CN104440910A - Robot double-arm synchronizing control method and system - Google Patents
Robot double-arm synchronizing control method and system Download PDFInfo
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- CN104440910A CN104440910A CN201410624774.1A CN201410624774A CN104440910A CN 104440910 A CN104440910 A CN 104440910A CN 201410624774 A CN201410624774 A CN 201410624774A CN 104440910 A CN104440910 A CN 104440910A
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Abstract
The invention discloses a robot double-arm synchronizing control method and system. The method includes the steps that an electric control system central processing unit receives the speed response value fed back by a speed collector, the first speed response value, the second speed response value and the difference value absolute value of the given speed value are computed, and the first difference value absolute valve and the second difference value absolute value are obtained correspondingly; when both the first difference value absolute value and the second difference value absolute value are in the first error range, the difference valve absolute value between the first speed response value and the second speed response value is computed, and the relative difference value absolute value is obtained; when the relative difference value absolute value is in the second error range, a left hand drive motor and a right hand drive motor are controlled to operate. Compared with the prior art, the robot double-arm synchronizing control method and system effectively solve the problems that it is difficult to coordinate double arms of a robot, and the synchronizing efficiency is low and improve the synchronizing control performance of the double arms of the robot.
Description
Technical field
The present invention relates to multi-motor synchronous control field, particularly relate to a kind of method and system realizing robot both hands arm Synchronization Control.
Background technology
Multi-drive synchronization system is Application comparison electric-control system widely during modern industry is produced, and it is widely used in the fields such as Digit Control Machine Tool, industrial sewing machine, robot and fire control.Along with the raising that industrial production line automaticity and control accuracy require, it is also proposed higher requirement to the real-time of servo-control system, collaborative and accuracy, therefore occasion needs two or multiple electric motors to work to reach simultaneously and ensure precision, put forward high performance object more and more.This wherein, the most typical application of multi-drive synchronization system is exactly industrial robot.
Often there will be robot arm in conventional machines people Synchronization Control and be difficult to problems such as coordinating, sync rates is low.For this reason, the synchronisation control means of prior art to robot has made some improvements, existing robot both hands arm Synchronization Control process is mainly: when multiple electric motors needs to be synchronized with the movement, first by signal feeding in a certain motor wherein, and each motor adopts series operation mode, namely the output speed of last motor is as the speed preset of next motor.Although this control method is simple, but in the raising speed stage of Stepped Impedance Resonators start-up course, the rotating speed of a rear motor is slightly more delayed than the rotating speed of last motor, start-up course trace performance is not very desirable, antijamming capability is low, and when a motor breaks down, all motors that will certainly affect thereafter run.Visible, the some shortcomings that the both hands arm control method of robot of the prior art exists make its both hands arm still exist to be difficult to coordinate, and the problem that sync rates is low, Synchronization Control performance is not high.
Therefore, the Synchronization Control performance how effectively improving robot both hands arm is the current technical issues that need to address of those skilled in the art.
Summary of the invention
The object of this invention is to provide a kind of method realizing robot both hands arm Synchronization Control, efficiently solve robot both hands arm and be difficult to coordinate, the problem that sync rates is low, improves the Synchronization Control performance of robot both hands arm; Another object of the present invention is to provide a kind of system realizing robot both hands arm Synchronization Control.
For solving the problems of the technologies described above, the invention provides a kind of method realizing robot both hands arm Synchronization Control, the method comprises the following steps:
Steps A: electric-control system CPU receives the given speed value that host computer sends, carries out the speed command operated according to described given speed value to PLC transmission control left hand drive motors and right hand drive motors;
Step B: described PLC receives the speed command that described electric-control system CPU sends, and controls described left hand drive motors and described right hand drive motors operates according to described given speed value;
Step C: speed acquisition device gathers the First Speed response of described left hand drive motors and the second speed response of described right hand drive motors, and described speed responsive value is fed back to described electric-control system CPU;
Step D: described electric-control system CPU calculates the absolute difference of described First Speed response, described second speed response and described given speed value respectively, and correspondence obtains the first absolute difference and the second absolute difference;
Step e: when described first absolute difference and described second absolute difference are all in the first error range, calculate the absolute difference between described First Speed response and described second speed response, obtain relative difference absolute value;
Step F: when described relative difference absolute value is in the second error range, controls described left hand drive motors and the running of described right hand drive motors.
