steps:

[0040] Step 1: continuously acquire the bus voltage and the discharge resistor temperature of the collaborative robot. When the voltage and the resistor temperature exceed the threshold value of the boundary analysis logic, the IGBT is directly turned off. Specifically, when the bus voltage is greater than 55V, the bus voltage is less than 50V, and the resistor temperature is greater than 120℃, the IGBT is directly turned off. In addition, the discharge resistor opening duty value is continuously acquired. If it is determined that the discharge resistor opening duty value exceeds the warning opening duty threshold value and the duration reaches the specified value, the IGBT is controlled to be turned off. Specifically, when the discharge resistor opening duty ratio exceeds 80% and the continuous time is greater than 10ms, the IGBT is directly turned off to prevent the resistor from exceeding the extreme load. The feedback results are output to the weight analysis algorithm in other cases.

[0041] Step two, compare the real-time bleed resistor temperature with the preset bleed resistor temperature threshold interval set to determine the specific bleed resistor temperature threshold interval corresponding to the bleed resistor temperature.

[0042] As shown in Figure 3 The temperature threshold interval set includes a first bleed resistor temperature threshold interval, a second bleed resistor temperature threshold interval, a third bleed resistor temperature threshold interval, and a fourth bleed resistor temperature threshold interval, corresponding to branch 1, branch 2, branch 3, and branch 4 in the figure, a total of four branches. The first bleed resistor temperature threshold interval is set to be less than the first bleed resistor temperature threshold, the second bleed resistor temperature threshold interval is set to be greater than or equal to the first bleed resistor temperature threshold and less than the second bleed resistor temperature threshold, the third bleed resistor temperature threshold interval is set to be greater than or equal to the second bleed resistor temperature threshold and less than the third bleed resistor temperature threshold, and the fourth bleed resistor temperature threshold interval is set to be greater than the third bleed resistor temperature threshold; The first bleed resistor temperature threshold, the second bleed resistor temperature threshold, and the third bleed resistor temperature threshold are sequentially set from small to large, and are respectively defaulted to 50℃, 70℃, and 80℃.

[0043] Step three, different weight gain calculation algorithms are used according to different bleed resistor temperature threshold intervals to obtain the weight gain. The weight gain calculation uses the first weight parameter when branch 1; the weight gain calculation uses the second weight parameter when branch 2; the weight gain is 0 when branch 3; and the weight gain calculation uses the third weight parameter when branch 4.

[0044] Specifically, when the bleed resistor temperature is in the first temperature threshold interval, the weight gain calculation formula is as follows: When the bleed resistor temperature is in the second temperature threshold interval, the weight gain calculation formula is as follows: When the bleed resistor temperature is low (branches 1 and 2), the IGBT on-duty ratio can be appropriately increased to release the energy on the bus voltage faster.

[0045] When the bleed resistor temperature is in the third temperature threshold interval, the weight gain is 0. The temperature feedback does not participate in the calculation, and at this time only the voltage feedback is used to calculate the IGBT on-duty ratio.

[0046] When the bleed resistor temperature is in the fourth temperature threshold interval, the weight gain calculation formula is as follows: At this time, it is considered that the robot / servo braking action is fast, and the voltage PI loop needs to be negatively compensated according to the temperature feedback, otherwise the bleed resistor temperature alarm is likely to occur, that is, a large amount of energy is dynamically adjusted and released, and the release period is lengthened;

[0047] wherein, is the weight gain, T fdT is a first bleed resistor temperature threshold, T th1 T is a first bleed resistor temperature threshold, T th2 T is a second bleed resistor temperature threshold, T th3 T is a third bleed resistor temperature threshold, K k1 K is a first weight parameter, default is 20, K k2 K is a second weight parameter, default is 8, K k3 K is a third weight parameter, default is -50.

[0048] Step four, the PI algorithm is used to calculate the real-time bus voltage and the preset bus voltage target value to obtain the PI calculation result, and then the PI calculation result and the weight gain are summed to obtain the IGBT opening duty ratio value. This step is performed in the PI controller, and the PI controller target value is 50V, the input is the bus voltage feedback value and the weight gain value, and the output result is the PWM duty ratio value, which directly controls the IGBT on-off of the bleed resistor. When branch 1, branch 2 and branch 4, the PI controller and the weight gain jointly participate in the calculation of the PWM duty ratio; when branch 3, the PI controller calculates the PWM duty ratio alone.

