CN109313420B - Robot system, driver, storage device, and method for switching control modes - Google Patents
Robot system, driver, storage device, and method for switching control modes Download PDFInfo
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- CN109313420B CN109313420B CN201780034125.8A CN201780034125A CN109313420B CN 109313420 B CN109313420 B CN 109313420B CN 201780034125 A CN201780034125 A CN 201780034125A CN 109313420 B CN109313420 B CN 109313420B
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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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Abstract
The invention discloses a robot system, a driver, a storage device and a control mode switching method, comprising the following steps: when the control mode of the second control module is required to be switched to the control mode of the first control module, operating the virtual first control module, wherein the first control module is an upper control module of the second control module; the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module; the virtual first control module sends the virtual instruction corresponding to the first control module, and the control mode of the second control module is switched to the control mode of the first control module. Through the mode, the invention can realize the quick switching of the dynamic mode among different control modules of the driver.
Description
Technical Field
The present invention relates to a motor driving technology, and more particularly, to a robot system, a driver, a storage device, and a method for switching control modes.
Background
The servo drive typically uses three feedback control modules to control the servo motors, a position loop, a velocity loop, and a torque loop. The position ring is used for accurately controlling the position of the motor, the speed ring is used for accurately controlling the speed of the motor, and the torque ring is used for accurately controlling the output of the motor. In some occasions, the command of one control module needs to be switched to the command of another control module in real time while the motor works. The prior art switching of the dynamic mode of the servo driver requires the user to first configure the two loops to be switched. Therefore, in practical use, only two loops can be dynamically switched, during the switching process, the servo driver needs to be disabled, the switching of any loop dynamic mode cannot be realized, and the switching needs to consume a long time.
Disclosure of Invention
The invention provides a robot system, a driver, a storage device and a control mode switching method, which can realize the quick switching of dynamic modes among different control modules.
The invention adopts a technical scheme that: there is provided a driver dynamic mode switching method, the method comprising: when the control mode of a second control module is required to be switched to the control mode of a first control module, operating a virtual first control module, wherein the first control module is an upper control module of the second control module; the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module; the virtual first control module sends a virtual instruction corresponding to the first control module, and the control mode of the second control module is switched to the control mode of the first control module.
In order to solve the technical problem, the invention adopts another technical scheme that: providing a driver, the driver comprising: a first interface, a second interface and a third interface; the processor is connected with the first interface, the second interface and the third interface, the first interface is used for connecting an upper computer and receiving an instruction from the upper computer, the second interface is used for connecting a motor and outputting the instruction of the processor to the motor, and the third interface is used for receiving feedback information from the motor or a load; when the control mode of the second control module is required to be switched to the control mode of the first control module, operating the virtual first control module, wherein the first control module is an upper control module of the second control module; the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module; the virtual first control module sends a virtual instruction corresponding to the first control module, and the control mode of the second control module is switched to the control mode of the first control module.
In order to solve the technical problem, the invention adopts another technical scheme that: there is provided a robotic system comprising a driver and an electrode, the driver comprising: a first interface, a second interface and a third interface; the processor is coupled with the first interface, the second interface and the third interface, the first interface is used for connecting an upper computer and receiving an instruction from the upper computer, the second interface is used for connecting the motor and outputting the instruction of the processor to the motor, and the third interface is used for receiving feedback information from the motor or a load; when the control mode of the second control module is required to be switched to the control mode of the first control module, operating the virtual first control module, wherein the first control module is an upper control module of the second control module; the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module; the virtual first control module sends a virtual instruction corresponding to the first control module, and the control mode of the second control module is switched to the control mode of the first control module.
The invention has the beneficial effects that: the method for switching the robot system, the driver and the control mode obtains the instruction of the corresponding control module by operating the virtual control module of the control module under the condition that parameters of the control module are not required to be configured in advance by an upper computer, can solve the problem that the corresponding control module cannot obtain the corresponding instruction in time because the corresponding control module is not started, and further can realize the quick switching of the dynamic mode among different control modules.
