CN109773792A - The position control and method of series elastic driver, storage medium, equipment - Google Patents
The position control and method of series elastic driver, storage medium, equipment Download PDFInfo
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- CN109773792A CN109773792A CN201910113510.2A CN201910113510A CN109773792A CN 109773792 A CN109773792 A CN 109773792A CN 201910113510 A CN201910113510 A CN 201910113510A CN 109773792 A CN109773792 A CN 109773792A
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Abstract
The present invention provides the position control and method, storage medium, equipment of a kind of series elastic driver, and device includes: sensor, for detecting the joint position actual value and equivalent spring deflection of the joint controll plant；Subtracter, for obtaining joint position control error according to joint desired locations and joint position actual value；PD control device obtains PD output valve for controlling error according to joint position；Reversed multiplier, for obtaining equivalent spring deflection yield value according to equivalent spring deflection；Adder, for obtaining speed reducer output shaft rate controlling amount according to PD output valve and equivalent spring deflection yield value；Multiplier, for obtaining motor output shaft rate controlling amount according to speed reducer output shaft rate controlling amount and reduction ratio；Electric machine controller, for dragging the movement of joint controll plant according to motor output shaft rate controlling amount.
Description
Technical field
The present invention relates to joint of robot position control technology more particularly to a kind of joint of robot positional error compensation sides
Method, and in particular to a kind of position control and method, storage medium, equipment of series elastic driver (SEA).
Background technique
With industrial automation and the rapid development of robot technology, industrial machinery arm, bionical legged type robot, medical health
The articulated robots such as multiple robot play increasingly important role in the fields such as industrial medical rehabilitation, space probation.Machine
When executing operation task, the co-location that terminal position precision often relies on multiple joints controls to guarantee device people.Slave
The kinematic viewpoint of device people is analyzed, and joint of robot position control error can be accumulate to robot end, particularly with multiple
Series connection end (such as industrial robot end, bionical legged type robot foot end, the sufficient end of anthropomorphic robot and the hand that joint is constituted
Portion), and when connecting rod size between joint is larger, even if joint position control error is smaller, end can also generated biggish
Location error.In addition, joint position control response performance also directly affects terminal position response performance: joint position control response
More fast then end response is also faster；The overshoot of joint position control can also further cause the larger fluctuation of terminal position；Joint
The regulating time of position is bigger, and terminal position wave time is also longer.Therefore, joint of robot position control performance is decision machine
An importance and robot for device people's end-of-pipe control performance executes the important technical basis of operation task.
Existing machinery shoulder joint is controlled by series elastic driver (Series Elastic Actuators, SEA), SEA
It is a kind of elastic driver, generally by rack (F), motor (M), speed reducer (G), elastic element (S) (such as spring) and load
Connecting rod (L) etc. composition, as shown in Figure 1A, Figure 1B, Fig. 1 C, SEA generally have there are three types of connection type.The Torque Control performance of SEA
General relatively good, often as high-precision Torque Control driver applications in a certain joint of robot, referred to as SEA is closed
Section；The joint SEA flexibility generally with higher, the position control error in the joint SEA can be due to load effect in position control
And become larger；And in the dynamic case, due to load inertia, high-precision dynamically track is more difficult to the joint SEA；It is special
Not, when loading larger when the spring rate of elastic driving joint is smaller, the high flexibility of elastic driving joint makes high-precision
Position control become a kind of challenge, therefore, SEA pure joint position control is usually used in unloaded or underloading occasion.
SEA joint position control main purpose is to guarantee the consistency of joint position and target joint position, common to control
The proportional differential of method processed controls (PD control), linearquadratic regulator (LQR) control etc..Joint position PD control usually body
Reveal faster response speed, high overshoot and longer regulating time, the regulating time of PD control may under load effect
Further increase and even results in control diverging.It is directly related with spring rate equivalent that LQR control usually embodies the joint SEA
Rigidity, overshoot and the general very little of regulating time, in hardware selection properly and in the reasonable situation of parameter regulation, the response time
Also it can reach certain control requirement, and the control can assign the flexibility that joint control is equivalent to spring rate, so that should
Control method can satisfy the requirement of shock loading, the control method really using motor position control as main target, and with
The high-flexibility that joint position control precision exchanges joint position control for is sacrificed, therefore in load conditions, precision is very poor, one
As be not used in relatively large load situation.