Preferably, also comprise:
When described first absolute difference and/or described second absolute difference be not in described first error range, adjust the running speed of the drive motors of its absolute difference not in described first error range, until the absolute difference of the speed responsive value of described drive motors that collects of described speed acquisition device and described given speed value is in described first error range, enter step e.
Preferably, also comprise:
When described relative difference absolute value is not in described second error range, then adjust the running speed of described left hand drive motors and/or described right hand drive motors, until described relative difference absolute value is in described second error range.
Preferably, the process of the running speed of the drive motors of its absolute difference of described adjustment not in described first error range comprises:
Utilize the speed regulating parameter of control algolithm to the drive motors of absolute difference not in described first error range to adjust, and regulate the speed of described drive motors with the described speed regulating parameter after adjustment.
Preferably, described control algolithm is the pid control algorithm based on BP neutral net.
For solving the problems of the technologies described above, present invention also offers a kind of system realizing robot both hands arm Synchronization Control, this system comprises host computer, left hand drive motors and right hand drive motors, this system also comprises: electric-control system CPU, programmable logic controller (PLC) PLC and speed acquisition device group, wherein:
The input of described electric-control system CPU is connected with described host computer, output is connected with described PLC, for receiving the given speed value that described host computer sends, carry out the speed command operated according to described given speed value to the PLC transmission described left hand drive motors of control and described right hand drive motors;
Described PLC receives the speed command that described electric-control system CPU sends, and controls described left hand drive motors and described right hand drive motors operates according to described given speed;
Described speed acquisition device group comprises two speed acquisition devices, described two speed acquisition devices gather the First Speed response of described left hand drive motors and the second speed response of described right hand drive motors respectively, and described speed responsive value is fed back to described electric-control system CPU;
Described electric-control system CPU receives the speed responsive value of described speed acquisition device group feedback, calculate described left hand drive motors respectively, the speed responsive value of described right hand drive motors and the absolute difference of described given speed value, correspondence obtains the first absolute difference and the second absolute difference, when described first absolute difference and described second absolute difference are all in the first error range, calculate the absolute difference between described First Speed response and described second speed response, obtain relative difference absolute value, when described relative mistake absolute value is in the second error range, control described left hand drive motors and the running of described right hand drive motors.
Preferably, described electric-control system CPU also for, when described first absolute difference and/or described second absolute difference be not in described first error range, adjust the running speed of the drive motors of its absolute difference not in described first error range, until the absolute difference of the speed responsive value of described drive motors that collects of described speed acquisition device and described given speed value is in described first error range, when described relative difference absolute value is not in described second error range, then adjust the running speed of described left hand drive motors and/or described right hand drive motors, until described relative difference absolute value is in described second error range.
Preferably, described speed acquisition device is photoelectric encoder.
Preferably, the output of described electric-control system CPU is connected with PWM gate leve drive circuit, and described PWM gate leve drive circuit is connected with described PLC with the second intelligent power module by the first intelligent power module.