Drawings
FIG. 1 is a schematic flow chart of a control mode switching method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a speed ring switched to a position ring according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of the present invention in which the torque ring is switched to the speed ring;
FIG. 4 is a flowchart illustrating a method for controlling mode switching according to a second embodiment of the present invention;
FIG. 5 is a schematic diagram of a position loop switched to a velocity loop according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an embodiment of the present invention in which the speed ring is switched to the torque ring;
FIG. 7 is a schematic structural diagram of an embodiment of the actuator of the present invention;
FIG. 8 is a schematic structural diagram of one embodiment of a robotic system of the present invention;
FIG. 9 is a schematic structural diagram of an embodiment of a memory device according to the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, in the embodiments of the present invention, the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature.
Referring to fig. 1, fig. 1 is a flow chart illustrating a method for controlling mode switching according to an embodiment of the present invention. The actuator of the present invention may be, but is not limited to, a servo actuator, and the servo actuator generally implements precise operation of the motor through a position command of a position loop, a speed command of a speed loop, and a torque command of a torque loop. In some occasions, the command of one control module needs to be switched to the command of another control module in real time while the motor works. The invention provides a switching method of control modes, which comprises the following steps:
and S1, when the control mode of the second control module needs to be switched to the control mode of the first control module, operating the virtual first control module, wherein the first control module is an upper control module of the second control module.
The control mode switching method is suitable for any multi-mode switching control system and is suitable for both closed-loop control systems and open-loop control systems. The first control module is an upper control module of the second control module, that is, the instruction of the second control module is generated by the first control module, that is, when the first control module is in the control mode of the first control module, the first control module analyzes the instruction of the corresponding first control module into the instruction of the second control module in the instruction transmission direction, and then the instruction of the second control module is processed by the second control module. The second control module referred to in the present invention may be a velocity loop of the servo driver or a torque loop of the servo driver, and the first control module may correspond to a position loop of the servo driver or a velocity loop of the servo driver. And the switching of the second control module to the first control module during the actual switching process may be represented as switching from the speed loop as the second control module to the position loop as the first control module, or may be represented as switching from the torque loop as the second control module to the speed loop as the first control module and switching from the torque loop as the second control module to the position loop as the first control module.
In a specific embodiment, the method for switching the control mode may include the following cases:
1. the speed loop is switched as a second control module to a position loop as a first control module, and a virtual position loop is operated during switching. In particular, the virtual position loop may be generated from velocity commands and motor generated position feedback information, and the virtual position loop is not used for loop control, but only for dynamic mode switching from the velocity loop to the position loop.
Further, the speed command is directly sent to the speed ring by the upper computer instead of the position ring, and then is transmitted to the virtual position ring. The position feedback information may include, but is not limited to, current position information and load information of the driven object obtained by the motor.
2. The torque ring is switched as a second control module to the speed ring as a first control module, and a virtual speed ring is operated during the switching. In particular, the virtual speed loop may generate virtual commands from torque commands and speed feedback information generated by the motor, and the virtual speed loop is not used for loop control, but only for dynamic mode switching from torque loop to speed loop.
Further, the torque command is directly sent to the speed ring by the upper computer instead of the torque ring, and then is transmitted to the virtual ring of the speed ring. The speed feedback information may include, but is not limited to, the current position and load information of the driven object obtained by the motor.
3. The torque ring is switched as a second control module to a position ring as a first control module.
Wherein, include the third control module between first control module and the second control module, promptly the third control module is the speed ring, includes before the virtual position ring of operation: a virtual speed loop is run. In the switching process, the torque ring cannot directly cross the speed ring to be switched to the position ring, so that the torque ring needs to be switched to the speed ring and then switched from the speed ring to the position ring, and the switching of the dynamic mode is completed. Therefore, the process of switching the torque ring to the speed ring is the same as that of the present embodiment, and the description thereof is omitted.
And S2, the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module.
