CN108132608B - Robot joint controller power level semi-physical simulation system - Google Patents
Robot joint controller power level semi-physical simulation system Download PDFInfo
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- CN108132608B CN108132608B CN201710720536.4A CN201710720536A CN108132608B CN 108132608 B CN108132608 B CN 108132608B CN 201710720536 A CN201710720536 A CN 201710720536A CN 108132608 B CN108132608 B CN 108132608B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
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Abstract
A power-level semi-physical simulation system of a robot joint controller comprises an upper computer, a robot joint real-time simulation system, a CAN communication board card, a motor driver to be tested and a motor power simulation device. The upper computer calculates a robot joint position given signal and outputs the given signal to a motor driver to be tested through the CAN communication board card; resolving control voltage by a motor driver to be tested, receiving a given signal of the joint position of the robot and an actual position feedback signal, and determining closed-loop control parameters; the robot joint real-time simulation system carries out real-time simulation on a robot joint control motor and a load to obtain an actual position feedback signal, an adjusting current and a current load of the robot joint; and the motor power simulation equipment obtains the regulated voltage, and the regulated voltage is superposed with the control voltage of the motor driver to be tested and then output to the robot joint real-time simulation system. The invention can complete the variable load performance test and simulation of the servo system, thereby realizing good simulation of the semi-physical simulation accuracy and the dynamic performance of the robot.
Description
Technical Field
The invention relates to a power level semi-physical simulation system of a robot joint controller, and belongs to the field of semi-physical simulation.
Background
At present, aiming at the semi-physical simulation of a motor control system, a signal level model simulation technology is a mature test means and has been widely applied to various industries such as automobiles, aviation, aerospace and the like at home and abroad. The key technology of the signal level simulation is a real-time simulation system, and the motor signal level simulation test technology has the advantages of flexible configuration, no potential safety hazard, high cost performance, capability of quickly completing control law test and the like, and can cover the test and verification requirements of most motor control systems. However, the signal level test can only realize the test of the control unit, and the test and simulation of the variable load performance of the servo system can not be well completed in the variable load joint real-time simulation system aiming at the multi-joint robot, so that the semi-physical simulation accuracy and the dynamic performance of the robot can not be well simulated.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the robot joint controller power level semi-physical simulation system can complete the variable load performance test and simulation of the servo system, thereby realizing good simulation of robot semi-physical simulation accuracy and dynamic performance.
The technical solution of the invention is as follows: a power level semi-physical simulation system of a robot joint controller comprises an upper computer, a robot joint real-time simulation system, a CAN communication board card, a motor driver to be tested and a motor power simulation device;
an upper computer: resolving a position given signal of a robot joint according to a task to be executed by the robot, and outputting the position given signal to a motor driver to be tested through a CAN communication board card;
the motor driver to be tested: calculating control voltage of a robot joint control motor according to a position given signal of the robot joint, outputting the control voltage to a motor power simulation device, receiving the position given signal of the robot joint sent by an upper computer and an actual position feedback signal of the robot joint sent by a robot joint real-time simulation system, and carrying out closed-loop servo system adjustment according to the position given signal and the actual position feedback signal to enable the actual position feedback signal of the robot joint to follow the position given signal of the robot joint so as to realize position control;
robot joint real-time simulation system: receiving a driving voltage and a simulation current output by a motor power simulation device, carrying out real-time simulation on a robot joint control motor and a load under the action of the driving voltage to obtain an actual position feedback signal and a current load of the robot joint, and outputting the actual position feedback signal of the robot joint to a motor driver to be tested through a CAN communication board card; obtaining an adjusting current according to the simulation current, and outputting the adjusting current and the current load to a motor power simulation device;
the motor power simulation equipment comprises: and converting the regulated current into voltage according to the current load, superposing the voltage with the control voltage from the motor driver to be tested, conditioning the superposed voltage to obtain driving voltage and analog current, and outputting the driving voltage and the analog current to the robot joint real-time simulation system.
