CN109313420A - Robot system, driver, storage device and control model switching method - Google Patents
Robot system, driver, storage device and control model switching method Download PDFInfo
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- CN109313420A CN109313420A CN201780034125.8A CN201780034125A CN109313420A CN 109313420 A CN109313420 A CN 109313420A CN 201780034125 A CN201780034125 A CN 201780034125A CN 109313420 A CN109313420 A CN 109313420A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of robot system, driver, storage device and control mode switch methods, it include: when the control model for needing the control mode switch of the second control module to the first control module, the first virtual control module of operation, wherein the first control module is the upper control module of second control module；The first virtual control module generates the fictitious order of corresponding first control module according to the instruction of the second control module received；The fictitious order of corresponding first control module is sent to the first control module by the first virtual control module, and by the control mode switch of the second control module to the control model of the first control module.By the above-mentioned means, the present invention can be realized being switched fast for dynamic mode between driver difference control module.
Description
Technical field
The present invention relates to motor-drive techniques, more particularly to a kind of robot system, driver, storage device and control
The switching method of mode.
Background technique
Servo-driver controls servo motor usually using three feedback control modules, be respectively position ring,
Speed ring and torque ring.Position ring is used for the accurate control of motor position, and speed ring is used for the accurate control of motor speed, torque
Ring is used for the accurate control of motor power output.In some cases, it needs while motor works, in real time from some control
The instruction of module is switched to the instruction of another control module.In the prior art to the switching of the dynamic mode of servo-driver,
User is needed to configure two rings to be switched first.Therefore, in actual use can only between two rings switching at runtime, switching
During, servo-driver needs to disable, and cannot achieve the switching of any ring dynamic mode, and switch when needing to consume longer
Between.
Summary of the invention
The present invention provides a kind of robot system, driver, storage device and control mode switch method, can be realized not
It is switched fast with dynamic mode between control module.
One technical scheme adopted by the invention is that: a kind of driver dynamic mode switching method, the method packet are provided
It includes: when the control model for needing the control mode switch of the second control module to the first control module, running virtual first
Control module, wherein first control module is the upper control module of second control module；First virtually
Control module generates the virtual finger of corresponding first control module according to the instruction of second control module received
It enables；The fictitious order of correspondence first control module is sent to the first control mould by the first virtual control module
Block, and by the control mode switch of the second control module to the control model of the first control module.
In order to solve the above technical problems, another technical solution that the present invention uses is: providing a kind of driver, the drive
Dynamic device includes: first interface, second interface and third interface；Processor connects with the first interface, second interface, third
Mouth is connected, and the first interface is for connecting host computer, to receive the instruction from the host computer, the second interface
For connecting motor, to export the instruction of the processor to the motor, the third interface is for receiving from described
Motor or the feedback information of load；Wherein, when the control of the control mode switch of the second control module of needs to the first control module
When molding formula, the first virtual control module is run, wherein the first control module is the upper control module of the second control module；
The first virtual control module generates corresponding first control according to the instruction of second control module received
The fictitious order of module；The fictitious order of correspondence first control module is sent to institute by the first virtual control module
The first control module is stated, and by the control mode switch of the second control module to the control model of the first control module.
In order to solve the above technical problems, another technical solution that the present invention uses is: providing a kind of robot system, wrap
Driver and electrode are included, the driver includes: first interface, second interface and third interface；Processor couples described the
One interface, second interface, third interface, the first interface is for connecting host computer, to receive from the host computer
Instruction, the second interface is for connecting the motor, to export the instruction of the processor to the motor, the third
Interface is for receiving the feedback information from the motor or load；Wherein, when the control model of the second control module of needs is cut
When shifting to the control model of the first control module, the first virtual control module is run, wherein the first control module is the second control
The upper control module of molding block；The first virtual control module is according to the finger of second control module received
It enables, generates the fictitious order of corresponding first control module；The first virtual control module will corresponding first control
The fictitious order of molding block is sent to first control module, and by the control mode switch of the second control module to the first control
The control model of molding block.