In a specific embodiment, for an open-loop control system, a virtual first control module generates a virtual instruction corresponding to the first control module according to a received instruction of a second control module; for a closed-loop control system, a virtual first control module generates a virtual instruction corresponding to a first control module according to received first feedback information of the first control module and an instruction of a second control module. Taking closed-loop servo driver control as an example, step S2 corresponds to the 3 cases described in step S1, and may include the following cases:
1. specifically, referring to fig. 3, when the first control module is a position loop of the servo driver, the second control module is a speed loop of the servo driver, and the speed loop is used as the second control module to switch to the position loop as the first control module, fig. 3 is a schematic structural diagram of an embodiment of switching the speed loop to the position loop according to the present invention.
The virtual position ring receives position feedback information of the position ring and a speed instruction from the speed ring, and the position feedback information and the speed instruction are used for calculation to generate a virtual instruction corresponding to the position ring. The position feedback information may be position information of the motor itself, or current position information of the motor load. The virtual instructions may include configuration information, such as location information from a previous time, in order to allow the location ring to function properly. Further, the speed command of the speed ring is directly sent to the speed ring by the upper computer instead of the position ring, and the speed command sent by the upper computer is the same as the speed command sent by the position ring.
It should be noted that, in the process of switching from the speed ring to the position ring, the position ring receives the relevant information such as the virtual instruction from the virtual position ring, and then normally sends the speed instruction to the speed ring, so that the subsequent links normally work, and the control mode of switching the speed ring to the position ring is completed.
2. The torque ring as the second control module is switched to the speed ring as the first control module, specifically, refer to fig. 4, and fig. 4 is a schematic structural diagram of an embodiment of switching the torque ring to the speed ring according to the present invention.
The virtual speed ring receives speed feedback information from the speed ring and an instruction from the torque ring, and the virtual instruction corresponding to the speed ring is generated by calculation through the speed feedback information and the torque instruction. The speed feedback information may be current speed information of a load of the motor, and the second feedback information may also be speed information of the motor itself. The virtual command may include configuration information, such as moment information from a previous time, in order to allow the speed loop to function properly.
Optionally, the torque instruction of the torque ring is directly sent to the torque ring by the upper computer instead of the speed ring, and the torque instruction sent by the upper computer is the same as the torque instruction sent by the original speed ring.
It should be noted that, in the process of switching from the torque ring to the speed ring, the speed ring receives the relevant information such as the virtual command from the virtual speed ring, and then normally sends the torque command to the torque ring, so that the subsequent links normally work, and the control mode of switching the torque ring to the control mode of the speed ring is completed.
3. The torque ring is used as a second control module to be switched to a position ring used as a first control module, and the torque ring can not directly cross the speed ring and is directly switched to the position ring, so that the torque ring is firstly switched to be controlled by the speed ring and then is switched to be controlled by the speed ring, and the switching method is the same as the corresponding switching method, and is not repeated here.
And S3, the virtual first control module sends the virtual instruction corresponding to the first control module, and the control mode of the second control module is switched to the control mode of the first control module.
In step S3, after the virtual second control module calculates its virtual command, it needs to send the virtual command to the first control module to implement the dynamic mode switching from the first control module to the second control module.
Specifically, further referring to fig. 2 and 3, the following cases can be classified:
1. the speed loop is switched as a first control module to a position loop as a second control module.
In a specific embodiment, in the process of switching from the speed ring to the position ring, the position ring is not operated at this time, and the position ring does not store parameters such as the last position information of the position ring, so that when the virtual ring of the position ring sends the configuration information (the instruction and the position feedback information) corresponding to the position ring, the position ring can operate according to the configuration information, so as to realize the dynamic mode switching from the speed ring to the position ring. It should be noted that, in the process of switching from the speed loop to the position loop, the configuration information of the position loop is obtained by calculating the virtual position loop according to the speed instruction of the speed loop and the position feedback information without the need of presetting the upper computer, so that the rapid switching from the speed loop to the position loop can be realized.
2. The torque ring is switched as a first control module to a speed ring as a second control module.
In the specific embodiment, in the process of switching from the torque ring to the speed ring, the position ring and the speed ring are not operated at this time, and the speed ring does not store parameters such as the previous speed information of the position ring and the previous speed ring, so that when the virtual ring of the speed sends the configuration information (the instruction and the speed feedback information) corresponding to the speed ring, the speed ring can be started and operated according to the configuration information, so as to realize the dynamic mode switching from the torque ring to the speed ring. It should be noted that, in the process of switching from the torque loop to the speed loop, the configuration information of the speed loop does not need to be preset by the upper computer, but is obtained by calculating the virtual speed loop according to the torque instruction of the torque loop and the speed feedback information, so that the rapid switching from the torque loop to the speed loop can be realized.