The robot joint real-time simulation system comprises an encoder simulation module, a robot joint control motor and load mathematical model, a power equipment control module, a first AD converter and a second AD converter, wherein the robot joint control motor and load mathematical model, the power equipment control module, the first AD converter and the second AD converter are operated on an FPGA board card;
a first AD converter: receiving the driving voltage output by the motor power simulation equipment, performing analog-to-digital conversion on the driving voltage, and outputting the driving voltage to a robot joint control motor and a load mathematical model;
robot joint control motor and load mathematical model: carrying out real-time simulation under the action of driving voltage to obtain a position signal and a reference current of a robot joint control motor, sending the position signal of the robot joint control motor to an encoder simulation module, and sending the reference current to a power equipment control module;
a second AD converter: receiving analog current output by motor power analog equipment, performing analog-to-digital conversion on the analog current and outputting the analog current to a power equipment control module;
a power device control module: obtaining a current load according to a robot joint control motor and a reference current of a load mathematical model; obtaining an adjusting current after the difference is made between the analog current output by the second AD converter and the reference current of the robot joint control motor and the load mathematical model; outputting the current load and the regulating current to the motor power simulation equipment through a digital signal output port;
an encoder simulation module: and converting the position signal of the robot joint control motor into an actual position feedback signal of the robot joint, and outputting the actual position feedback signal to the motor driver to be tested through the CAN communication board card.
The encoder simulation module is realized by adopting a simulation card with a communication protocol of BISS or SSI.
The motor power simulation equipment comprises a bridge type regulating circuit, a collecting and conditioning module and a pulse distribution module;
a pulse distribution module: receiving the regulating current and the current load output by the robot joint real-time simulation system, regulating the regulating current into direct current regulating voltage required by the current load, and outputting the direct current regulating voltage to the bridge type regulating circuit;
bridge type regulating circuit: the direct current regulation voltage from the pulse distribution module is superposed with the control voltage from the motor driver to be tested and then output to the acquisition and conditioning module;
a collection and conditioning module: the voltage from the bridge type regulating circuit is received, the control voltage is subjected to pulse width modulation to obtain driving voltage, the modulated driving voltage is converted into analog current through a voltage-current converter, and the analog current and the modulated driving voltage are output to a robot joint real-time simulation system.
The pulse distribution module comprises a power supply, a proportional addition amplifying circuit, a control unit and three switching tubes;
the power supply is used for supplying power to the pulse distribution module;
the proportional addition amplifying circuit receives the regulating current output by the robot joint real-time simulation system and conditions the regulating current into three voltage signals, the output ranges of the three voltage signals are 0-5V, 0- +10V and-10V- +10V respectively, and each voltage signal is connected with a switching tube;
the control unit receives the current load output by the robot joint real-time simulation system, controls the switching frequency of the three switching tubes according to the current load, obtains the direct current regulation voltage required by the current load, and outputs the direct current regulation voltage to the bridge type regulation circuit.
And the external part provides 24V direct current power supply for the motor driver to be tested.
Compared with the prior art, the invention has the advantages that:
(1) the motor power simulation equipment is controlled by the robot joint real-time simulation system and is directly connected with the three-phase power level voltage output of the motor driver to be tested, so that the power level simulation of the motor load characteristic is realized, the power level simulation is realized, the variable load performance test and simulation of the servo system can be completed, the good simulation of the semi-physical simulation accuracy and the dynamic performance of the robot is realized, the closed-loop control parameters of the motor driver to be tested are obtained, and a basis is provided for the actual motion control of the servo system.
(2) Because the motor body system is an electromagnetic system, the internal characteristic state is in high-speed variation, and the motor body simulation needs higher simulation frequency, namely smaller simulation step length. In the traditional design mode, a model is generally operated in a processor, and the simulation frequency cannot meet the requirement. In the invention, the robot joint control motor mathematical model does not run in the processor any more, but runs in the FPGA board card, the FPGA board card has the characteristic of hardware logic customization, can process an operation algorithm in parallel and is driven by a clock to operate, so the limit of the calculation speed can reach ns level, and the calculation capability of 100ns level can be ensured even if the calculation is limited by devices and algorithms. Therefore, the high-frequency simulation requirement of the motor can be met by utilizing the FPGA.