Since the common pure position control method in the joint SEA is difficult to meet the position control comprehensive performance of relatively high load
Requirement, those skilled in the art, which need to research and develop, a kind of to be suitable for all linear elasticities and drives diarthrodial universal location controlling party
It is comprehensive can to effectively improve position control accuracy, response speed, the regulating time of elastic driving joint in load conditions etc. for method
Performance.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is that providing a kind of position control dress of series elastic driver
It sets and method, storage medium, equipment, solves existing robotic shoulder joint in load conditions, position control accuracy is low,
The problem that response speed is slow, regulating time is long.
In order to solve the above-mentioned technical problem, a specific embodiment of the invention provides a kind of position of series elastic driver
Control device, comprising: joint controll plant；Sensor, be arranged on the joint controll plant, for detect the joint by
Control the joint position actual value and equivalent spring deflection of object；Subtracter, for according to joint desired locations and the joint
Position actual value obtains joint position control error, wherein an input terminal of the subtracter is connect with the sensor, described
Another input terminal of subtracter receives the joint desired locations；PD control device, the output end of input terminal and the subtracter
Connection obtains PD output valve for controlling error according to the joint position；Reversed multiplier, for according to the equivalent spring
Deflection obtains equivalent spring deflection yield value, and the input terminal of the reversed multiplier is connect with the sensor；Adder,
For obtaining speed reducer output shaft rate controlling amount according to the PD output valve and the equivalent spring deflection yield value,
In, an input terminal of the adder is connect with the output end of the PD control device, another input terminal of the adder and institute
State the output end connection of reversed multiplier；Multiplier, input terminal are connect with the output end of the adder, for according to
Speed reducer output shaft rate controlling amount and reduction ratio obtain motor output shaft rate controlling amount；Electric system, for according to
Motor output shaft rate controlling amount drags the joint controll plant movement, the input terminal of the electric system and the multiplier
Output end connection, the output end of the electric system connect with the joint controll plant.
A specific embodiment of the invention also provides a kind of position control method of series elastic driver, comprising: utilizes
The joint position actual value of sensor acquisition joint controll plant；The joint controll plant is measured using direct method or indirect method
Equivalent spring deflection；Flow gain is deformed according to the equivalent spring Deformation calculation equivalent spring using reversed multiplier
Value；PD output valve is obtained according to joint desired locations and the joint position actual value；According to the PD output valve and described etc.
Effect spring deflection yield value obtains speed reducer output shaft rate controlling amount；According to the speed reducer output shaft rate controlling amount and
Reduction ratio obtains motor output shaft rate controlling amount；It is closed using described in motor output shaft rate controlling amount control motor drag
Save controll plant movement.
A specific embodiment of the invention also provides a kind of storage medium, and computer journey is stored on the storage medium
Sequence, when the computer program is executed by processor the step of the position control method of realization series elastic driver.
A specific embodiment of the invention also provides a kind of computer equipment, including memory, processor and is stored in institute
The computer program that can be run on memory and on the processor is stated, the processor executes real when the computer program
The step of position control method of existing series elastic driver.
Above-mentioned specific embodiment according to the present invention it is found that the position control and method of series elastic driver,
Storage medium, equipment at least have the advantages that the elasticity member in forethought SEA (series elastic driver) joint
Deflection of the part under load effect compensates control according to deflection, is actually reached position and expectation according to the joint SEA
Position carries out feedback control, to improve SEA joint position control precision, can be effectively reduced regulating time, acquirement and PD
Control (proportion-plus-derivative control) almost the same response time.
It is to be understood that above-mentioned general description and following specific embodiments are merely illustrative and illustrative, not
The range of the invention to be advocated can be limited.
Detailed description of the invention
Following appended attached drawing is part of specification of the invention, depicts example embodiments of the present invention, institute
Attached drawing is used to illustrate the principle of the present invention together with the description of specification.
Figure 1A is the structure chart one in existing series elastic driver joint.
Figure 1B is the structure chart two in existing series elastic driver joint.
Fig. 1 C is the structure chart three in existing series elastic driver joint.
Fig. 2A is a kind of series elastic driver joint desired locations for providing of the specific embodiment of the invention and actually arrive
Up to position deviation figure.
Fig. 2 B is a kind of series elastic driver joint position control principle drawing that the specific embodiment of the invention provides.
Fig. 3 is a kind of embodiment of the position control for series elastic driver that the specific embodiment of the invention provides
One structural schematic diagram.
Fig. 4 is a kind of embodiment of the position control for series elastic driver that the specific embodiment of the invention provides
Two structural schematic diagram.