3. When the torque loop is switched as a first control module to a position loop as a second control module, the switching process is as follows:
when the torque ring is used as a first control module and is switched to the position ring to be used as a second control module, a third control module is arranged between the first control module and the second control module, namely a third control module used as a speed ring is arranged between the torque ring and the position ring. The virtual speed ring is operated before the virtual position ring is operated, and the virtual speed ring generates a virtual instruction corresponding to the speed ring through the received second feedback information and the instruction of the torque ring, namely when the torque ring is switched to the position ring, the torque ring needs to be switched to the speed ring. For a process of switching from the torque ring to the speed ring, reference may be specifically made to the above description, and details are not described herein again.
After the torque ring is switched to the speed ring, the virtual position ring and the subsequent steps are continuously executed to realize the mode switching of the torque ring to the position ring. Further, the method for switching the velocity ring to the position ring refers to the above description, and is not described herein again.
In the above embodiment, under the condition that parameters of the control module are not required to be configured in advance by the upper computer, the instruction of the corresponding control module is obtained by operating the virtual control module, so that the problem that the corresponding control module cannot obtain the corresponding instruction in time because the corresponding control module is not started can be solved, and the rapid switching of the dynamic modes among different control modules can be realized.
Referring to fig. 4, fig. 4 is a flowchart illustrating a method for controlling mode switching according to a third embodiment of the present invention. The method comprises the following steps:
and S20, when the first control module in the instruction transmission direction is switched to the second control module, the upper computer replaces the first control module to send an instruction to the second control module.
In a specific embodiment, the switching of the first control module to the second control module in the command transmission direction may include the following two cases:
1. specifically, reference may be made to fig. 5 for switching a position ring as a first control module to a speed ring as a second control module, where fig. 5 is a schematic structural diagram of an embodiment of switching the position ring to the speed ring according to the present invention.
Specifically, when the position command is switched to the speed command, the speed ring command is generated by the position ring, so that when the position ring is switched to the speed ring, the upper computer directly replaces the position ring to send the speed command to the speed ring, and the new speed command replaces the command generated by the original position ring, so that special processing is not needed for mode switching. And it should be noted that the speed command directly given to the speed ring by the upper computer should be the same as the command given to the speed ring by the home position ring.
2. Specifically, reference may be made to fig. 6, where fig. 6 is a schematic structural diagram of an embodiment of switching a speed ring to a torque ring according to the present invention.
Specifically, when the speed command is switched to the torque command, the torque ring command is generated by the speed ring, so that when the speed ring is switched to the torque ring, the upper computer directly replaces the speed ring to send the torque command to the torque ring, and the new torque command replaces the command generated by the original speed ring, so that special pre-configuration is not needed for mode switching. And it should be noted that the torque command directly given to the torque ring by the upper computer should be the same as the command given to the torque ring by the original speed ring.
And S21, the second control module receives the instruction and processes the instruction.
Step S21 the above steps also include the following cases:
1. the position loop as the first control module is switched to the speed loop as the second control module.
Specifically, the speed ring receives and processes the speed command sent by the upper computer, and the dynamic mode switching from the position ring to the speed ring is completed.
2. The speed ring as the first control module is switched to the torque ring as the second control module.
Specifically, the torque ring receives and processes a torque command sent by the upper computer, and the dynamic mode switching from the speed ring to the torque ring is completed.
If the position ring needs to be switched to the torque ring, the position ring needs to be switched to the speed ring first, and then the speed ring needs to be switched to the torque ring.
In the above embodiment, the upper computer directly sends the instruction to the control module, and no special pre-configuration is required, so that the conversion between the dynamic modes of the control modules can be realized.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a driver according to an embodiment of the present invention. As shown, the drive 10 includes a first interface 11, a second interface 12, and a third interface 13.