The beneficial effects of the present invention are: the switching method of a kind of robot system, driver and control model is provided, in nothing
In the case where needing host computer to be pre-configured with control module parameter, by the virtual controlling module of operation control module, corresponded to
The instruction of control module can solve the problems, such as that corresponding control module can not obtain in time command adapted thereto due to not enabled, in turn
Being switched fast for dynamic mode between different control modules may be implemented.
Detailed description of the invention
Fig. 1 is the flow diagram of control mode switch method first embodiment of the present invention；
Fig. 2 is the structural schematic diagram that speed ring of the present invention switches to one embodiment of position ring；
Fig. 3 is the structural schematic diagram that torque ring cutting of the present invention shifts to one embodiment of speed ring；
Fig. 4 is the flow diagram of control mode switch method second embodiment of the present invention；
Fig. 5 is the structural schematic diagram that position ring of the present invention switches to one embodiment of speed ring；
Fig. 6 is the structural schematic diagram that speed ring of the present invention switches to one embodiment of torque ring；
Fig. 7 is the structural schematic diagram of one embodiment of driver of the present invention；
Fig. 8 is the structural schematic diagram of one embodiment of robot system of the present invention；
Fig. 9 is the structural schematic diagram of one embodiment of inventive memory device.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that term " first ", " second ", " third " are used for description purposes only in the embodiment of the present invention, and
It cannot be understood as indicating or implying relative importance or implicitly indicate the quantity of indicated technical characteristic.It defines as a result,
" first ", " second ", " third " feature can explicitly or implicitly include at least one of the features.
Referring to Fig. 1, Fig. 1 is the flow diagram of one embodiment of control mode switch method of the present invention.In the present invention
Driver can for include but is not limited to servo-driver, it is generally the case that servo-driver is referred to by the position of position ring
It enables, the torque command of the speed command of speed ring and torque ring realizes the accurate operation of motor.In some cases, it needs
While motor works, the instruction of another control module is switched to from the instruction of some control module in real time.The present invention
A kind of switching method of control model is provided, as shown, this method comprises the following steps:
S1, when the control model of the control mode switch of the second control module of needs to the first control module, operation is empty
The first quasi- control module, wherein the first control module is the upper control module of the second control module.
The system that the switching method of control model of the invention is suitable for arbitrary multi-mode switching control, and for closed loop
Control system and open-loop control system are applicable in.Wherein, the first control module is the upper control module of the second control module, i.e.,
The instruction of second control module be generated by the first control module, namely when be in the first control module control model when,
The instruction of corresponding first control module is parsed into the instruction of the second control module in instruction the first control module of direction of transfer,
The second control module is transferred to handle the instruction of the second control module again.The second signified control module can in the present invention
Think that the speed ring of servo-driver or the torque ring of servo-driver, the first control module can correspond to servo-driver
The speed ring of position ring or servo-driver.And the second control module in actual handover process switches to the first control module
It can be expressed as being switched to by position ring as the first control module or being expressed as the second control module by speed ring
It is switched to by speed ring as the first control module and by torque ring as the second control module as the second control by torque ring
Molding block is switched to by position ring as the first control module.
In a particular embodiment, the switching method of the control model may include following situations:
1. speed ring switches to the position ring as the first control module as the second control module, in switching, operation is empty
Quasi- position ring.Specifically, which can be generated empty by the position feedback information that speed command and motor generate
Pseudoinstruction, and the void of the virtual position ring is not used in loop control, is used only for the dynamic mode from speed ring to position ring
Switching.
Further, which is directly to replace position ring to be sent to speed ring by host computer, and then send this to
Virtual position ring.The position feedback information can include but is not limited to the obtained present bit confidence by driven object of motor
Breath and load information.
2. torque ring switches to the speed ring as the first control module as the second control module, in switching, operation is empty
Quasi- speed ring.Specifically, which can generate by torque command and by the velocity feedback information that motor generates
Fictitious order, and the virtual speed ring is not used in loop control, is used only for the dynamic mode from torque ring to speed ring and cuts
It changes.