Fig. 5 is a kind of embodiment of the position control for series elastic driver that the specific embodiment of the invention provides
Three structural schematic diagram.
Fig. 6 is a kind of embodiment of the position control for series elastic driver that the specific embodiment of the invention provides
Four structural schematic diagram.
Fig. 7 is a kind of process of the position control method for series elastic driver that the specific embodiment of the invention provides
Figure.
Description of symbols:
1 joint controll plant, 2 sensor
3 subtracter, 4 PD control device
5 reversed 6 adders of multiplier
7 multiplier, 8 electric system
41 proportional gain device, 42 differentiator
Adder built in 43 speed gain devices 44
81 speed reducer of subtracter built in 45
82 motor, 83 electric machine controller
F rack M motor
G speed reducer S elastic element
L loads connecting rod
Specific embodiment
Understand in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below will with attached drawing and in detail
Narration clearly illustrates the spirit of disclosed content, and any skilled artisan is understanding the content of present invention
After embodiment, when the technology that can be taught by the content of present invention, it is changed and modifies, without departing from the essence of the content of present invention
Mind and range.
The illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but not as a limitation of the invention.
In addition, in the drawings and embodiments the use of element/component of same or like label is for representing same or like portion
Point.
About " first " used herein, " second " ... etc., not especially censure the meaning of order or cis-position,
It is non-to limit the present invention, only for distinguish with same technique term description element or operation.
About direction term used herein, such as: upper and lower, left and right, front or rear etc. are only the sides with reference to attached drawing
To.Therefore, the direction term used is intended to be illustrative and not intended to limit this creation.
It is open term, i.e., about "comprising" used herein, " comprising ", " having ", " containing " etc.
Mean including but not limited to.
About it is used herein " and/or ", including any of the things or all combination.
It include " two " and " two or more " about " multiple " herein；It include " two groups " about " multiple groups " herein
And " more than two ".
About term used herein " substantially ", " about " etc., to modify it is any can be with the quantity or mistake of microvariations
Difference, but this slight variations or error can't change its essence.In general, microvariations that such term is modified or error
Range in some embodiments can be 20%, in some embodiments can be 10%, can be in some embodiments 5% or its
His numerical value.It will be understood by those skilled in the art that the aforementioned numerical value referred to can be adjusted according to actual demand, it is not limited thereto.
Fig. 2A is a kind of series elastic driver (SEA) the joint desired locations and reality that the specific embodiment of the invention provides
Border in-position deviation map；Fig. 2 B is a kind of series elastic driver joint position control that the specific embodiment of the invention provides
Schematic diagram, as shown in Figure 2 A, if the joint desired locations in the joint SEA areSpring deflection can be generated under load effectIt is so as to cause the joint position actual value in the joint SEAIt is unable to satisfy under high load effect, SEA joint position control essence
The requirement of degree.To solve the above problems, improving the position control accuracy in the joint SEA under load effect, can be evaluated whether to make in load
With lower spring deflection δ ', new joint desired locations are recalculated by former desired locationsIf the joint SEA is negative
Under load effect, the δ ' so that spring deforms, if spring deflection estimation is accurate, then the joint position in the joint SEA is practical
ValueFormer joint desired locations can be restored toAs shown in Figure 2 B, the accurate control of SEA joint position is realized.
Fig. 3 is a kind of embodiment of the position control for series elastic driver that the specific embodiment of the invention provides
One structural schematic diagram presets joint expectation position as shown in figure 3, subtracter obtains joint position actual value from sensor
Set, subtracter obtains joint position control error as difference to joint position actual value and joint desired locations, PD control device according to
Joint position controls error and obtains PD output valve；Reversed multiplier obtains equivalent spring deflection according to equivalent spring deflection and increases
Benefit value；The equivalent spring deflection yield value that adder is obtained from reversed multiplier, and to equivalent spring deflection yield value and
PD output valve is made and obtains speed reducer output shaft rate controlling amount；Multiplier is according to speed reducer output shaft rate controlling amount and subtracts
Speed ratio obtains motor output shaft rate controlling amount (i.e. motor output shaft speed control input quantity)；Electric system is exported according to motor
Axle speed control amount drags the movement of joint controll plant.
