CN109500816A - Robot actuating system and its control method - Google Patents
Robot actuating system and its control method Download PDFInfo
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- CN109500816A CN109500816A CN201811477535.2A CN201811477535A CN109500816A CN 109500816 A CN109500816 A CN 109500816A CN 201811477535 A CN201811477535 A CN 201811477535A CN 109500816 A CN109500816 A CN 109500816A
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- China
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- signal
- circuit
- mechanical arm
- actuating system
- robot actuating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
Robot actuating system includes digitial controller, first to fourth power converting circuit, first to fourth mechanical arm, the digitial controller acquires the input current signal, rotor displacement signal and rotor angle signal of first to fourth mechanical arm, and go out the driving signal of switching device in first to fourth power converting circuit using vector control method centralized calculation, it is transferred to first to fourth power converting circuit by isolation circuit, first to fourth power converting circuit provides driving electric energy for first to fourth mechanical arm.The present invention realizes high performance position servo control, improves the power density of system, convenient for the miniaturization of system, while ensure that the reliability of system, rapidity using four mechanical arms are controlled in a digital controller collection.
Description
Technical field
The present invention is related robot actuating system, and in particular to integrated control mode robot actuating system.
Background technique
Robot actuating system cither indirectly or directly controls the movement of target by the operation of control executing agency, from
And achieve the purpose that operator.Either be applied to the robot in which field, the driving of each mechanical arm of robot from
Servo-system is not opened, joint of mechanical arm is more, requires the control precision of robot also higher.In addition rate is accounted for from market
It sees, occupation rate of market of foreign countries' servo-control system in China is up to 80% at present.Wherein, Japanese brand accounting is 50%, Europe
U.S. brand accounting is up to 30%, and domestic brand only occupies 20% or so the market share.It can be seen that domestic servo-driver
Still there is a big difference with external servo-driver.As intelligent robot constantly develops toward miniaturization, therefore to machine
People's actuating system proposes small size, low-power consumption, high power density, fast, the precision height of response etc. and requires.
Summary of the invention
The invention proposes a kind of robot actuating systems of four mechanical arms of single controller centralized control, realize control
System processed simplifying and integrating, and provides a kind of centerized fusion algorithm and realize to four machines in robot actuating system
Tool arm high precision position SERVO CONTROL solves the problems, such as that program is easy to overflow to run and flies.Additional aspects of the present invention and advantages
Dividing will be set forth in the description that follows, and there are also parts to be apparent from from description, or can be in the practice of the invention
It obtains.
The present invention provides a kind of robot actuating system, including a digitial controller, multiple power converting circuits, Duo Geji
Tool arm, the digitial controller acquires the status signal of each mechanical arm, and is gone out using vector control method centralized calculation
The driving signal of switching device in the power converting circuit is transferred to each power converting circuit by isolation circuit,
The power converting circuit is respectively that the mechanical arm provides driving electric energy.
In one embodiment of the present invention, the robot actuating system includes first to fourth power converting circuit and the
One to the 4th mechanical arm, first to fourth power converting circuit are respectively that first to fourth mechanical arm provides driving electricity
Energy.
In one embodiment of the present invention, digitial controller includes digit chip and logic chip, the digit chip meter
Output is to logic chip after calculating driving signal, and logic chip carries out after logical operation exporting by isolation circuit the multiple again
Power converting circuit.
In one embodiment of the present invention, the power converting circuit is bridge-type inverter.
In one embodiment of the present invention, the mechanical arm includes permanent magnet synchronous motor, rotary transformer, displacement sensor
And roller screw, institute's displacement sensors detect the displacement signal of permanent magnet synchronous motor, institute's displacement sensors one end and institute
Mechanical arm bottom end is stated to be fixedly connected, the other end is connect with the ball-screw, it is whole with mechanical arm be in it is parallel, when the mechanical arm
When movement, the ball-screw generates displacement, and the movable end of institute's displacement sensors moves therewith, and then output rotor position
Shifting signal.The rotor angle signal of the rotary transformer detection permanent magnet synchronous motor.
In one embodiment of the present invention, the digitial controller acquires a rotation by a decoding circuit respectively and becomes
The rotor angle signal of depressor output, all decoding circuits receive identical clock input signal.