As can be seen from technique scheme, the invention provides a kind of method and system realizing robot both hands arm Synchronization Control.In adjustment process, electric-control system CPU calculates left hand drive motors, the speed responsive value of right hand drive motors and the absolute difference of given speed value respectively, and correspondence obtains the first absolute difference and the second absolute difference; When the first absolute difference and the second absolute difference are all in the first error range, calculate the absolute difference between left hand drive motors and the velocity amplitude of right hand drive motors, obtain relative difference absolute value; When relative difference absolute value is in the second error range, control left hand drive motors and the running of right hand drive motors.Compared with prior art, the left hand drive motors that speed acquisition device not only feeds back by the present invention, the response speed value of right hand drive motors and prior given speed value make difference comparsion, also the difference of the response speed value of left hand drive motors, both right hand drive motors is made comparisons, if difference is all within the scope of reasonable error, then control left hand drive motors and the normal operation of right hand drive motors, efficiently solve robot both hands arm to be difficult to coordinate, the problem that sync rates is low, improves the Synchronization Control performance of robot both hands arm.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, be briefly described to the accompanying drawing used required in prior art and embodiment below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 realizes the flow chart of the method for robot both hands arm Synchronization Control disclosed in the embodiment of the present invention;
Fig. 2 is the another flow chart realizing the method for robot both hands arm Synchronization Control disclosed in the embodiment of the present invention;
Fig. 3 is the flow chart of the process of the running speed of the drive motors of the embodiment of the present invention its absolute difference of disclosed adjustment not in the first error range;
Fig. 4 is the flow chart of the process of the running speed of drive motors when adjustment relative difference absolute value is not in the second error range disclosed in the embodiment of the present invention;
Fig. 5 selects a flow chart as the process of benchmark motor disclosed in the embodiment of the present invention from left hand drive motors and right hand drive motors;
Fig. 6 realizes the structural representation of the system of robot both hands arm Synchronization Control disclosed in the embodiment of the present invention;
The structural representation of Fig. 7 electric-control system CPU disclosed in the embodiment of the present invention.
Detailed description of the invention
Core of the present invention is to provide a kind of method realizing robot both hands arm Synchronization Control, and efficiently solve robot both hands arm and be difficult to coordinate, the problem that sync rates is low, improves the Synchronization Control performance of robot both hands arm; Another core of the present invention is to provide a kind of system realizing robot both hands arm Synchronization Control.
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment one
Please refer to Fig. 1, Fig. 1 realizes the method flow diagram of robot both hands arm Synchronization Control disclosed in the embodiment of the present invention 1, and the method comprises:
Step s101: electric-control system CPU receives the given speed value that host computer sends, carries out the speed command operated according to given speed value to PLC transmission control left hand drive motors and right hand drive motors;
Be understandable that, the control model of left hand drive motors and right hand drive motors that first host computer arranges robot is speed control mode, then by bus, set-point velocity amplitude is sent to electric-control system CPU.Electric-control system CPU is after the Electric Machine Control pattern receiving host computer transmission, the speed command controlling left hand drive motors and right hand drive motors and carry out according to given speed value operating is sent immediately to PLC (Programmable Logic Controller, i.e. programmable logic controller (PLC)).
Step s102:PLC receives the speed command that electric-control system CPU sends, and control left hand drive motors and right hand drive motors operate according to given speed value;
Be understandable that, PLC is after the speed command receiving the transmission of electric-control system CPU, speed command is translated into pulse command signal, and then pulse command signal is sent to left hand drive motors and right hand drive motors respectively, and then controls left hand drive motors and right hand drive motors and start running.
Step s103: speed acquisition device gathers the First Speed response of left hand drive motors and the second speed response of right hand drive motors, and speed responsive value is fed back to electric-control system CPU;
After left hand drive motors and right hand drive motors start running, the speed acquisition device corresponding with two drive motors gathers the speed responsive value of left hand drive motors and right hand drive motors respectively, and speed responsive value is fed back to electric-control system CPU.
It should be noted that speed acquisition device here can be photoelectric encoder, so speed responsive value is exactly pulse number, pulse number is fed back to electric-control system CPU.Certainly, be not limited in photoelectric encoder here, other speed acquisition devices can also be selected to measure the speed of motor, do not do special restriction at this, the dissimilar speed acquisition device of this technique effect can be realized all within protection scope of the present invention.
Step s104: electric-control system CPU calculates the absolute difference of First Speed response, second speed response and given speed value respectively, correspondence obtains the first absolute difference and the second absolute difference;
Step s105: when the first absolute difference and the second absolute difference are all in the first error range, calculates the absolute difference between First Speed response and second speed response, obtains relative difference absolute value;
Be understandable that, when electric-control system CPU judge to obtain the first absolute difference and the second absolute difference all in the first error range time, calculate the absolute difference between First Speed response and second speed response again, obtain relative difference absolute value.