(3) The invention adopts the simulation card of BISS protocol or SSI protocol to output the feedback signal of the actual position of the motor to the controller to be tested, thereby forming a semi-physical real-time simulation control closed loop and realizing the virtual simulation of the position signal.
(4) The pulse distribution module can output various regulated voltages through the proportional addition amplifying circuit and the switching tube, so that accurate simulation of robot joint load is realized.
Drawings
FIG. 1 is a schematic diagram of a semi-physical simulation system according to the present invention;
fig. 2 is a schematic diagram of the working principle of the pulse distribution module.
Detailed Description
As shown in fig. 1, the semi-physical simulation system of the present invention includes an upper computer, a real-time simulation system of a robot joint, a CAN communication board, a motor driver to be tested, and a motor power simulation device.
An upper computer: and resolving a position given signal (planning joint angle) of the robot joint according to the task to be executed by the robot, and outputting the position given signal to the motor driver to be tested through the CAN communication board card.
The motor driver to be tested: the control voltage of a robot joint control motor is calculated according to a position given signal of the robot joint, the control voltage is output to a motor power simulation device, the position given signal of the robot joint sent by an upper computer and an actual position feedback signal of the robot joint sent by a robot joint real-time simulation system are received, closed-loop servo system adjustment is carried out according to the position given signal and the actual position feedback signal, the actual position feedback signal of the robot joint is made to follow the position given signal of the robot joint, and position control is achieved.
Robot joint real-time simulation system: receiving a driving voltage and a simulation current output by a motor power simulation device, carrying out real-time simulation on a robot joint control motor and a load under the action of the driving voltage to obtain an actual position feedback signal and a current load of the robot joint, and outputting the actual position feedback signal of the robot joint to a motor driver to be tested through a CAN communication board card; and obtaining the regulating current according to the simulation current, and outputting the regulating current and the current load to the motor power simulation equipment.
The robot joint real-time simulation system comprises an encoder simulation module, a robot joint control motor, a load mathematical model, a power device control module, a first AD converter and a second AD converter, wherein the robot joint control motor, the load mathematical model, the power device control module, the first AD converter and the second AD converter are operated on the FPGA board card.
A first AD converter: and receiving the driving voltage output by the motor power simulation equipment, performing analog-to-digital conversion on the driving voltage, and outputting the driving voltage to a robot joint control motor and a load mathematical model.
Robot joint control motor mathematical model: and carrying out real-time simulation under the action of the control voltage to obtain a position signal and a reference current of the robot joint control motor, sending the position signal of the robot joint control motor to the encoder simulation module, and sending the reference current to the power equipment control module.
The robot joint control motor mathematical model is as follows:
the robot joint control motor mathematical model comprises a voltage balance equation, a torque balance equation, an electromagnetic moment equation and a back electromotive force equation.
Voltage balance equation:
torque balance equation:
electromagnetic moment equation: t ise＝Cm·Ia
Back electromotive force equation: e ═ Co·w
Wherein Ua is the armature voltage; ra is the equivalent resistance of the armature winding, including the armature resistance and the additional resistance (power amplifier internal resistance, lead wire resistance, etc.); ia is the armature current; la is equivalent inductance of the armature winding and comprises the armature inductance and other additional inductances of the loop; ja is the load translated to the motor shaft and the moment of inertia of the motor rotor; and E is back electromotive force. T iseAn electromagnetic moment; t isLIs the load moment; j. the design is a squareLIs the moment of inertia of the load; alpha is the angular acceleration of the motor; w is the angular velocity of the motor; cmIs a torque constant; ceIs an electromotive constant.
A second AD converter: and receiving the analog current output by the motor power analog equipment, performing analog-to-digital conversion on the analog current and outputting the analog current to the power equipment control module.
A power device control module: obtaining a current load according to a robot joint control motor and a reference current of a load mathematical model; obtaining an adjusting current after the difference is made between the analog current output by the second AD converter and the reference current of the robot joint control motor and the load mathematical model; and outputting the current load and the regulating current to the motor power simulation equipment through a digital signal output port.