Further, which is directly to replace torque ring to be sent to speed ring by host computer, and then send this to
The virtual ring of speed ring.The velocity feedback information can include but is not limited to the obtained current location by driven object of motor
And load information.
3. torque ring switches to the position ring as the first control module as the second control module.
It wherein, include third control module between the first control module and the second control module, i.e. third control module is
Speed ring includes: the virtual speed ring of operation before running virtual position ring.I.e. in this handoff procedure, due to from power
Square ring directly cannot switch to position ring across speed ring, therefore torque ring need to switch to speed ring, then by speed circumferential direction position ring
Switching, is completed the switching of the dynamic mode.Therefore the torque ring cutting in the situation and the present embodiment shifts to the process phase of speed ring
Together, details are not described herein again.
S2, the first virtual control module generate corresponding first control according to the instruction of the second control module received
The fictitious order of module.
In a particular embodiment, for the control system of open loop, the first virtual control module is according to second received
The instruction of control module generates the fictitious order of corresponding first control module；For the control system of closed loop, the first virtual control
Molding root tuber generates corresponding institute according to the first feedback information of the first control module received and the instruction of the second control module
State the fictitious order of the first module.By taking the control of the servo-driver of closed loop as an example, step S2 is corresponded to 3 described in above-mentioned steps S1
Kind situation, also may include following several situations:
1. the first control module is the position ring of servo-driver, the second control module is the speed ring of servo-driver,
When speed ring switches to the position ring as the first control module as the second control module, Fig. 3 specifically may refer to, Fig. 3 is
Speed ring of the present invention switches to the structural schematic diagram of one embodiment of position ring.
Virtual position ring receives the position feedback information of position ring and the speed command from speed ring, utilizes position
Feedback information and speed command carry out calculating the fictitious order for generating corresponding position ring.Wherein, which can be
The location information of motor itself can also be the current location information of motor load.The fictitious order may include configuration information,
Such as the location information of previous moment, it is therefore an objective to can work normally position ring.Further, the speed command of the speed ring
Directly replace position ring to be sent to speed ring by host computer, and the host computer speed command that sends with sent by original position ring
Speed command is identical.
It should be noted that position ring receives the position ring for carrying out self-virtualizing during being switched to position ring by speed ring
The relevant informations such as fictitious order, and then normally issue speed command to speed ring, work normally follow-up link, to complete
Control model of the control mode switch of speed ring to position ring.
2. torque ring switches to the speed ring as the first control module as the second control module, figure specifically may refer to
4, Fig. 4 be the structural schematic diagram that torque ring cutting of the present invention shifts to one embodiment of speed ring.
Virtual speed ring receives the velocity feedback information from speed ring and the instruction from torque ring, utilizes speed
Feedback information and torque command carry out calculating the fictitious order for generating corresponding speed ring.Wherein, which can be
The present speed information of motor load, second feedback information can also be the velocity information of motor itself.The fictitious order can
To include configuration information, such as the moment information of previous moment, it is therefore an objective to can work normally speed ring.
Optionally, the torque command of the torque ring directly replaces speed ring to be sent to torque ring by host computer, and this is upper
The torque command that machine is sent is identical as the torque command sent by former speed ring.
It should be noted that speed ring receives the speed ring for carrying out self-virtualizing during changing to speed ring by torque ring cutting
The relevant informations such as fictitious order, and then normally issue torque command to torque ring, work normally follow-up link, to complete
Control model of the control mode switch of torque ring to speed ring.
3. torque ring switches to the position ring as the first control module as the second control module, because torque ring cannot be straight
It connects across speed ring and is directly switch into position ring, so after situation torque ring first switches to speed ring control, then by speed ring
Position ring is switched to, switching method is identical as above-mentioned corresponding switching method, and details are not described herein again.
The fictitious order of corresponding first control module is sent to the first control module by S3, the first virtual control module,
And by the control mode switch of the second control module to the control model of the first control module.
In step s3, it after the second virtual control module calculates its fictitious order, needs to send out the fictitious order
The first control module is given to realize the dynamic mode switching by the first control module to the second control module.