It should be noted that; here the first absolute difference and the second absolute difference all refer in the first error range that the first absolute difference and the second absolute difference are all less than or equal to a nonnegative constant; the size of nonnegative constant numerical value decides according to actual conditions and concrete required precision; do not do special restriction at this, the nonnegative constant of the different numerical value of this technique effect can be realized all within protection scope of the present invention.
Step s106: when relative difference absolute value is in the second error range, controls left hand drive motors and the running of right hand drive motors.
Be understandable that, when electric-control system CPU judge obtain relative difference absolute value in the second error range time, electric-control system central processing unit controls PLC sends pulse command signal to drive motors, controls left hand drive motors and the normal operation of right hand drive motors.
It should be noted that; here relative difference absolute value refers to that in the second error range relative difference absolute value is less than or equal to a nonnegative constant; the size of nonnegative constant numerical value decides according to actual conditions and concrete required precision; do not do special restriction at this, the nonnegative constant of the different numerical value of this technique effect can be realized all within protection scope of the present invention.
The embodiment of the present invention 1 provides a kind of method realizing robot both hands arm Synchronization Control.In adjustment process, the speed responsive value of electric-control system CPU inbound pacing collector feedback, calculate left hand drive motors respectively, the speed responsive value of right hand drive motors and the absolute difference of given speed value, correspondence obtains the first absolute difference and the second absolute difference, when the first absolute difference and the second absolute difference are all in the first error range, calculate the absolute difference between First Speed response and second speed response, obtain relative difference absolute value, when relative mistake absolute value is in the second error range, control left hand drive motors and the running of right hand drive motors.Compared with prior art, the left hand drive motors that speed acquisition device not only feeds back by the present invention, the response speed value of right hand drive motors and prior given speed value make difference comparsion, also the difference of the response speed value of left hand drive motors, both right hand drive motors is made comparisons, if difference is all within the scope of reasonable error, then control left hand drive motors and the normal operation of right hand drive motors, efficiently solve robot both hands arm to be difficult to coordinate, the problem that sync rates is low, improves the Synchronization Control performance of robot both hands arm.
Embodiment two
Please refer to Fig. 2, Fig. 2 is the another method flow diagram realizing robot both hands arm Synchronization Control disclosed in the embodiment of the present invention 2, and the method comprises:
Step s201: electric-control system CPU receives the given speed value that host computer sends, carries out the speed command operated according to given speed value to PLC transmission control left hand drive motors and right hand drive motors;
Step s202:PLC receives the speed command that electric-control system CPU sends, and control left hand drive motors and right hand drive motors operate according to given speed value;
Step s203: speed acquisition device gathers the First Speed response of left hand drive motors and the second speed response of right hand drive motors, and speed responsive value is fed back to electric-control system CPU;
Step s204: electric-control system CPU calculates the absolute difference of First Speed response, second speed response and given speed value respectively, correspondence obtains the first absolute difference and the second absolute difference;
Step s205: judge the first absolute difference and the second absolute difference whether all in the first error range, if not, then perform step s206, if so, then perform step s207;
Step s206: the running speed adjusting the drive motors of its absolute difference not in the first error range, returns and performs step s205;
Be understandable that, when electric-control system CPU judge to obtain the first absolute difference and/or the second absolute difference not in the first error range time, need to adjust the running speed of the drive motors of its absolute difference not in the first error range, until the absolute difference of the running speed of drive motors that collects of speed acquisition device and given speed value is in the first error range, reenter step s205.
Step s207: calculate the absolute difference between First Speed response and second speed response, obtain relative difference absolute value;
Be understandable that, when electric-control system CPU judge to obtain the first absolute difference and the second absolute difference all in the first error range time, calculate the absolute difference between First Speed response and second speed response again, obtain relative difference absolute value.