In the specific embodiment shown in the drawings, the position control of series elastic driver includes: that joint is controlled
Object 1, sensor 2, subtracter 3, PD control device 4, reversed multiplier 5, adder 6, multiplier 7 and electric system 8.Wherein,
Sensor 2 is arranged on the joint controll plant 1, and the joint position that sensor 2 is used to detect the joint controll plant 1 is real
Actual valueWith equivalent spring deflection δ；Subtracter 3 is used for according to joint desired locationsWith the joint position actual value?
Error l is controlled to joint position, whereinOne input terminal of the subtracter 3 is connect with the sensor 2, institute
Another input terminal for stating subtracter 3 receives the joint desired locationsJoint position actual valueAlso known as joint position is real
Border value of feedback；The input terminal of PD control device 4 is connect with the output end of the subtracter 3, and PD control device 4 is used for according to the joint
Position control error obtains PD output valve；Reversed multiplier 5, which is used to obtain equivalent spring according to the equivalent spring deflection, to be become
Shape flow gain value, i.e. equivalent spring deflection δ obtain equivalent spring deflection yield value k after the gain k multiplied by reversed multiplier 5
δ, wherein the input terminal of the reversed multiplier 5 is connect with the sensor 2, the output end and addition of the reversed multiplier 5
One input terminal of device 6 connects；Adder 6 according to the PD output valve and the equivalent spring deflection yield value k δ for obtaining
Speed reducer output shaft rate controlling amount ωg, wherein the output end of an input terminal of the adder 6 and the PD control device 4 connects
It connects, another input terminal of the adder 6 is connect with the output end of the reversed multiplier；The input terminal of multiplier 7 with it is described
The output end of adder 6 connects, and multiplier 7 is used for according to the speed reducer output shaft rate controlling amount ωgWith reduction ratio Gear
Obtain motor output shaft rate controlling amount ωmd, that is, speed reducer drive shaft speed control amount, wherein ωmd=ωg×Gear；Electricity
Machine system 8 is used for according to the motor output shaft rate controlling amount ωmdIt drags the joint controll plant 1 to move, the motor
The input terminal of system 8 is connect with the output end of the multiplier 7, and the output end of the electric system 8 and the joint are controlled right
As 1 connection.In the preferred embodiment of the present invention, joint controll plant 1 (Plant) is series elastic driver joint link lever, bears
Carry physical component etc.；Sensor 2 can be encoder, and sensor 2 can detecte the equivalent spring deflection of joint controll plant 1
δ and joint position actual valueInformation such as (i.e. joint angles).
Referring to Fig. 3, deflection of the joint SEA under load effect is considered in advance, it is real according to the joint position in the joint SEA
Actual value and joint desired locations carry out feedback control, can effectively improve SEA joint position control precision, reduce the joint SEA
Regulating time, and obtain the response time almost the same with PD control.
Joint controll plant 1 can be series elastic driver joint link lever.As spring (elastic component) deformation direction and SEA
When joint motion direction is identical, equivalent spring deflection δ is the deflection of spring itself, when camber of spring direction with
When SEA joint motion direction difference, need according to the specific structure in the joint SEA carry out it is equivalent, obtain and SEA joint motion direction
Identical equivalent spring deflection δ realizes the accurate control to the joint SEA.
Fig. 4 is a kind of embodiment of the position control for series elastic driver that the specific embodiment of the invention provides
Two structural schematic diagram, as shown in figure 4, PD control implement body may include proportional gain device, differentiator, speed gain device and interior
Set adder.
In the specific embodiment shown in the drawings, the PD control device 4 specifically includes proportional gain device 41, differentiator
42, speed gain device 43 and built-in adder 44.Wherein, proportional gain device 41 be used for the joint position control error l into
Row gain process, wherein the input terminal of the proportional gain device 41 is connect with the output end of the subtracter 3；Differentiator 42 is used
Joint motions velocity error is obtained in carrying out differential process to joint position control error lWherein,That is joint motions velocity errorError l is controlled for joint position to differentiate to time t,
The input terminal of the differentiator 42 is connect with the output end of the subtracter 3；Speed gain device 43 is used for the joint motions
Velocity errorCarry out gain process, wherein the output end of the input terminal of the speed gain device 43 and the differentiator 42 connects
It connects；Built-in adder 44 is used to seek the gain of the joint motions velocity errorError is controlled with the joint position
GainThe sum of, it obtains the PD output valve and is conveyed to the adder 6, wherein PD output valve isOne input terminal of the built-in adder 44 and the proportional gain
The output end of device 41 connects, and another input terminal of the built-in adder 44 is connect with the output end of the speed gain device 43,
The output end of the built-in adder 44 is connect with an input terminal of the adder 6.The preferred specific implementation of of the invention one
In mode, speed reducer output shaft rate controlling amount ωgSpecific formula for calculation can beI.e.Speed reducer drive shaft speed control amount ωmd(i.e. motor output shaft speed
Control amount) it is ωmd=ωg× Gear, i.e.,
Referring to fig. 4, deflection of the joint SEA under load effect is considered in advance, and the phase in the joint SEA is faced from site layer
It hopes position be adjusted, realizes under relatively large load, SEA joint position controls the promotion of comprehensive performance.