In one embodiment of the present invention, the decoding circuit provides pumping signal, an institute for the rotary transformer
It states decoding circuit and provides pumping signal through overdriving amplifying circuit at least two rotary transformers.
In one embodiment of the present invention, the digitial controller reads the decoding circuit using the mode of data/address bus
Output signal.
The present invention also provides a kind of robot actuating system control methods, detect the robot actuation using detection circuit
The input current signal of motor in system is changed into current signal in rest frame by clark transformation, in conjunction with detecting
Rotor angle signal, carry out park transformation calculations and go out current signal id and iq in rotating coordinate system, use id and iq as electric
Flow the value of feedback of inner ring；The rotor displacement signal that motor in the robot actuating system is detected using detection circuit, in conjunction with turn
Sub- displacement signal reference value calculates the reference value iq* of current signal iq in rotating coordinate system, electric current letter by position control
Number id combination reference value id* by the first current regulator calculate in rotating coordinate system switch control reference signal ud, iq and
Iq* calculates switch control reference signal uq in rotating coordinate system by the second current regulator, in conjunction with rotor angle signal,
And switch control reference signal in rotating coordinate system is calculated by Park inverse transformation, power supply is generated by drive signal generator
The driving signal of switching device in translation circuit, controls the inputing power of motor in the mechanical arm.
In one embodiment of the present invention, the drive signal generator is opened using the determination of space vector based SPWM modulator approach
The duty ratio of OFF signal driving.
Beneficial effect, the present invention realize the centralized control of robot actuating system using a digitial controller, are convenient for machine
Every mechanical arm the synchronized Coordinative Control, circuit structure are simply easily realized in device people's actuating system, improve the power density of system.
For allow invention features described above and advantage can be clearer and more comprehensible, special embodiment below, and cooperate institute's accompanying drawings make
Detailed description are as follows.
Detailed description of the invention
Fig. 1 is block diagram of the embodiment of the present invention.
Fig. 2 is the schematic diagram of a specific embodiment of the invention.
Fig. 3 is mechanical arm schematic diagram.
Fig. 4 is the specific embodiment of position signal acquisition of the present invention.
Fig. 5 is position signal read schemes flow chart.
Fig. 6 is the control program figure of robot actuating system of the present invention.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description.
The embodiment of the present invention provides a kind of robot actuating system and its control method to be made using centerized fusion scheme
Four mechanical arms are controlled with a digitial controller, guarantee reliability, the rapidity of system, and the power for improving system is close
Degree.The following special example that can actually implement accordingly for embodiment as the present invention.In addition, all possible places, in schema and reality
Component/component/the step for using identical label in mode is applied, is to represent same or like component.
Fig. 1 is block diagram of the embodiment of the present invention, and the robot actuating system includes digitial controller 11, first mechanical arm
121, second mechanical arm 122, third mechanical arm 123 and the 4th mechanical arm 124, the first power converting circuit 131, second source become
Circuit 132, third power converting circuit 133, the 4th power converting circuit 134 are changed, the digitial controller 11 controls described
One mechanical arm 121, second mechanical arm 122, third mechanical arm 123 and the 4th mechanical arm 124, first to fourth power conversion
Circuit is respectively that first to fourth mechanical arm provides driving power, and the digitial controller acquires first to fourth machine
The status signal of tool arm, the status signal preferably have input current signal, rotor displacement signal and rotor angle signal, and
The driving signal of switching device in first to fourth power converting circuit is exported, realizes centerized fusion scheme, improves robot
The power density of actuating system.
It is illustrated in figure 2 a specific embodiment of the invention, it is preferred that first to fourth power converting circuit is bridge-type
Inverter circuit, the digitial controller pass through the driving current of first to fourth sampling circuit samples, first to fourth mechanical arm
The rotor displacement signal L of signal i and mechanical arm, pass through the rotor angle signal of mechanical arm described in the second sampling circuit samples, institute
The driving signal that digitial controller calculates first to fourth power converting circuit is stated, is transferred to by isolation circuit described
First to fourth power converting circuit drives turning on and off for switching device therein, to adjust the driving electricity of its output
Stream achievees the purpose that control mechanical arm.