Step s208: judge relative difference absolute value whether in the second error range, if not, then performs step s209, if so, then performs step s210;
Step s209: the running speed of adjustment left hand drive motors and/or right hand drive motors, returns and performs step S208;
Be understandable that, when electric-control system CPU judge obtain relative difference absolute value not in the second error range time, then need first to adjust the running speed of left hand drive motors or right hand drive motors, until the relative difference absolute value of left hand drive motors and right hand drive motors is in the second error range, reenter step s208.
Step s210: control left hand drive motors and the running of right hand drive motors.
Be understandable that, when electric-control system CPU judge obtain relative difference absolute value in the second error range time, electric-control system central processing unit controls PLC sends pulse command signal to drive motors, controls left hand drive motors and the normal operation of right hand drive motors.
Below in conjunction with in accompanying drawing 3 pairs of the present embodiment, a kind of feasible pattern of " adjusting the running speed of the drive motors of its absolute difference not in described first error range " this step is described.
Please refer to Fig. 3, adjustment process is as follows:
Step s301: utilize the speed regulating parameter of control algolithm to the drive motors of absolute difference not in the first error range to adjust;
Be understandable that; control algolithm herein can be the pid control algorithm based on BP neutral net; certainly the pid control algorithm based on BP neutral net is also not limited in here; do not do special restriction at this, the dissimilar control algolithm of this technique effect can be realized all within protection scope of the present invention.
In addition; here speed regulating parameter can be proportion adjustment parameter, integral adjustment parameter and differential regulating parameter; the combination of which parameter of concrete adjustment or which kind parameter is decided by actual conditions; do not do special restriction at this, the speed regulating parameter of the various combination of this technique effect can be realized all within protection scope of the present invention.
Step s302: the speed regulating drive motors with the speed regulating parameter after adjustment.
Be understandable that, electric-control system CPU is after adjusting speed regulating parameter, control PLC sends pulse command signal to drive motors, and control left hand drive motors and right hand drive motors carry out speed adjustment, realize the speed setting to drive motors.
Be described below in conjunction with a kind of feasible pattern of step s209 in accompanying drawing 4 pairs of the present embodiment.
Please refer to Fig. 4, adjustment process is as follows:
Step s401: select one as benchmark motor from left hand drive motors and right hand drive motors;
Be understandable that, be that the speed in left hand drive motors and right hand drive motors is selected one as reference speed here, another one drive motors just will adjust the speed of oneself according to this reference speed.
Step s402: the running speed adjusting another drive motors, makes the relative difference absolute value of the running speed of the running speed after adjusting and benchmark motor in the second error range.
Be understandable that, use the speed of control algolithm to the drive motors that will adjust to adjust, make the relative difference absolute value of the reference speed of the running speed after adjusting and benchmark motor in the second error range.In addition, similar to the adjustment process described in the adjustment process of the speed of left hand drive motors and/or right hand drive motors and accompanying drawing 3 in this step, do not repeat them here.
A kind of feasible pattern below in conjunction with accompanying drawing 5 couples of step s401 is described, and wherein Fig. 5 is the process flow diagram flow chart choosing benchmark motor.
Please refer to Fig. 5, the process choosing benchmark motor is as follows:
Step s501: the size comparing the first absolute difference and the second absolute difference;
Step s502: determine that less in both a corresponding drive motors is as benchmark motor.
It should be noted that when electric-control system CPU judge obtain relative difference absolute value not in the second error range time, can also adjust left hand drive motors and right hand drive motors simultaneously.Such as, the running speed of two drive motors can be adjusted to a certain fixed value within the scope of given speed value reasonable error, the relative difference absolute value of left hand drive motors and right hand drive motors can be made like this to be 0, necessarily to meet this condition in the second error range.