Fig. 5 is a kind of embodiment of the position control for series elastic driver that the specific embodiment of the invention provides
Three structural schematic diagram, as shown in figure 5, PD control implement body may include proportional gain device, differentiator, speed gain device and interior
Set subtracter.
In the specific embodiment shown in the drawings, the PD control device 4 specifically includes proportional gain device 41, differentiator
42, speed gain device 43 and built-in subtracter 45.Wherein, proportional gain device 41 be used for the joint position control error l into
Row gain process, wherein the input terminal of the proportional gain device 41 is connect with the output end of the subtracter 3；Differentiator 42 is used
In to the joint position actual valueIt carries out differential process and obtains joint velocity actual valueUsually joint desired speed is set
It is 0, the input terminal of the differentiator 42 is connect with the output end of the sensor 2；Speed gain device 43 is used for the joint
Speed actual valueCarry out gain process (gain process is carried out to the opposite number of joint velocity error), wherein the speed increases
The input terminal of beneficial device 43 is connect with the output end of the differentiator 42；Built-in subtracter 45 is for seeking the joint position control
The gain of errorWith the gain of the joint velocity actual valueDifference (that is, seek joint position control error with
The sum of joint velocity error), it obtains the PD output valve and is conveyed to the adder 6, wherein PD output valve isOne input terminal of the built-in subtracter 45 and the proportional gain
The output end of device 41 connects, and another input terminal of the built-in subtracter 45 is connect with the output end of the speed gain device 43,
The output end of the built-in subtracter 45 is connect with an input terminal of the adder 6.In the preferred embodiment of the present invention, subtract
Fast machine output shaft speed control amount ωgSpecific formula for calculation isI.e.Speed reducer drive shaft speed control amount ωmd(i.e. motor output shaft speed
Control amount) it is ωmd=ωg× Gear, i.e.,
Referring to Fig. 5, deflection of the joint SEA under load effect is considered in advance, and the phase in the joint SEA is faced from site layer
It hopes position be adjusted, realizes under relatively large load, SEA joint position controls the promotion of comprehensive performance.
Fig. 6 is a kind of embodiment of the position control for series elastic driver that the specific embodiment of the invention provides
Four structural schematic diagram, as shown in fig. 6, electric system specifically includes speed reducer, motor and electric machine controller, speed reducer, which drives, to be closed
Controll plant movement is saved, motor drives the speed reducer operating, and electric machine controller is controlled according to motor output shaft rate controlling amount
Motor transhipment.
In the specific embodiment shown in the drawings, electric system 8 is specifically included: speed reducer 81, motor 82 and motor control
Device 83 processed.Wherein, speed reducer 81 and the joint controll plant 1 are mechanically connected, and speed reducer 81 is used to drive by elastic element
The joint controll plant 1 moves；Motor 82 and the speed reducer 81 are mechanically connected, and motor 82 is for driving the speed reducer 81
Operating；Electric machine controller 83 is connect with the multiplier 7, and electric machine controller 83 is used for according to the motor output shaft speed control
Amount controls the motor 82 and transports.
Referring to Fig. 6, it is contemplated that the deflection of SEA elastic element, and compensation control has been carried out to joint desired locations, so that
Joint position control can obtain higher precision, effectively reduce regulating time, so that the control of SEA joint position can be quick
Stablize, while the response time almost the same with PD control can be obtained, obtains more preferable integrated location control performance.
Fig. 7 is a kind of process of the position control method for series elastic driver that the specific embodiment of the invention provides
Figure, method as shown in Figure 7 can be applied to Fig. 2A into device shown in fig. 6, obtain the joint position of joint controll plant
Actual value, and measure its equivalent spring deflection；PD output valve, root are obtained according to joint desired locations and joint position actual value
Speed reducer output shaft rate controlling amount is obtained according to PD output valve and equivalent spring deflection yield value；Further according to speed reducer output shaft
Rate controlling amount obtains motor output shaft rate controlling amount (i.e. speed reducer drive shaft speed control input quantity)；Finally, utilizing electricity
Machine output shaft speed control amount controls the movement of motor drag joint controll plant.