[0049] The calculation formula of the IGBT opening duty ratio output control value is:

[0050] ;

[0051] ;

[0052] Wherein, is the IGBT opening duty ratio control value of the kth calculation period, and greater than or equal to 8000, the IGBT is fully opened. is the sum of the voltage difference values of 5 periods. K is a first weight parameter, default is 20, K is the voltage difference value of the kth calculation period, is the bus voltage of the kth calculation period, K is a first weight parameter, default is 20, K is the robot servo bus voltage target value, default is 50V, is the weight gain of the kth calculation period. Wherein, the integral term in the formula is the integral operation in 5 periods, and more than 2000 is considered as integral saturation, that is, the maximum value of the following formula is 2000,

[0053] .

[0054] When the IGBT opening duty cycle value is greater than or equal to a preset full value, the IGBT is controlled to be fully opened; when the IGBT opening duty cycle value is less than the preset full value, the percentage of the IGBT opening state is controlled according to the percentage of the IGBT opening duty cycle value and the preset full value.

[0055] Step five, the switching action of the IGBT is controlled according to the IGBT opening duty cycle value.

[0056] The present application provides a closed-loop double-feedback collaborative robot regenerative control method, introduces temperature and bus voltage double feedback to form a control closed loop, introduces a weight analysis algorithm, when the temperature is too high, reduces the proportion of the PI controller and the PWM opening rate through weight distribution, prolongs the regenerative control time, and dynamically balances the voltage suppression and heat dissipation through weight gain and the PI controller, prevents the temperature from being too high due to long-time opening of the discharge resistance IGBT when the energy is too large, and directly alarms.

[0057] Embodiment 2

[0058] The present embodiment 2 discloses a closed-loop double-feedback collaborative robot regenerative control device, comprising:

[0059] The sampling data acquisition module is used for continuously acquiring the bus voltage and the discharge resistance temperature of the collaborative robot.

[0060] The temperature threshold interval comparison module is used for comparing the real-time discharge resistance temperature with a preset discharge resistance temperature threshold interval set, and judging the specific discharge resistance temperature threshold interval corresponding to the discharge resistance temperature.

[0061] The weight gain calculation module is used for calculating the weight gain by using different weight analysis algorithms according to different discharge resistance temperature threshold intervals.

[0062] The opening duty cycle calculation module is used for calculating the PI calculation result by using the PI algorithm on the real-time bus voltage and the preset bus voltage target value, and then calculating the IGBT opening duty cycle value by summing the PI calculation result and the weight gain.

[0063] The switching action control module is used for controlling the switching action of the IGBT according to the IGBT opening duty cycle value.

[0064] Embodiment 3

[0065] The present embodiment provides a computer readable storage medium, which stores a computer program / instruction, and the computer program / instruction is executed by a processor to realize the closed-loop double-feedback collaborative robot regenerative control method in embodiment 1.

[0066] The above merely describes the preferred embodiments of the present application, and it should be pointed out that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A closed-loop dual feedback cooperative robot regenerative control method, characterized by: The method comprises the following steps: Continuously acquire the bus voltage and the temperature of the discharge resistor of the collaborative robot; Compare the real-time discharge resistor temperature with a preset discharge resistor temperature threshold interval set to determine the specific discharge resistor temperature threshold interval corresponding to the discharge resistor temperature; According to different discharge resistor temperature threshold intervals, different weight analysis algorithms are used to calculate the weight gain to obtain the weight gain; The PI algorithm is used to calculate the real-time bus voltage and the preset bus voltage target value to obtain the PI calculation result, and then the PI calculation result and the weight gain are summed to obtain the IGBT on-duty ratio value; The IGBT on-duty ratio value is used to control the switching action of the IGBT.