The embodiment of the present invention 2 provides a kind of method realizing robot both hands arm Synchronization Control.In adjustment process, electric-control system CPU calculates left hand drive motors, the speed responsive value of right hand drive motors and the absolute difference of given speed value respectively, and correspondence obtains the first absolute difference and the second absolute difference; When the first absolute difference and the second absolute difference have at least one not in the first error range, adjust the running speed of the drive motors of its absolute difference not in the first error range, until the absolute difference of the running speed of described drive motors that collects of speed acquisition device and given speed value is in the first error range; When relative difference absolute value is not in the second error range, speed in left hand drive motors and right hand drive motors is selected one as reference speed, another one drive motors just will adjust the speed of oneself according to this reference speed, until the relative difference absolute value of running speed of running speed after adjustment and benchmark motor is in the second error range.In addition, when relative difference absolute value is not in the second error range, the running speed of two drive motors can also be adjusted to a certain fixed value within the scope of given speed value reasonable error, the relative difference absolute value of left hand drive motors and right hand drive motors can be made like this to be 0, necessarily to meet this condition in the second error range.The embodiment of the present invention 2 is on the basis of embodiment 1, achieve, when absolute difference is not in error range, speed adjustment is carried out to the drive motors of absolute difference not in error range, until absolute difference is in error range, efficiently solve robot both hands arm to be difficult to coordinate, the problem that sync rates is low, improves the Synchronization Control performance of robot both hands arm.
Corresponding with above-described embodiment, the embodiment of the present invention additionally provides a kind of system realizing robot both hands arm Synchronization Control, the structural representation of robot both hands arm synchronous control system, please refer to Fig. 6, this system comprises host computer 100, left hand drive motors 201 and right hand drive motors 202, this system also comprises electric-control system CPU 300, programmable logic controller (PLC) PLC400 and speed acquisition device group 500, wherein
Electric-control system CPU 300, the input of electric-control system CPU 300 is connected with host computer 100, output is connected with PLC400, for receiving the given speed value that host computer 100 sends, carry out the speed command operated according to given speed value to PLC400 transmission control left hand drive motors 201 and right hand drive motors 202;
Electric-control system CPU 300, also for the speed responsive value of inbound pacing collector group 500 feedback, calculate left hand drive motors 201 respectively, the speed responsive value of right hand drive motors 202 and the absolute difference of given speed value, correspondence obtains the first absolute difference and the second absolute difference, when the first absolute difference and the second absolute difference are all in the first error range, calculate the absolute difference between First Speed response and second speed response, obtain relative difference absolute value, when relative mistake absolute value is in the second error range, control left hand drive motors 201 and right hand drive motors 202 operate.
The speed command that programmable logic controller (PLC) PLC400, PLC400 send for receiving electric-control system CPU 300, controls left hand drive motors 201 and right hand drive motors 202 operates according to given speed;
Speed acquisition device group 500, speed acquisition device group 500 comprises two speed acquisition devices 501,502, two speed acquisition devices 501,502 are respectively used to gather the First Speed response of left hand drive motors 201 and the second speed response of right hand drive motors 202, and speed responsive value is fed back to electric-control system CPU 300.
Be understandable that; here speed acquisition device can be photoelectric encoder; certainly; be not limited in photoelectric encoder; other speed acquisition devices can also be selected to measure the speed of motor; do not do special restriction at this, the dissimilar speed acquisition device of this technique effect can be realized all within protection scope of the present invention.
Further, electric-control system CPU 300, also for when the first absolute difference and/or the second absolute difference be not in the first error range, adjust the running speed of the drive motors of its absolute difference not in the first error range, until the absolute difference of the speed responsive value of drive motors that collects of speed acquisition device group 500 and given speed value is in the first error range, when relative difference absolute value is not in the second error range, then adjust the running speed of left hand drive motors 201 and/or right hand drive motors 202, until relative difference absolute value is in the second error range.
In addition, electric-control system CPU 300 can also adopt structural representation as shown in Figure 7, can comprise:
Difference first computing module 310, difference first judge module 320, speed first processing module 330, difference second computing module 340, difference second judge module 350, speed second processing module 360 and controlling run module 370; Wherein, speed first processing module 330 comprises parameter first adjusting module 331 and parameter first Executive Module 332, speed second processing module 360 comprises benchmark motor module 361, parameter second adjusting module 362 and parameter second Executive Module 363, wherein, benchmark motor module 361 comprises absolute difference comparison module 3611 and benchmark motor determination module 3612, wherein:
Difference first computing module 310, for calculating the absolute difference of First Speed response, second speed response and given speed value respectively, correspondence obtains the first absolute difference and the second absolute difference;
Difference first judge module 320, for judging the first absolute difference and the second absolute difference whether all in the first error range;
Speed first processing module 330, for adjusting the running speed of the drive motors of its absolute difference not in the first error range;
Parameter first adjusting module 331, adjusts for utilizing the speed regulating parameter of control algolithm to the drive motors of absolute difference not in the first error range;
Parameter first Executive Module 332, for regulating the speed of drive motors with the speed regulating parameter after adjustment.