More specifically, digitial controller 21 of the invention includes digit chip and logic chip, the digit chip meter
Output is to logic chip after calculating driving signal, logic chip carry out again after logical operation by isolation circuit export to first to
4th power converting circuit.The digit chip can be DSP28335, and the logic chip can be CPLD, as example,
The ePWM module most multipotency of single DSP28335 issues 12 tunnel independence pwm signals, is only capable of two mechanical arms of driving, and drives four
Mechanical arm needs 12 pairs of independent PWM drive signals, i.e. 24 road pwm signals.Therefore by DSP in conjunction with CPLD, increase pwm signal
Quantity is in addition, driving signal improves the stability of driving after carrying out logical operation by logic controller.
Mechanical arm schematic diagram as shown in Figure 3, the mechanical arm, which is mainly combined by sine-wave permanent magnet synchronous motor 3201, to be rotated
Transformer 3202, displacement sensor 3203 and 3204 mechanical structure of roller screw composition.Institute's displacement sensors 3203 detect
The displacement signal of permanent magnet synchronous motor 3201, for example, displacement sensor 3203 is the voltage-type displacement sensing of 15V power supply
Device, output signal are 0~15V voltage signal, the displacement of its corresponding 0~75mm.3203 one end of institute's displacement sensors with it is described
Mechanical arm bottom end is fixedly connected, and the other end is connect with the ball-screw 3204, it is whole with mechanical arm be in it is parallel, when the machinery
When arm moves, the ball-screw 3204 generates displacement, and the movable end of institute's displacement sensors 3203 moves therewith, in turn
Output rotor displacement signal.The rotary transformer 3202 is used to detect the rotation angle of permanent magnet synchronous motor, and Fig. 4 show institute
State rotation 3202 device parallel port hardware connection diagram of transformation.The clock signal that crystal oscillator generates is divided by chip NB3N551
Four tunnels are obtained with frequency clock signal, this not only can guarantee the driving capability of clock signal but also can guarantee that four rotations become decoding circuit work
Synchronism.Each mechanical arm includes a rotary transformer, and the robot actuating system includes four rotary transformers, warp
Four decoding circuits, such as ADS1200 are crossed, the rotor-position of four sine-wave permanent magnet synchronous motors is quick and precisely read
It takes.Two of them rotary transformer shares one group of excited signal, then feeds back respective sine and cosine analog signal to corresponding decoding
Sine and cosine analog signal is converted to corresponding 12 bit binary number signal by circuit, decoding circuit.Which reduces hardware
Circuit components quantity is conducive to the power density for improving controller.In order to improve data transmission real-time and number
Director demon executes rapidity and the 12-bit data line of four decoding circuits is formed one group of data/address bus.Then digitial controller
Corresponding decoding circuit is chosen by CS and RD enable signal sequence, 12-bit data are read by parallel port mode, by digit chip
The rotor angle signal of four motors is sequentially obtained after data processing, for use in vector control algorithm, digit chip is read
The program circuit of rotor angle signal is as shown in Figure 5.CS1=0, RD1=1 read the rotor of the rotary transformer of first mechanical arm
Angle signal, CS1=1, RD1=0, CS2=0, RD2=1 read the rotor angle letter of the rotary transformer of second mechanical arm,
CS2=1, RD2=0, CS3=0, RD3=1 read the rotor angle letter of the rotary transformer of third mechanical arm, CS3=1, RD3
=0, CS4=0, RD4=1 read the rotor angle letter of the rotary transformer of the 4th mechanical arm.