Specifically, with further reference to Fig. 2 and Fig. 3, following situations can be divided into:
1. speed ring switches to the position ring as the second control module as the first control module.
In a particular embodiment, during by the switching of speed circumferential direction position ring, position ring is not run at this time, and should
Position ring will not save the parameters such as its last location information, therefore in the virtual ring of position ring by the configuration of corresponding position ring
When information (instruction and position feedback information) is sent to position ring, position ring can be run according to its configuration information, to realize speed
The dynamic mode for spending ring to position ring switches.It should be noted that speed ring, into the handoff procedure of position ring, position ring is matched
Confidence breath does not need presetting for host computer, but passes through speed command and position of its virtual position ring according to speed ring
It sets feedback information calculating to obtain, so as to realize being switched fast by speed ring to position ring.
2. torque ring switches to the speed ring as the second control module as the first control module.
In a particular embodiment, during by the switching of torque circumferential direction speed ring, position ring and speed ring are not transport at this time
It is capable, and the speed ring will not save the parameters such as its last velocity information, therefore in the virtual ring of speed by corresponding speed
When the configuration information (instruction and velocity feedback information) of ring is sent to speed ring, speed ring can start simultaneously according to its configuration information
Operation is switched with the dynamic mode for realizing torque ring to speed ring.It should be noted that handoff procedure of the torque ring to speed ring
In, the configuration information of speed ring does not need presetting for host computer, but by its virtual speed ring according to torque ring
Torque command and the calculating of velocity feedback information obtain, so as to realize being switched fast by torque ring to speed ring.
3. when torque ring switches to the position ring as the second control module as the first control module, the conversion process
It is as follows:
When torque ring switches to position ring as the second control module as the first control module, the first control module and
It include third control module between second control module, i.e., torque ring and position interannular further include the third control as speed ring
Module.Virtual speed ring is first run before running virtual position ring, it is anti-that virtual speed ring passes through second received
The instruction of feedforward information and the torque ring generates the fictitious order of corresponding speed ring, that is to say, that shift to position by torque ring cutting
When setting ring, need torque ring first switching to speed ring.Wherein, it specifically may refer to by the process that torque ring cutting shifts to speed ring
The description above, details are not described herein again.
Wherein, it after torque ring cutting shifts to speed ring, continues to execute and runs virtual position ring and its subsequent step, with reality
The pattern switching of existing torque circumferential direction position ring.Further, the switching method of the speed circumferential direction position ring is referring to foregoing description,
Details are not described herein again.
In above-described embodiment, in the case where being pre-configured with control module parameter without host computer, by running virtually
Control module obtains the instruction of corresponding control module, and can solve corresponding control module due to not enabled can not obtain phase in time
Being switched fast for dynamic mode between different control modules may be implemented in the problem of should instructing.
Referring to Fig. 4, Fig. 4 is the flow diagram of control mode switch method third embodiment of the present invention.As figure should
Method the following steps are included:
S20 replaces first by host computer when instructing the first control module of direction of transfer to switch to the second control module
Control module sends instruction to the second control module.
In a particular embodiment, the first control module of direction of transfer is instructed to may include when switching to the second control module
Following two situation:
1. the position circumferential direction as the first control module switches as the speed ring of the second control module, specifically may refer to
Fig. 5, Fig. 5 are the structural schematic diagrams that position ring of the present invention switches to one embodiment of speed ring.
Specifically, when being switched to speed command by position command, due to speed ring instruction be generated by position ring, so from
When position ring is switched to speed ring, directly replace position ring that speed command is given to speed ring, new speed command by host computer
Instead of the instruction that origin-location ring generates, therefore pattern switching is without doing specially treated.And it should be noted that by host computer
It should be identical to the instruction of speed ring as by original position ring directly to the speed command of speed ring.
2. the speed circumferential direction as the first control module is changed as the torque ring cutting of the second control module, specifically may refer to
Fig. 6, Fig. 6 are the structural schematic diagrams that speed ring of the present invention switches to one embodiment of torque ring.