An encoder simulation module: the method is realized by adopting an emulation card with a communication protocol of BISS or SSI. And converting the position signal of the robot joint control motor into an actual position feedback signal of the robot joint, and outputting the actual position feedback signal to the motor driver to be tested through the CAN communication board card.
The motor power simulation equipment comprises: and converting the regulated current into voltage according to the current load, superposing the voltage with the control voltage from the motor driver to be tested, conditioning the superposed voltage to obtain driving voltage and analog current, and outputting the driving voltage and the analog current to the robot joint real-time simulation system.
The motor power simulation equipment comprises a bridge type regulating circuit, a collecting and conditioning module and a pulse distribution module.
As shown in fig. 2, the pulse distribution module includes a power supply, a proportional-plus-amplifying circuit, a control unit, and three switching tubes.
The power supply is used for supplying power for the pulse distribution module. The external input voltage of the power supply is 36-72 VDC. The voltage that can be output is +/-15V, +5V or + 3.3V.
The proportional addition amplifying circuit receives the regulating current output by the power equipment control module and conditions the regulating current into three voltage signals, and the output ranges of the three voltage signals are 0-5V, 0- +10V and-10V- +10V respectively. Each voltage signal is connected to a switching tube.
The control unit receives the current load output by the robot joint real-time simulation system, controls the switching frequency of the three switching tubes according to the current load, obtains the direct current regulation voltage required by the current load, and outputs the direct current regulation voltage to the bridge type regulation circuit.
And the external part provides 24V direct current power supply for the motor driver to be tested.
Bridge type regulating circuit: and superposing the regulating voltage from the pulse distribution module and the control voltage from the motor driver to be tested to obtain a driving voltage, carrying out bridge type change, and outputting the driving voltage to the acquisition and conditioning module.
A collection and conditioning module: the device comprises a current acquisition module, a voltage acquisition module and a conditioning module, wherein the conditioning module receives driving voltage from a bridge circuit, performs pulse width modulation, and outputs the driving voltage to a first AD converter through the voltage acquisition module; the modulated drive voltage is converted into an analog current by a voltage-to-current converter, and the analog current is output to a second AD converter.
In the invention, the real-time simulation system of the robot joint carries out real-time simulation of the robot joint control motor and the load under the action of the driving voltage, and can also obtain the actual speed feedback signal of the robot joint, and position control can also be realized according to the method of the invention by utilizing the actual speed feedback signal and the position given signal.
Those skilled in the art will appreciate that the invention has not been described in detail in this specification.
Claims (6)
1. A robot joint controller power level semi-physical simulation system is characterized in that: the system comprises an upper computer, a robot joint real-time simulation system, a CAN communication board card, a motor driver to be tested and a motor power simulation device;
an upper computer: resolving a position given signal of a robot joint according to a task to be executed by the robot, and outputting the position given signal to a motor driver to be tested through a CAN communication board card;
the motor driver to be tested: calculating control voltage of a robot joint control motor according to a position given signal of the robot joint, outputting the control voltage to a motor power simulation device, receiving the position given signal of the robot joint sent by an upper computer and an actual position feedback signal of the robot joint sent by a robot joint real-time simulation system, and carrying out closed-loop servo system adjustment according to the position given signal and the actual position feedback signal to enable the actual position feedback signal of the robot joint to follow the position given signal of the robot joint so as to realize position control;
robot joint real-time simulation system: receiving a driving voltage and a simulation current output by a motor power simulation device, carrying out real-time simulation on a robot joint control motor and a load under the action of the driving voltage to obtain an actual position feedback signal and a current load of the robot joint, and outputting the actual position feedback signal of the robot joint to a motor driver to be tested through a CAN communication board card; obtaining an adjusting current according to the simulation current, and outputting the adjusting current and the current load to a motor power simulation device;
the motor power simulation equipment comprises: and converting the regulated current into voltage according to the current load, superposing the voltage with the control voltage from the motor driver to be tested, conditioning the superposed voltage to obtain driving voltage and analog current, and outputting the driving voltage and the analog current to the robot joint real-time simulation system.