In the specific embodiment shown in the drawings, the position control method of series elastic driver includes:
S101: the joint position actual value of joint controll plant is obtained using sensor.In the embodiment of the present invention, sensing
Device (sensor) can be encoder；Joint position actual valueUsually indicated with joint angles.
S102: the equivalent spring deflection of the joint controll plant is measured using direct method or indirect method.Of the invention
In embodiment, the measurement method of equivalent spring deflection has direct method and indirect method two ways.
S103: using reversed multiplier according to the equivalent spring Deformation calculation equivalent spring deflection yield value.This
In the embodiment of invention, the multiplier of reversed multiplier is that the product of k, equivalent spring deflection δ and multiplier k are equivalent spring deformation
Flow gain value k δ.
S104: PD output valve is obtained according to joint desired locations and the joint position actual value.The embodiment of the present invention
In, the difference of joint desired locations and joint position actual value is PD output valve.
S105: speed reducer output shaft speed control is obtained according to the PD output valve and the equivalent spring deflection yield value
Amount processed.In the embodiment of the present invention, the sum of PD output valve and equivalent spring deflection yield value k δ are speed reducer output shaft speed
Control amount.
S106: motor output shaft rate controlling amount is obtained according to the speed reducer output shaft rate controlling amount and reduction ratio.
In the embodiment of the present invention, speed reducer output shaft rate controlling amount ωgProduct with reduction ratio Gear is the control of motor output shaft speed
Amount ω processedmd。
S107: it is moved using joint controll plant described in motor output shaft rate controlling amount control motor drag.This
In the embodiment of invention, step S107 is specifically included: controlling motor rotation according to motor output shaft rate controlling amount；The motor
Output shaft drive speed reducer operating；The speed reducer drags the joint controll plant movement by SEA elastic element.
Referring to Fig. 7, it is contemplated that joint SEA itself can be in the deformation under load effect, it is also contemplated that SEA elastic element
Deflection, and control is compensated to joint desired locations, so that the control of SEA joint position can obtain higher precision, have
The reduction regulating time of effect, and the response time almost the same with PD control can be obtained, obtain more preferable integrated location controlling
Energy.
In the preferred embodiments of the present invention, deformed using the equivalent spring that direct method measures the joint controll plant
The step of amount, specifically includes: obtaining motor output shaft physical location by motor speed end incremental encoder；Pass through speed reducer spy
Property obtain reduction ratio；Speed reducer output shaft physical location is obtained according to the motor output shaft physical location and the reduction ratio；
Joint position actual value is obtained by joint end absolute encoder；According to the speed reducer output shaft physical location and the joint
Position actual value obtains the equivalent spring deflection.
Since the flexibility of the elastic element (such as small rigid spring) in the joint SEA is generally much smaller than motor reducer (especially
Harmonic wave speed reducing machine) flexibility, therefore default speed reducer output shaft physical locationWith joint desired locationsIt is identical, thus
It is considered that equivalent spring deflection is speed reducer output shaft physical locationWith joint position actual valueDifference, i.e., equivalent bullet
Spring deflection isTherefore the motor output shaft physical location that can be obtained according to motor speed end incremental encoder,
Joint position actual value and reduction ratio that joint end absolute encoder obtains calculates equivalent spring deflection, specifically
Be: the motor output shaft physical location obtained according to motor speed end incremental encoder is slowed down in conjunction with reduction ratio Gear
Machine output shaft physical locationJoint position actual value is obtained according to joint end absolute encoderThen equivalent spring deflection
In the preferred embodiments of the present invention, deformed using the equivalent spring that indirect method measures the joint controll plant
The step of amount, specifically includes: the torque in measurement series elastic driver joint；According to elastic element stiffness coefficient and joint structure
Characterisitic parameter calculates joint equivalent stiffness；The equivalent spring deformation is calculated according to the torque and the joint equivalent stiffness
Amount.
Specifically, the torque τ for measuring the joint SEA first obtains equivalent spring further according to joint equivalent stiffness Ks indirectly and becomes
Shape amount δ,Joint moment τ can be obtained by increasing additional torque sensor measurement, for by greater stiffness
The joint SEA that elastic element (flexible member) is constituted can also be obtained by modes measurements such as patch foil gauges；Joint equivalent stiffness
Ks can convert to obtain by elastic element stiffness coefficient itself from different SEA joint structure characterisitic parameters, and joint is equivalent just
Degree Ks is generally preset parameter.