Specifically, when being switched to torque command by speed command, due to torque fourth finger order be generated by speed ring, so from
When speed ring is switched to torque ring, directly replace speed ring that torque command is given to torque ring, new torque command by host computer
Instead of the instruction that original speed ring generates, therefore pattern switching is without doing special be pre-configured with.And it should be noted that by
Host computer should be identical to the instruction of torque ring as by former speed ring directly to the torque command of torque ring.
S21, the second control module, which receives, to be instructed and handles.
Step S21 object above-mentioned steps also include following situation:
1. the position circumferential direction as the first control module switches as the speed ring of the second control module.
Specifically, speed ring receives the speed command sent by host computer and processing, and completion is by position ring to speed ring
Dynamic mode switching.
2. the speed circumferential direction as the first control module is changed as the torque ring cutting of the second control module.
Specifically, torque ring receives the torque command sent by host computer and processing, and completion is by speed ring to torque ring
Dynamic mode switching.
It should be noted that if needing to be switched to torque ring by position ring, then need that position ring is first switched to speed ring,
Torque ring is switched to by speed ring again.
Above embodiment, by directly transmitting instruction to the control module by host computer, and it is special pre- without doing
It first configures, can be realized the conversion between control module between dynamic mode.
Referring to Fig. 7, Fig. 7 is the structural schematic diagram of one embodiment of driver of the present invention.As shown, the driver 10
Including first interface 11, second interface 12 and third interface 13.
Wherein, processor 14 are connected with first interface 11, second interface 12, third interface 13, and first interface 11 is used for
Host computer 20 is connected, to receive the instruction from host computer 20, second interface 12 is for connecting motor 30, to export processing
The instruction of device 14 to motor 30, third interface 13 can be omitted for receiving the feedback information from motor 30, be connect using second
Mouth 12 receives from motor 30 or motor load feedback information.It in practical applications, can also include peripheral circuit with reality
It is now more multi-functional.
Wherein, processor 14 is used to work as the control for needing the control mode switch of the second control module to the first control module
When mode, the first virtual control module is run, wherein the first control module is the upper control module of the second control module, it is empty
The first quasi- control module generates corresponding first control module according to the instruction of second control module received
Fictitious order, processor 14 is by the first virtual control module according to the first feedback information of the first control module received
And second control module instruction, generate the fictitious order of corresponding first module；It will be right by the first virtual control module
The fictitious order of the first control module is answered to be sent to the first control module, and by the control mode switch of the second control module to
The control model of one control module.
Optionally, when driver is servo-driver, the first control module is the position ring of servo-driver, the second control
When module is the speed ring of servo-driver, processor 14 executes following steps:
Processor 14 receives the position feedback information of position ring and the speed command of speed ring by virtual position ring；
It is calculated using position feedback information and speed command to obtain the instruction of the virtual location of position ring；Pass through virtual position ring
The virtual location instruction of position ring is sent to position ring, and by the control mould of the control mode switch of speed ring to position ring
Formula.
Optionally, when the speed ring that the first control module is servo-driver, the second control module is servo-driver
When torque ring, processor 14 executes following steps:
The velocity feedback information of speed ring and the torque command of torque ring are received by virtual speed ring；Utilize speed
Feedback information and torque command are calculated to obtain the instruction of the pseudo-velocity of speed ring；By virtual speed ring by speed ring
Pseudo-velocity instruction be sent to speed ring, and by the control model of the control mode switch of torque ring to speed ring.
Optionally, when between the first control module and the second control module including third control module, processor 14 is run
First run virtual third control module before the second virtual control module, virtual third control module, which passes through, to be received
The instruction of second control module generates the fictitious order of corresponding third control module.
Specifically have and third control module is sent to by virtual third control module fictitious order, to realize the second control
Pattern switching of the module to third control module.Wherein, the control mode switch of the second control module is to third control module
After control model, processor 14 continues to execute the first virtual control module of operation and its subsequent step.