The processor 14 is connected with the first interface 11, the second interface 12 and the third interface 13, the first interface 11 is used for being connected with the upper computer 20 and receiving instructions from the upper computer 20, the second interface 12 is used for being connected with the motor 30 and outputting the instructions of the processor 14 to the motor 30, the third interface 13 is used for receiving feedback information from the motor 30 and can be omitted, and the second interface 12 is used for receiving the feedback information from the motor 30 or the motor load. In practical applications, peripheral circuits may also be included to implement further functions.
The processor 14 is configured to run a virtual first control module when the control mode of the second control module needs to be switched to the control mode of the first control module, where the first control module is an upper control module of the second control module, the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module, and the processor 14 generates a virtual instruction corresponding to the first control module through the virtual first control module according to the received first feedback information of the first control module and the received instruction of the second control module; and sending the virtual instruction corresponding to the first control module through the virtual first control module, and switching the control mode of the second control module to the control mode of the first control module.
Alternatively, when the driver is a servo driver, the first control module is a position loop of the servo driver, and the second control module is a velocity loop of the servo driver, the processor 14 performs the following steps:
the processor 14 receives position feedback information of the position loop and a speed instruction of the speed loop through the virtual position loop; calculating by using the position feedback information and the speed instruction to obtain a virtual position instruction of the position ring; and sending a virtual position command of the position ring to the position ring through the virtual position ring, and switching the control mode of the speed ring to the control mode of the position ring.
Alternatively, when the first control module is a speed loop of the servo drive and the second control module is a torque loop of the servo drive, the processor 14 performs the following steps:
receiving speed feedback information of the speed ring and a torque instruction of the torque ring through the virtual speed ring; calculating by using the speed feedback information and the moment instruction to obtain a virtual speed instruction of the speed ring; and sending the virtual speed command of the speed ring to the speed ring through the virtual speed ring, and switching the control mode of the torque ring to the control mode of the speed ring.
Optionally, when a third control module is included between the first control module and the second control module, the processor 14 runs the virtual third control module before running the virtual second control module, and the virtual third control module generates a virtual instruction corresponding to the third control module according to the received instruction of the second control module.
Specifically, the virtual instruction is sent to the third control module through the virtual third control module, so as to realize the mode switching from the second control module to the third control module. After the control mode of the second control module is switched to the control mode of the third control module, the processor 14 continues to execute the virtual first control module and the subsequent steps thereof.
Optionally, when the driver is a servo driver, the first control module is a position loop of the servo driver, the second control module is a torque loop of the servo driver, and the third control module is a speed loop of the servo driver, the processor 14 executes the following steps: before the virtual position ring is run, the method comprises the following steps: running a virtual speed loop; receiving speed feedback information of the speed ring and a torque instruction of the torque ring through the virtual speed ring; calculating by using the speed feedback information and the moment instruction to obtain a virtual position instruction of the speed ring; sending a virtual speed instruction to the speed ring through the virtual speed ring, and switching a control mode of the torque ring to a control mode of the speed ring; after the control mode of the torque loop is switched to the control mode of the speed loop, the processor 14 continues to execute the virtual position loop and the subsequent steps.
It should be noted that the driver can execute the steps executed by the driver in the above method, and the related contents refer to the detailed description in the above method, which is not described in detail herein.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a robot system according to an embodiment of the present invention. As shown, the robot system 40 includes: a drive 10 and a motor 30.
The driver 10 includes: a first interface 11, a second interface 12, and a third interface 13, and the specific structure of the driver can be referred to the description in fig. 8.
The processor 14 is coupled to the first interface 11, the second interface 12, and the third interface 13, the first interface 11 is used for connecting the upper computer 20 and receiving an instruction from the upper computer 20, the second interface is used for connecting the motor 30 and outputting the instruction of the processor 14 to the motor, and the third interface 13 is used for receiving feedback information from the motor 30 or a load.
When the control mode of the second control module needs to be switched to the control mode of the first control module, the processor 14 runs the virtual first control module, wherein the first control module is a virtual first control module of an upper control module of the second control module and generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module; and sending the virtual instruction corresponding to the first control module through the virtual first control module, and switching the control mode of the second control module to the control mode of the first control module.