Difference second computing module 340, for calculating the absolute difference between First Speed response and second speed response, obtains relative difference absolute value;
Difference second judge module 350, for judging relative difference absolute value whether in the second error range;
Speed second processing module 360, for adjusting the running speed of left hand drive motors 201 and/or right hand drive motors 202, until the absolute difference between First Speed response and second speed response is in the second error range;
Benchmark motor module 361, for selecting one as benchmark motor from left hand drive motors 201 and right hand drive motors 202;
Absolute difference comparison module 3611, for comparing the size of the first absolute difference and the second absolute difference;
Benchmark motor determination module 3612, for determining that less in both a corresponding drive motors is as benchmark motor.
Parameter second adjusting module 362, adjusts for utilizing the speed regulating parameter of control algolithm to the drive motors of relative difference absolute value not in the second error range;
Parameter second Executive Module 363, for regulating the speed of drive motors with the speed regulating parameter after adjustment.
Controlling run module 370, for controlling left hand drive motors 201 and right hand drive motors 202 operates.
Further, the output of electric-control system CPU and PWM (Pulse WidthModulation, i.e. pulse width modulation) gate leve drive circuit 600 is connected, and PWM gate leve drive circuit is connected with PLC400 with the second intelligent power module 702 by the first intelligent power module 701.
Be understandable that, intelligent power module (Intelligent Power Module) inside is integrated with drive circuit, has overvoltage, overcurrent, the fault detect protection circuit such as overheated simultaneously.
Further, left hand drive motors 201 and right hand drive motors 202 are respectively arranged with speed regulator, and speed regulator is connected with electric-control system CPU.
Be understandable that, speed regulator can realize the smooth transition of speed, improves the collecting efficiency of speed acquisition device, has that stability is high, reliability and a strong feature of antijamming capability.
Further, left hand drive motors 201, right hand drive motors 202 are connected with same supply module respectively.
Be understandable that, left hand drive motors 201, right hand drive motors 202 share same supply module, there is simple economy, speed responsing is good, the low speed synchronous coordination ability is strong advantage, simultaneously, drive motors power also can be fully utilized, when a drive motors is in retarded motion, unnecessary electric current can be absorbed by another drive motors.
Further, supply module comprises:
The filter rectifier that input is connected with AC power;
The braking circuit be connected with the output of filter rectifier.
Further, this system also comprises, and is arranged on the first current collector between the first intelligent power module 701 and PLC400; Be arranged on the second current collector between the second intelligent power module 702 and PLC400, the first current collector is connected with electric-control system CPU 300 with the output of the second current collector.
The corresponding above-mentioned method realizing robot both hands arm Synchronization Control, the concrete operations that each module performs with reference to aforesaid embodiment of the method, can not repeat them here.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For system disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
The software module that the method described in conjunction with embodiment disclosed herein or the step of algorithm can directly use hardware, processor to perform, or the combination of the two is implemented.Software module can be placed in the storage medium of other form any known in random access memory (RAM), internal memory, read-only storage (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. realize a method for robot both hands arm Synchronization Control, it is characterized in that, the method comprises the following steps:
Steps A: electric-control system CPU receives the given speed value that host computer sends, carries out the speed command operated according to described given speed value to PLC transmission control left hand drive motors and right hand drive motors;
Step B: described PLC receives the speed command that described electric-control system CPU sends, and controls described left hand drive motors and described right hand drive motors operates according to described given speed value;
Step C: speed acquisition device gathers the First Speed response of described left hand drive motors and the second speed response of described right hand drive motors, and described speed responsive value is fed back to described electric-control system CPU;
Step D: described electric-control system CPU calculates the absolute difference of described First Speed response, described second speed response and described given speed value respectively, and correspondence obtains the first absolute difference and the second absolute difference;
Step e: when described first absolute difference and described second absolute difference are all in the first error range, calculate the absolute difference between described First Speed response and described second speed response, obtain relative difference absolute value;
Step F: when described relative difference absolute value is in the second error range, controls described left hand drive motors and the running of described right hand drive motors.