Optionally, when driver is servo-driver, the first control module is the position ring of servo-driver, the second control
Module is the torque ring of servo-driver, and when third control module is the speed ring of servo-driver, processor 14 executes as follows
Step: including: the virtual speed ring of operation before running virtual position ring；The speed of speed ring is received by virtual speed ring
Spend the torque command of feedback information and torque ring；It is calculated using velocity feedback information and torque command to obtain speed ring
Virtual location instruction；Pseudo-velocity instruction is sent to speed ring by virtual speed ring, and by the control mould of torque ring
Formula is switched to the control model of speed ring；Wherein, after the control mode switch of torque ring to the control model of speed ring, processor
14 continue to execute operation virtual position ring and its subsequent step.
It should be noted that the driver can execute the step of driver executes in the above method, related content please join
See the detailed description in the above method, it is no longer superfluous herein to chat.
Referring to Fig. 8, Fig. 8 is the structural schematic diagram of one embodiment of robot system of the present invention.As shown, the machine
People's system 40 includes: driver 10 and motor 30.
Driver 10 includes: first interface 11, second interface 12 and third interface 13, and the specific structure of the driver
It may refer to the description in Fig. 8.
Processor 14 is coupled to first interface 11, second interface 12, third interface 13, and first interface 11 is for connecting
Position machine 20, to receive the instruction from host computer 20, second interface is for connecting motor 30, the finger to output processor 14
It enables to motor, third interface 13 is used to receive the feedback information from motor 30 or load.
Wherein, processor 14 works as the control model for needing the control mode switch of the second control module to the first control module
When, run the first virtual control module, wherein the first control module be the second control module upper control module it is virtual
First control module generates the fictitious order of corresponding first control module according to the instruction of the second control module received；It is logical
It crosses the first virtual control module and the fictitious order of corresponding first control module is sent to the first control module, and by the second control
Control model of the control mode switch of molding block to the first control module.
It should be noted that the driver can execute the step of driver executes in the above method, related content please join
See the detailed description in the above method, it is no longer superfluous herein to chat.
It is the structural schematic diagram of one embodiment of inventive memory device refering to Fig. 9, Fig. 9.Storage device of the invention is deposited
It contains and can be realized the above-mentioned methodical program file 31 of institute, wherein the program file 21 can be deposited in the form of software products
Storage is in above-mentioned storage device, including some instructions are used so that a computer equipment (can be personal computer, service
Device or the network equipment etc.) or processor (processor) execute the whole or portion of each embodiment the method for the present invention
Step by step.And storage device above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), with
Machine accesses various Jie that can store program code such as memory (RAM, Random Access Memory), magnetic or disk
The terminal devices such as matter or computer, server, mobile phone, plate.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can
To realize by another way.For example, device embodiments described above are only schematical, for example, the mould
The division of block or unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple
Unit or assembly can be combined or can be integrated into another system, or some features can be ignored or not executed.It is another
Point, shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces, device or
The indirect coupling or communication connection of unit can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of unit therein can be selected to realize present embodiment scheme according to the actual needs
Purpose.
In addition, each functional unit in each embodiment of the present invention can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.It is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The all or part of the steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk
Etc. the various media that can store program code.
In conclusion it should be readily apparent to one skilled in the art that the present invention provides a kind of robot system, driver, storage
The switching method of device and control model, it is empty by operation in the case where being pre-configured with control module parameter without host computer
Quasi- control module obtains the instruction of corresponding control module, and can solve corresponding control module timely can not be obtained due to not enabled
The problem of to command adapted thereto, and then being switched fast for dynamic mode between different control modules may be implemented.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (14)
1. a kind of switching method of control model, which is characterized in that the described method includes:
When the control model of the control mode switch of the second control module of needs to the first control module, virtual first is run
Control module, wherein first control module is the upper control module of second control module；
The first virtual control module generates corresponding described first according to the instruction of second control module received
The fictitious order of control module；
The fictitious order of correspondence first control module is sent to first control by the first virtual control module
Module, and by the control mode switch of the second control module to the control model of the first control module.