It should be noted that the driver can execute the steps executed by the driver in the above method, and the related contents refer to the detailed description in the above method, which is not described in detail herein.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a memory device according to an embodiment of the invention. The storage device of the present invention stores a program file 31 capable of implementing all the methods described above, wherein the program file 21 may be stored in the storage device in the form of a software product, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the methods according to the embodiments of the present invention. The aforementioned storage device includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.
In the several embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In summary, it is easily understood by those skilled in the art that the present invention provides a robot system, a driver, a storage device, and a method for switching control modes, where instructions of corresponding control modules are obtained by operating a virtual control module without configuring parameters of the control modules in advance by an upper computer, so that a problem that the corresponding control modules cannot obtain corresponding instructions in time because the corresponding control modules are not activated can be solved, and thus fast switching of dynamic modes between different control modules can be achieved.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (14)
1. A method for switching control modes of a driver, the method comprising:
when the control mode of a second control module is required to be switched to the control mode of a first control module, operating a virtual first control module, wherein the first control module is an upper control module of the second control module;
the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module;
the virtual first control module sends a virtual instruction corresponding to the first control module, and the control mode of the second control module is switched to the control mode of the first control module.
2. The method of claim 1, wherein the step of generating a virtual command corresponding to the first control module according to the received command of the second control module by the virtual first control module comprises:
the virtual first control module generates a virtual instruction corresponding to the first control module according to the received first feedback information of the first control module and the instruction of the second control module.
3. The method of claim 2, wherein the first control module is a position loop of a servo drive and the second control module is a velocity loop of the servo drive;
the step of generating a virtual instruction corresponding to the first control module according to the received instruction of the second control module by the virtual first control module comprises:
the virtual position ring receives position feedback information of the position ring and a speed instruction of a speed ring;
calculating by using the position feedback information and the speed command to obtain a virtual position command of the position loop;
and the virtual position ring sends the virtual position command of the position ring to the position ring and switches the control mode of the speed ring to the control mode of the position ring.
4. The method of claim 2, wherein the first control module is a velocity loop of a servo drive and the second control module is a torque loop of a servo drive;
the step of generating a virtual instruction corresponding to the first control module according to the received instruction of the second control module by the virtual first control module comprises:
the virtual speed ring receives speed feedback information of the speed ring and a torque instruction of the torque ring;
calculating by using the speed feedback information and the torque instruction to obtain a virtual speed instruction of the speed ring;
and the virtual speed ring sends the virtual speed instruction of the speed ring to the speed ring, and the control mode of the torque ring is switched to the control mode of the speed ring.
5. The method of claim 1, comprising a third control module between the first control module and the second control module;
the executing the virtual first control module previously comprises:
running a virtual third control module;
the virtual third control module generates a virtual instruction corresponding to the third control module according to the instruction received from the second control module;
the virtual third control module sends the virtual instruction to the third control module, and the control mode of the second control module is switched to the control mode of the third control module;
and after the control mode of the second control module is switched to the control mode of the third control module, the virtual first control module and subsequent steps are continuously executed.
6. The method of claim 5, wherein the first control module is a position loop of a servo drive, the second control module is a torque loop of a servo drive, and the third control module is a speed loop of a servo drive;
before executing the virtual position ring, the method comprises the following steps:
running the virtual speed loop;
the virtual speed ring receives speed feedback information of the speed ring and a torque instruction of the torque ring;
calculating by using the speed feedback information and the moment instruction to obtain a virtual position instruction of the speed ring;
the virtual speed ring sends a virtual speed instruction to the speed ring, and the control mode of the torque ring is switched to the control mode of the speed ring;
and after the control mode of the torque ring is switched to the control mode of the speed ring, the virtual position ring and the subsequent steps are continuously executed.