2. realize the method for robot both hands arm Synchronization Control as claimed in claim 1, it is characterized in that, also comprise:
When described first absolute difference and/or described second absolute difference be not in described first error range, adjust the running speed of the drive motors of its absolute difference not in described first error range, until the absolute difference of the speed responsive value of described drive motors that collects of described speed acquisition device and described given speed value is in described first error range, enter step e.
3. realize the method for robot both hands arm Synchronization Control as claimed in claim 2, it is characterized in that, also comprise:
When described relative difference absolute value is not in described second error range, then adjust the running speed of described left hand drive motors and/or described right hand drive motors, until described relative difference absolute value is in described second error range.
4. realize the method for robot both hands arm Synchronization Control as claimed in claim 3, it is characterized in that, the process of the running speed of the drive motors of its absolute difference of described adjustment not in described first error range comprises:
Utilize the speed regulating parameter of control algolithm to the drive motors of absolute difference not in described first error range to adjust, and regulate the speed of described drive motors with the described speed regulating parameter after adjustment.
5. realize the method for robot both hands arm Synchronization Control as claimed in claim 4, it is characterized in that, described control algolithm is the pid control algorithm based on BP neutral net.
6. one kind realizes the system of robot both hands arm Synchronization Control, this system comprises host computer, left hand drive motors and right hand drive motors, it is characterized in that, this system also comprises: electric-control system CPU, programmable logic controller (PLC) PLC and speed acquisition device group, wherein:
The input of described electric-control system CPU is connected with described host computer, output is connected with described PLC, for receiving the given speed value that described host computer sends, carry out the speed command operated according to described given speed value to the PLC transmission described left hand drive motors of control and described right hand drive motors;
Described PLC receives the speed command that described electric-control system CPU sends, and controls described left hand drive motors and described right hand drive motors operates according to described given speed;
Described speed acquisition device group comprises two speed acquisition devices, described two speed acquisition devices gather the First Speed response of described left hand drive motors and the second speed response of described right hand drive motors respectively, and described speed responsive value is fed back to described electric-control system CPU;
Described electric-control system CPU receives the speed responsive value of described speed acquisition device group feedback, calculate described left hand drive motors respectively, the speed responsive value of described right hand drive motors and the absolute difference of described given speed value, correspondence obtains the first absolute difference and the second absolute difference, when described first absolute difference and described second absolute difference are all in the first error range, calculate the absolute difference between described First Speed response and described second speed response, obtain relative difference absolute value, when described relative mistake absolute value is in the second error range, control described left hand drive motors and the running of described right hand drive motors.
7. realize the system of robot both hands arm Synchronization Control as claimed in claim 6, it is characterized in that, described electric-control system CPU also for, when described first absolute difference and/or described second absolute difference be not in described first error range, adjust the running speed of the drive motors of its absolute difference not in described first error range, until the absolute difference of the speed responsive value of described drive motors that collects of described speed acquisition device and described given speed value is in described first error range, when described relative difference absolute value is not in described second error range, then adjust the running speed of described left hand drive motors and/or described right hand drive motors, until described relative difference absolute value is in described second error range.
8. realize the system of robot both hands arm Synchronization Control as claimed in claim 7, it is characterized in that, described speed acquisition device is photoelectric encoder.
9. realize the system of robot both hands arm Synchronization Control as claimed in claim 7, it is characterized in that, the output of described electric-control system CPU is connected with PWM gate leve drive circuit, and described PWM gate leve drive circuit is connected with described PLC with the second intelligent power module by the first intelligent power module.
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