2. the method according to claim 1, wherein what the basis of the first virtual control module received
The instruction of second control module generates the fictitious order of corresponding first control module, comprising:
The first virtual control module is controlled according to the first feedback information of the first control module received and second
The instruction of module generates the fictitious order of corresponding first module.
3. according to the method described in claim 2, it is characterized in that, first control module is the position of servo-driver
Ring, second control module are the speed ring of servo-driver；
The instruction for second control module that the basis of the first virtual control module receives generates corresponding described the
The fictitious order of one module includes:
The virtual position ring receives the position feedback information of the position ring and the speed command of speed ring；
It is calculated using the position feedback information and the speed command to obtain the instruction of the virtual location of the position ring；
The virtual location instruction of the position ring is sent to the position ring by the virtual position ring, and by the control of speed ring
Molding formula is switched to the control model of position ring.
4. according to the method described in claim 2, it is characterized in that, first control module is the speed of servo-driver
Ring, second control module are the torque ring of servo-driver；
The instruction for second control module that the basis of the first virtual control module receives generates corresponding described the
The fictitious order of one module includes:
The virtual speed ring receives the velocity feedback information of the speed ring and the torque command of torque ring；
It is calculated using the velocity feedback information and the torque command to obtain the instruction of the pseudo-velocity of the speed ring；
The pseudo-velocity instruction of the speed ring is sent to the speed ring by the virtual speed ring, and by the control of torque ring
Molding formula is switched to the control model of speed ring.
5. the method according to claim 1, wherein first control module and second control module it
Between include third control module；
Include: before the operation first virtual control module
Run virtual third control module；
The virtual third control module generates the corresponding third and controls mould according to the instruction for receiving the second control module
The fictitious order of block；
The fictitious order is sent to the third control module by the virtual third control module, and by the second control mould
Control model of the control mode switch of block to third control module；
Wherein, after the control mode switch of second control module to the control model of the third control module, continue to hold
The row operation virtual first control module and its subsequent step.
6. according to the method described in claim 5, it is characterized in that, first control module is the position of servo-driver
Ring, second control module are the torque ring of servo-driver, and the third control module is the speed ring of servo-driver；
Include: before running the virtual position ring
Run the virtual speed ring；
The virtual speed ring receives the velocity feedback information of the speed ring and the torque command of torque ring；
It is calculated using the velocity feedback information and the torque command to obtain the instruction of the virtual location of the speed ring；
Pseudo-velocity instruction is sent to the speed ring by the virtual speed ring, and is cut by the control model of torque ring
Change to the control model of speed ring；
Wherein, after the control mode switch of the torque ring to the control model of the speed ring, the operation institute is continued to execute
State virtual position ring and its subsequent step.
7. a kind of driver, which is characterized in that the driver includes:
First interface, second interface and third interface；
Processor is connected with the first interface, second interface, third interface, and the first interface is used to connect host computer,
To receive the instruction from the host computer, the second interface is for connecting motor, to export the finger of the processor
It enables to the motor, the third interface is for receiving the feedback information from the motor or load；
Wherein, when the control model of the control mode switch of the second control module of needs to the first control module, operation is virtual
The first control module, wherein the first control module be the second control module upper control module；
The first virtual control module generates corresponding described first according to the instruction of second control module received
The fictitious order of control module；
The fictitious order of correspondence first control module is sent to first control by the first virtual control module
Module, and by the control mode switch of the second control module to the control model of the first control module.
8. driver according to claim 7, which is characterized in that the first virtual control module is according to receiving
The instruction of second control module generates the fictitious order of corresponding first control module, comprising:
The first virtual control module is controlled according to the first feedback information of the first control module received and second
The instruction of module generates the fictitious order of corresponding first module.
9. driver according to claim 8, which is characterized in that the driver is servo-driver, first control
Molding block is the position ring of servo-driver, and second control module is the speed ring of servo-driver；
The instruction for second control module that the basis of the first virtual control module receives generates corresponding described the
The fictitious order of one module includes:
The virtual position ring receives the position feedback information of the position ring and the speed command of speed ring；
It is calculated using the position feedback information and the speed command to obtain the instruction of the virtual location of the position ring；
The virtual location instruction of the position ring is sent to the position ring by the virtual position ring, and by the control of speed ring
Molding formula is switched to the control model of position ring.