In the preferred embodiments of the present invention, measure series elastic driver joint torque the step of, specifically include:
Utilize torque sensor or the torque in foil gauge measurement series elastic driver joint.
A specific embodiment of the invention also provides a kind of storage medium, and computer journey is stored on the storage medium
Sequence realizes the position control method of series elastic driver when the computer program is executed by processor, method includes following
Step:
S101: the joint position actual value of joint controll plant is obtained using sensor.
S102: the equivalent spring deflection of the joint controll plant is measured using direct method or indirect method.
S103: using reversed multiplier according to the equivalent spring Deformation calculation equivalent spring deflection yield value.
S104: PD output valve is obtained according to joint desired locations and the joint position actual value.
S105: speed reducer output shaft speed control is obtained according to the PD output valve and the equivalent spring deflection yield value
Amount processed.
S106: motor output shaft rate controlling amount is obtained according to the speed reducer output shaft rate controlling amount and reduction ratio.
S107: it is moved using joint controll plant described in motor output shaft rate controlling amount control motor drag.
A specific embodiment of the invention also provides a kind of computer equipment, including memory, processor and is stored in institute
The computer program that can be run on memory and on the processor is stated, the processor executes real when the computer program
The position control method of existing series elastic driver, method the following steps are included:
S101: the joint position actual value of joint controll plant is obtained using sensor.
S102: the equivalent spring deflection of the joint controll plant is measured using direct method or indirect method.
S103: using reversed multiplier according to the equivalent spring Deformation calculation equivalent spring deflection yield value.
S104: PD output valve is obtained according to joint desired locations and the joint position actual value.
S105: speed reducer output shaft speed control is obtained according to the PD output valve and the equivalent spring deflection yield value
Amount processed.
S106: motor output shaft rate controlling amount is obtained according to the speed reducer output shaft rate controlling amount and reduction ratio.
S107: it is moved using joint controll plant described in motor output shaft rate controlling amount control motor drag.
The above-mentioned embodiment of the present invention can be implemented in various hardware, Software Coding or both combination.For example, this hair
Bright embodiment can also be the execution above method in data signal processor (Digital Signal Processor, DSP)
Program code.The present invention can also refer to computer processor, digital signal processor, microprocessor or field-programmable gate array
Arrange the multiple functions that (Field Programmable Gate Array, FPGA) is executed.Above-mentioned processing can be configured according to the present invention
Device executes particular task, and machine-readable software code or the firmware generation of the ad hoc approach that the present invention discloses are defined by executing
Code is completed.Software code or firmware code can be developed as different program languages and different formats or form.Can also be
Different target platform composing software codes.However, executing software code and the other types configuration generation of task according to the present invention
Different code pattern, type and the language of code do not depart from spirit and scope of the invention.
The foregoing is merely the schematical specific embodiments of the present invention, before not departing from conceptions and principles of the invention
It puts, the equivalent changes and modifications that any those skilled in the art is made should belong to the scope of protection of the invention.
Claims (9)
1. a kind of position control of series elastic driver, which is characterized in that the device includes:
Joint controll plant (1)；
Sensor (2) is arranged on the joint controll plant (1), for detecting the joint position of the joint controll plant (1)
Set actual value and equivalent spring deflection；
Subtracter (3), for obtaining joint position control error according to joint desired locations and the joint position actual value,
In, an input terminal of the subtracter (3) is connect with the sensor (2), and another input terminal of the subtracter (3) receives institute
State joint desired locations；
PD control device (4), input terminal are connect with the output end of the subtracter (3), for being controlled according to the joint position
Error obtains PD output valve；
Reversed multiplier (5), for obtaining equivalent spring deflection yield value according to the equivalent spring deflection, wherein institute
The input terminal for stating reversed multiplier (5) is connect with the sensor (2)；
Adder (6), for obtaining speed reducer output shaft according to the PD output valve and the equivalent spring deflection yield value
Rate controlling amount a, wherein input terminal of the adder (6) is connect with the output end of the PD control device (4), the addition
Another input terminal of device (6) is connect with the output end of the reversed multiplier (5)；
Multiplier (7), input terminal are connect with the output end of the adder (6), for according to the speed reducer output shaft speed
Degree control amount and reduction ratio obtain motor output shaft rate controlling amount；And
Electric system (8) is moved for dragging the joint controll plant (1) according to the motor output shaft rate controlling amount,
The input terminal of the electric system (8) is connect with the output end of the multiplier (7), the output end of the electric system (8) with
Joint controll plant (1) connection.