7. A driver, characterized in that the driver comprises:
a first interface, a second interface and a third interface;
the processor is connected with the first interface, the second interface and the third interface, the first interface is used for connecting an upper computer and receiving an instruction from the upper computer, the second interface is used for connecting a motor and outputting the instruction of the processor to the motor, and the third interface is used for receiving feedback information from the motor or a load;
when the control mode of the second control module is required to be switched to the control mode of the first control module, operating the virtual first control module, wherein the first control module is an upper control module of the second control module;
the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module;
the virtual first control module sends a virtual instruction corresponding to the first control module, and the control mode of the second control module is switched to the control mode of the first control module.
8. The driver of claim 7, wherein the virtual first control module generates a virtual command corresponding to the first control module according to the received command of the second control module, and comprises:
the virtual first control module generates a virtual instruction corresponding to the first control module according to the received first feedback information of the first control module and the instruction of the second control module.
9. The actuator of claim 8, wherein the actuator is a servo actuator, the first control module is a position loop of the servo actuator, and the second control module is a velocity loop of the servo actuator;
the step of generating a virtual instruction corresponding to the first control module according to the received instruction of the second control module by the virtual first control module comprises:
the virtual position ring receives position feedback information of the position ring and a speed instruction of a speed ring;
calculating by using the position feedback information and the speed command to obtain a virtual position command of the position loop;
and the virtual position ring sends the virtual position command of the position ring to the position ring and switches the control mode of the speed ring to the control mode of the position ring.
10. The drive of claim 8, wherein the first control module is a velocity loop of a servo drive and the second control module is a torque loop of a servo drive;
the step of generating a virtual instruction corresponding to the first control module according to the received instruction of the second control module by the virtual first control module comprises:
the virtual speed ring receives speed feedback information of the speed ring and a torque instruction of the torque ring;
calculating by using the speed feedback information and the torque instruction to obtain a virtual speed instruction of the speed ring;
and the virtual speed ring sends the virtual speed instruction of the speed ring to the speed ring, and the control mode of the torque ring is switched to the control mode of the speed ring.
11. The drive of claim 7, comprising a third control module between the first control module and the second control module;
the executing the virtual second control module previously comprises:
running the virtual third control module;
the virtual third control module generates a virtual instruction corresponding to the third control module according to the received instruction of the second control module;
the virtual third control module sends the virtual instruction to the third control module, and the control mode of the second control module is switched to the control mode of the third control module;
and after the control mode of the second control module is switched to the control mode of the third control module, the virtual first control module and subsequent steps are continuously executed.
12. The drive of claim 11, wherein the drive is a servo drive, the first control module is a position loop of the servo drive, the second control module is a torque loop of the servo drive, and the third control module is a speed loop of the servo drive;
before executing the virtual position ring, the method comprises the following steps:
running the virtual speed loop;
the virtual speed ring receives speed feedback information of the speed ring and a torque instruction of the torque ring;
calculating by using the speed feedback information and the moment instruction to obtain a virtual position instruction of the speed ring;
the virtual speed ring sends a virtual speed instruction to the speed ring, and the control mode of the torque ring is switched to the control mode of the speed ring;
and after the control mode of the torque ring is switched to the control mode of the speed ring, the virtual position ring and the subsequent steps are continuously executed.
13. A robotic system comprising a drive and a motor, the drive comprising:
a first interface, a second interface and a third interface;
the processor is coupled with the first interface, the second interface and the third interface, the first interface is used for connecting an upper computer and receiving an instruction from the upper computer, the second interface is used for connecting the motor and outputting the instruction of the processor to the motor, and the third interface is used for receiving feedback information from the motor or a load;
when the control mode of the second control module is required to be switched to the control mode of the first control module, operating the virtual first control module, wherein the first control module is an upper control module of the second control module;
the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module;
the virtual first control module sends a virtual instruction corresponding to the first control module, and the control mode of the second control module is switched to the control mode of the first control module.
14. A storage device in which a program file capable of implementing the method according to any one of claims 1 to 6 is stored.
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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| Publication Number | Publication Date |
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| CN109313420A CN109313420A (en) | 2019-02-05 |
| CN109313420B true CN109313420B (en) | 2021-07-09 |
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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 |
| CN113163115B (en) * | 2021-04-02 | 2023-05-26 | 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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| CN109313420A (en) | 2019-02-05 |
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