2. The closed-loop dual feedback collaborative robotic regenerative control method of claim 1, wherein: The temperature threshold interval set comprises a first discharge resistor temperature threshold interval, a second discharge resistor temperature threshold interval, a third discharge resistor temperature threshold interval and a fourth discharge resistor temperature threshold interval, wherein the first discharge resistor temperature threshold interval is set to be less than the first discharge resistor temperature threshold, the second discharge resistor temperature threshold interval is set to be greater than or equal to the first discharge resistor temperature threshold and less than the second discharge resistor temperature threshold, the third discharge resistor temperature threshold interval is set to be greater than or equal to the second discharge resistor temperature threshold and less than the third discharge resistor temperature threshold, and the fourth discharge resistor temperature threshold interval is set to be greater than the third discharge resistor temperature threshold; the first discharge resistor temperature threshold, the second discharge resistor temperature threshold and the third discharge resistor temperature threshold are sequentially set from small to large.

3. The closed-loop dual feedback collaborative robotic regenerative control method of claim 2, wherein: The calculation of the weight gain according to different temperature threshold intervals comprises: When the bleeder resistor temperature is located in the first temperature threshold interval, the weight gain calculation formula is as follows: ; When the bleeder resistor temperature is located in the second temperature threshold interval, the weight gain calculation formula is as follows: ; When the discharge resistor temperature is in the third temperature threshold interval, the weight gain is 0; When the bleeder resistor temperature is located in the fourth temperature threshold interval, the weight gain calculation formula is as follows: ; wherein, is a weight gain, T fd is a bleed resistor temperature, T th1 is a first bleed resistor temperature threshold, T th2 is a second bleed resistor temperature threshold, T th3 is a third bleed resistor temperature threshold, K k1 is a first weight parameter, K k2 is a second weight parameter, K k3 is a third weight parameter.

4. The closed-loop dual feedback collaborative robotic regenerative control method of claim 3, wherein: The calculation formula of the IGBT on-duty ratio output control value is: ；； wherein, is the kth calculation cycle IGBT on duty control value, is the 5-cycle voltage difference value sum, is the PI controller proportional parameter, is the kth calculation cycle voltage difference value, is the kth calculation cycle bus voltage, is the PI controller integral parameter, is the robot servo bus voltage target value, is the kth calculation cycle weight gain.

5. The closed loop dual feedback collaborative robotic regenerative control method of claim 1, wherein: When the IGBT on-duty ratio value is greater than or equal to the preset full value, the IGBT is controlled to be fully on; when the IGBT on-duty ratio value is less than the preset full value, the percentage of the IGBT on state is controlled according to the percentage of the IGBT on-duty ratio value and the preset full value.

6. The closed loop dual feedback collaborative robotic regenerative control method of claim 1, wherein: If it is determined that the real-time bus voltage exceeds the warning voltage threshold, the IGBT is controlled to be turned off.

7. The closed loop dual feedback collaborative robotic regenerative control method of claim 1, wherein: If it is determined that the real-time discharge resistor temperature exceeds the warning temperature threshold, the IGBT is controlled to be turned off.

8. The closed loop dual feedback collaborative robotic regenerative control method of claim 1, wherein: Continuously acquire the discharge resistor on-duty ratio value, and if it is determined that the discharge resistor on-duty ratio value exceeds the warning on-duty ratio threshold and the duration reaches a specified value, the IGBT is controlled to be turned off.

9. A closed loop dual feedback cooperative robot regenerative control device, characterized by: The method comprises the following steps: A sampling data acquisition module is used to continuously acquire the bus voltage and the temperature of the discharge resistor of the collaborative robot; A temperature threshold interval comparison module is used to compare the real-time discharge resistor temperature with a preset discharge resistor temperature threshold interval set to determine the specific discharge resistor temperature threshold interval corresponding to the discharge resistor temperature; A weight gain calculation module is used to calculate the weight gain according to different discharge resistor temperature threshold intervals by using different weight analysis algorithms to obtain the weight gain; The opening duty cycle calculation module is configured to calculate the PI calculation result by using a PI algorithm on the real-time bus voltage and the preset bus voltage target value, and to calculate the IGBT opening duty cycle value by summing the PI calculation result and the weight gain. The switch action control module is configured to control the switch action of the IGBT according to the IGBT opening duty cycle value.

10. A computer readable storage medium having stored thereon computer programs / instructions, characterized in that: The computer program / instruction is executed by the processor to implement the closed-loop double-feedback cooperative robot regenerative control method in any one of claims 1-8.