2. the position control of series elastic driver according to claim 1, which is characterized in that the PD control device
(4) it specifically includes:
Proportional gain device (41), for carrying out gain process to joint position control error, wherein the proportional gain device
(41) input terminal is connect with the subtracter (3) output end；
Differentiator (42) obtains joint motions velocity error for carrying out differential process to joint position control error,
In, the input terminal of the differentiator (42) is connect with the output end of the subtracter (3)；
Speed gain device (43), for carrying out gain process to the joint motions velocity error, wherein the speed gain device
(43) input terminal is connect with the output end of the differentiator (42)；
Built-in adder (44), gain and the joint position for seeking the joint motions velocity error control error
The sum of gain obtains the PD output valve, wherein an input terminal and the proportional gain device for the built-in adder (44)
(41) output end connection, another input terminal of the built-in adder (44) and the output end of the speed gain device (43) connect
It connects, the output end of the built-in adder (44) is connect with an input terminal of the adder (6).
3. the position control of series elastic driver according to claim 1, which is characterized in that the PD control device
(4) it specifically includes:
Proportional gain device (41), for carrying out gain process to joint position control error, wherein the proportional gain device
(41) input terminal is connect with the output end of the subtracter (3)；
Differentiator (42) obtains joint velocity actual value for carrying out differential process to the joint position actual value, wherein institute
The input terminal for stating differentiator (42) is connect with the output end of the sensor (2)；
Speed gain device (43), for carrying out gain process to the joint velocity actual value, wherein the speed gain device
(43) input terminal is connect with the output end of the differentiator (42)；
Built-in subtracter (45), for seeking the gain of the joint position control error and the increasing of the joint velocity actual value
The difference of benefit, obtains the PD output valve, wherein an input terminal of the built-in subtracter (45) and the proportional gain device (41)
Output end connection, another input terminal of the built-in subtracter (45) connect with the output end of the speed gain device (43),
The output end of the built-in subtracter (45) is connect with an input terminal of the adder (6).
4. the position control of series elastic driver according to claim 1, which is characterized in that the joint is controlled
Object (1) is series elastic driver joint link lever.
5. a kind of position control method of series elastic driver, which is characterized in that this method comprises:
The joint position actual value of joint controll plant is obtained using sensor；
The equivalent spring deflection of the joint controll plant is measured using direct method or indirect method；
Using reversed multiplier according to the equivalent spring Deformation calculation equivalent spring deflection yield value；
PD output valve is obtained according to joint desired locations and the joint position actual value；
Speed reducer output shaft rate controlling amount is obtained according to the PD output valve and the equivalent spring deflection yield value；
Motor output shaft rate controlling amount is obtained according to the speed reducer output shaft rate controlling amount and reduction ratio；And
It is moved using joint controll plant described in motor output shaft rate controlling amount control motor drag.
6. the position control method of series elastic driver according to claim 5, which is characterized in that surveyed using direct method
The step of measuring the equivalent spring deflection of the joint controll plant, specifically includes:
Motor output shaft physical location is obtained by motor speed end incremental encoder；
Reduction ratio is obtained according to speed reducer characteristic；
Speed reducer output shaft physical location is obtained according to the motor output shaft physical location and the reduction ratio；
Joint position actual value is obtained by joint end absolute encoder；And
The equivalent spring deflection is obtained according to the speed reducer output shaft physical location and the joint position actual value.
7. the position control method of series elastic driver according to claim 6, which is characterized in that surveyed using indirect method
The step of measuring the equivalent spring deflection of the joint controll plant, specifically includes:
Measure the torque in series elastic driver joint；
Joint equivalent stiffness is calculated according to elastic element stiffness coefficient and joint structure characterisitic parameter；And
The equivalent spring deflection is calculated according to the torque and the joint equivalent stiffness.
8. a kind of storage medium, it is stored with computer program on the storage medium, the computer program is executed by processor
The step of Shi Shixian claim 5 to 7 any the method.
9. a kind of computer equipment, including memory, processor and it is stored on the memory and can be on the processor
The computer program of operation, the processor realize any the method for claim 5 to 7 when executing the computer program
Step.
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