The rotary transformer needs to motivate input that can generate signal output, and the present invention uses two rotary transformers
One group of excitation amplifying circuit is shared, the first excitation amplifying circuit includes the first positive amplifying circuit and the first cathode amplifying circuit,
The electric energy of first positive the first excitation of amplifying circuit amplification electric energy anode input, and it is supplied to first mechanical arm and second mechanical arm
Rotary transformer excitation rotor one end, the first cathode amplifying circuit amplification first excitation electric energy cathode input electric energy, and
It is supplied to the other end of the excitation rotor of the rotary transformer of first mechanical arm and second mechanical arm.Equally, the second excitation amplification
Circuit includes the first positive amplifying circuit and the first cathode amplifying circuit, and first positive the first excitation of amplifying circuit amplification electric energy is just
The electric energy of pole input, and it is supplied to excitation rotor one end of the rotary transformer of third mechanical arm and the 4th mechanical arm, first is negative
The electric energy of pole amplifying circuit amplification the first excitation electric energy cathode input, and it is supplied to the rotation of third mechanical arm and the 4th mechanical arm
The other end of the excitation rotor of transformer.The excitation amplifying circuit is the ratio that an operational amplifier combination resistance and capacitor are constituted
Example integrating amplification circuit.
The mode that two rotary transformers of the present invention share one group of exciting circuit reduces hardware circuit member device
Number of packages amount, to further improve power density.The structure that position is read simultaneously improves the real-time of position reading, and subtracts
Few digitial controller reads the execution time of motor position information.
Displacement sensor and the signal of rotary transformer output are converted after the first sample circuit and the second sample circuit
The voltage signal that can be born at digitial controller and the data processing unit for being sent to digitial controller.Using in digitial controller
AD conversion module handles the data of acquisition, analog quantity is converted to the digital quantity that control system can identify, while right
Signal carries out the control on data control processing realization software, and the drive control of switching device is believed in out-put supply translation circuit
Number, to control the output electric current of power converting circuit, to control the revolving speed of motor in mechanical arm.It is of the invention special for embodiment,
The generation of driving control signal PWM wave is realized using the ePWM module in DSP28335.
Fig. 6 is the block diagram of the position servo control algorithm of separate unit mechanical arm.The method that controller uses vector controlled, to being
System carries out double-closed-loop control, i.e. inner ring electric current loop and outer ring position ring.Detection circuit detect motor current signal i (ia,
Ib, ic) and rotor angle signal θ, it is changed into current signal i α and i β in rest frame by clark transformation, in conjunction with
Rotor-position signal θ carries out park transformation calculations and goes out current signal id, iq in rotating coordinate system, uses id and iq as electric current
The value of feedback of inner ring.Detection circuit detects the displacement signal L of displacement sensor, refers to as Displacement Feedback value combination displacement signal
Value L* calculates the reference value iq* of current signal iq in rotating coordinate system using proportional controller by position control, this
Embodiment preferred id*=0, id and id* calculate switch control reference signal in rotating coordinate system by the first current regulator
Ud, iq and iq* calculate switch control reference signal uq in rotating coordinate system, the current regulation by the second current regulator
Device uses proportional and integral controller, in conjunction with rotor-position signal θ, and calculates in rotating coordinate system and opens by Park inverse transformation
Control reference signal u α and u β is closed, the switching signal of switching device in power regulator, control are generated by drive signal generator
Make the input current of motor in the mechanical arm.The drive signal generator uses SVPWM method (space vector based SPWM)
Determine the duty ratio of switching signal driving.
The present invention has extraordinary effect: realizing the independent position servo control with a controller to four mechanical arms
System, ensure that reliability, the rapidity of system, and improve the power density of system.It is wherein double based on vector control strategy
Closed loop controlling structure (outer ring position ring, inner ring electric current loop) can meet high performance position servo control requirement, while reach essence
The purpose of simple software algorithm ensure that the position servo control algorithm of built-in four mechanical arms of individual digit controller.
Although the present invention has been disclosed by way of example above, it is not intended to limit the present invention., any technical field
Middle tool usually intellectual, without departing from the spirit and scope of the present invention, when can make some changes and embellishment, thus it is of the invention
Protection scope should be defined by the scope of the appended claims.
Claims (10)
1. robot actuating system, which is characterized in that including a digitial controller, multiple power converting circuits, multiple mechanical arms,
The digitial controller acquires the status signal of each mechanical arm, and goes out the electricity using vector control method centralized calculation
The driving signal of switching device in the translation circuit of source is transferred to each power converting circuit, the electricity by isolation circuit
Source translation circuit is respectively that the mechanical arm provides driving electric energy.