10. driver according to claim 8, which is characterized in that first control module is the speed of servo-driver
Ring is spent, second control module is the torque ring of servo-driver；
The instruction for second control module that the basis of the first virtual control module receives generates corresponding described the
The fictitious order of one module includes:
The virtual speed ring receives the velocity feedback information of the speed ring and the torque command of torque ring；
It is calculated using the velocity feedback information and the torque command to obtain the instruction of the pseudo-velocity of the speed ring；
The pseudo-velocity instruction of the speed ring is sent to the speed ring by the virtual speed ring, and by the control of torque ring
Molding formula is switched to the control model of speed ring.
11. driver according to claim 7, which is characterized in that first control module and the second control mould
It include third control module between block；
Include: before the operation second virtual control module
Run the virtual third control module；
The virtual third control module generates the corresponding third control according to the instruction of the second control module received
The fictitious order of module；
The fictitious order is sent to the third control module by the virtual third control module, and by the second control mould
Control model of the control mode switch of block to third control module；
Wherein, after the control mode switch of second control module to the control model of the third control module, continue to hold
The row operation virtual first control module and its subsequent step.
12. driver according to claim 11, which is characterized in that the driver be servo-driver, described first
Control module is the position ring of servo-driver, and second control module is the torque ring of servo-driver, the third control
Molding block is the speed ring of servo-driver；
Include: before running the virtual position ring
Run the virtual speed ring；
The virtual speed ring receives the velocity feedback information of the speed ring and the torque command of torque ring；
It is calculated using the velocity feedback information and the torque command to obtain the instruction of the virtual location of the speed ring；
Pseudo-velocity instruction is sent to the speed ring by the virtual speed ring, and is cut by the control model of torque ring
Change to the control model of speed ring；
Wherein, after the control mode switch of the torque ring to the control model of the speed ring, the operation institute is continued to execute
State virtual position ring and its subsequent step.
13. a kind of robot system, which is characterized in that including driver and motor, the driver includes:
First interface, second interface and third interface；
Processor couples the first interface, second interface, third interface, and the first interface is used to connect host computer, to
The instruction from the host computer is received, the second interface is for connecting the motor, to export the finger of the processor
It enables to the motor, the third interface is for receiving the feedback information from the motor or load；
Wherein, when the control model of the control mode switch of the second control module of needs to the first control module, operation is virtual
The first control module, wherein the first control module be the second control module upper control module；
The first virtual control module generates corresponding described first according to the instruction of second control module received
The fictitious order of control module；
The fictitious order of correspondence first control module is sent to first control by the first virtual control module
Module, and by the control mode switch of the second control module to the control model of the first control module.
14. a kind of storage device, which is characterized in that being stored with can be realized such as any one of claim 1-6 the method
Program file.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/109157 WO2019084881A1 (en) | 2017-11-02 | 2017-11-02 | Robot system, driver, memory device, and control mode switching method |
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| CN109313420A true CN109313420A (en) | 2019-02-05 |
| CN109313420B CN109313420B (en) | 2021-07-09 |
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| CN201780034125.8A Active CN109313420B (en) | 2017-11-02 | 2017-11-02 | Robot system, driver, storage device, and method for switching control modes |
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| CN (1) | CN109313420B (en) |
| WO (1) | WO2019084881A1 (en) |
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| CN113037141A (en) * | 2021-03-10 | 2021-06-25 | 深圳市微秒控制技术有限公司 | Anti-falling method for gravity load starting of servo motor |
| CN113163115A (en) * | 2021-04-02 | 2021-07-23 | 桂林智神信息技术股份有限公司 | Stability increasing method, stability increasing device, computer readable medium and electronic equipment |
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| Publication number | Publication date |
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| CN109313420B (en) | 2021-07-09 |
| WO2019084881A1 (en) | 2019-05-09 |
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