2. The robot joint controller power stage semi-physical simulation system of claim 1, wherein: the robot joint real-time simulation system comprises an encoder simulation module, a robot joint control motor and load mathematical model, a power equipment control module, a first AD converter and a second AD converter, wherein the robot joint control motor and load mathematical model, the power equipment control module, the first AD converter and the second AD converter are operated on an FPGA board card;
a first AD converter: receiving the driving voltage output by the motor power simulation equipment, performing analog-to-digital conversion on the driving voltage, and outputting the driving voltage to a robot joint control motor and a load mathematical model;
robot joint control motor and load mathematical model: carrying out real-time simulation under the action of driving voltage to obtain a position signal and a reference current of a robot joint control motor, sending the position signal of the robot joint control motor to an encoder simulation module, and sending the reference current to a power equipment control module;
a second AD converter: receiving analog current output by motor power analog equipment, performing analog-to-digital conversion on the analog current and outputting the analog current to a power equipment control module;
a power device control module: obtaining a current load according to a robot joint control motor and a reference current of a load mathematical model; obtaining an adjusting current after the difference is made between the analog current output by the second AD converter and the reference current of the robot joint control motor and the load mathematical model; outputting the current load and the regulating current to the motor power simulation equipment through a digital signal output port;
an encoder simulation module: and converting the position signal of the robot joint control motor into an actual position feedback signal of the robot joint, and outputting the actual position feedback signal to the motor driver to be tested through the CAN communication board card.
3. The robot joint controller power stage semi-physical simulation system of claim 2, wherein: the encoder simulation module is realized by adopting a simulation card with a communication protocol of BISS or SSI.
4. The robot joint controller power stage semi-physical simulation system of claim 1, wherein: the motor power simulation equipment comprises a bridge type regulating circuit, a collecting and conditioning module and a pulse distribution module;
a pulse distribution module: receiving the regulating current and the current load output by the robot joint real-time simulation system, regulating the regulating current into direct current regulating voltage required by the current load, and outputting the direct current regulating voltage to the bridge type regulating circuit;
bridge type regulating circuit: the direct current regulation voltage from the pulse distribution module is superposed with the control voltage from the motor driver to be tested and then output to the acquisition and conditioning module;
a collection and conditioning module: the voltage from the bridge type regulating circuit is received, pulse width modulation is carried out on the voltage to obtain driving voltage, the modulated driving voltage is converted into analog current through a voltage-current converter, and the analog current and the modulated driving voltage are output to a robot joint real-time simulation system.
5. The robot joint controller power stage semi-physical simulation system of claim 4, wherein: the pulse distribution module comprises a power supply, a proportional addition amplifying circuit, a control unit and three switching tubes;
the power supply is used for supplying power to the pulse distribution module;
the proportional addition amplifying circuit receives the regulating current output by the robot joint real-time simulation system and conditions the regulating current into three voltage signals, the output ranges of the three voltage signals are 0-5V, 0- +10V and-10V- +10V respectively, and each voltage signal is connected with a switching tube;
the control unit receives the current load output by the robot joint real-time simulation system, controls the switching frequency of the three switching tubes according to the current load, obtains the direct current regulation voltage required by the current load, and outputs the direct current regulation voltage to the bridge type regulation circuit.
6. The robot joint controller power stage semi-physical simulation system of claim 4, wherein: and the external part provides 24V direct current power supply for the motor driver to be tested.
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| EP3827514B1 (en) * | 2018-07-25 | 2023-10-04 | ABB Schweiz AG | Method for controlling a plurality of electric motors of an industrial robot and industrial robot |
| CN109459254B (en) * | 2018-10-22 | 2020-05-29 | 东北大学 | Multi-joint robot dynamics semi-physical simulation platform |
| CN109324601B (en) * | 2018-11-09 | 2021-09-10 | 上海机器人产业技术研究院有限公司 | Test platform of robot controller or control system based on hardware-in-the-loop |
| CN111381514A (en) * | 2018-12-29 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Robot testing system and method based on semi-physical simulation technology |
| CN115890689B (en) * | 2023-03-01 | 2023-05-30 | 深圳鹏行智能研究有限公司 | Robot simulation motion control system, method and power module load simulation module |
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