2. robot actuating system as described in claim 1, which is characterized in that the robot actuating system includes first to the
Four power converting circuits and first to fourth mechanical arm, first to fourth power converting circuit are respectively described first to
Four mechanical arms provide driving electric energy.
3. robot actuating system as described in claim 1, which is characterized in that the digitial controller includes digit chip and patrols
Chip is collected, to the logic chip, the logic chip carries out logic again for output after the digit chip calculates driving signal
The power converting circuit is supplied to by isolation circuit after operation.
4. robot actuating system as described in claim 1, which is characterized in that the power converting circuit is bridge-type inverter.
5. robot actuating system as described in claim 1, which is characterized in that the mechanical arm includes permanent magnet synchronous motor, rotation
Change depressor, displacement sensor and roller screw, institute's displacement sensors detect the displacement signal of permanent magnet synchronous motor, described
Displacement sensor one end is fixedly connected with the mechanical arm bottom end, and the other end is connect with the ball-screw, entirety and mechanical arm
In parallel, when the manipulator motion, the ball-screw generates displacement, and the movable end of institute's displacement sensors is therewith
It is mobile, so output rotor displacement signal, the rotor angle signal of the rotary transformer detection permanent magnet synchronous motor.
6. robot actuating system as claimed in claim 4, which is characterized in that the digitial controller passes through a decoding circuit point
Not Cai Ji a rotary transformer output rotor angle signal, all decoding circuits receive identical clock input letter
Number.
7. robot actuating system as claimed in claim 5, which is characterized in that the decoding circuit is that the rotary transformer mentions
For pumping signal, a decoding circuit is overdrive amplifying circuit and provides excitation letter at least two rotary transformers
Number.
8. robot actuating system as claimed in claim 5, which is characterized in that the digitial controller uses the side of data/address bus
Formula reads the output signal of the decoding circuit.
9. the control method of robot actuating system, which is characterized in that detect the robot actuating system using detection circuit
The input current signal of middle motor is changed into current signal in rest frame by clark transformation, turns in conjunction with what is detected
Subangle signal carries out park transformation calculations and goes out current signal id and iq in rotating coordinate system, uses id and iq as in electric current
The value of feedback of ring；The rotor displacement signal that motor in the robot actuating system is detected using detection circuit, in conjunction with rotor position
Shifting signal reference value calculates the reference value iq* of current signal iq in rotating coordinate system, current signal id by position control
Switch control reference signal ud, iq and iq* in rotating coordinate system is calculated by the first current regulator in conjunction with reference value id* to pass through
It crosses the second current regulator and calculates switch control reference signal uq in rotating coordinate system, in conjunction with rotor angle signal, and pass through
It crosses Park inverse transformation and calculates switch control reference signal in rotating coordinate system, generate power conversion by drive signal generator
The driving signal of switching device in circuit, controls the inputing power of motor in the mechanical arm.
10. the control method of robot actuating system as claimed in claim 8, which is characterized in that the drive signal generator
The duty ratio of switching signal driving is determined using space vector based SPWM modulator approach.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477535.2A CN109500816A (en) | 2018-12-03 | 2018-12-03 | Robot actuating system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477535.2A CN109500816A (en) | 2018-12-03 | 2018-12-03 | Robot actuating system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109500816A true CN109500816A (en) | 2019-03-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201811477535.2A Withdrawn CN109500816A (en) | 2018-12-03 | 2018-12-03 | Robot actuating system and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227658A (en) * | 2021-12-15 | 2022-03-25 | 北京哈崎机器人科技有限公司 | Robot control method, system, terminal and medium |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106452205A (en) * | 2016-08-09 | 2017-02-22 | 南京航空航天大学 | Electric actuation system and control method thereof |
-
2018
- 2018-12-03 CN CN201811477535.2A patent/CN109500816A/en not_active Withdrawn
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106452205A (en) * | 2016-08-09 | 2017-02-22 | 南京航空航天大学 | Electric actuation system and control method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 兰根龙等: "永磁同步电动舵机控制系统设计与实现", 微电机, vol. 47, no. 3, pages 73 - 77 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227658A (en) * | 2021-12-15 | 2022-03-25 | 北京哈崎机器人科技有限公司 | Robot control method, system, terminal and medium |
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