CN110640791A - Experimental method for simulating variable load and variable inertia of joint of industrial robot - Google Patents
Experimental method for simulating variable load and variable inertia of joint of industrial robot Download PDFInfo
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- CN110640791A CN110640791A CN201911033421.3A CN201911033421A CN110640791A CN 110640791 A CN110640791 A CN 110640791A CN 201911033421 A CN201911033421 A CN 201911033421A CN 110640791 A CN110640791 A CN 110640791A
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Abstract
The invention discloses an experimental method for simulating variable load and variable inertia of a joint of an industrial robot, which adopts an experimental device for simulating variable load and variable inertia of the joint of the industrial robot, the experimental device for simulating variable load and variable inertia of the joint of the industrial robot comprises a control system, a motor drive control circuit, a dynamometer controller, a working table top, an input servo motor, a planetary gear reducer, a first coupler, a dynamic torque sensor, a second coupler, an angle sensor, a double bearing seat, a variable inertia lever arm, a third coupler, a rotating shaft, a mass sliding block, a positioning bolt, a hysteresis dynamometer, a first supporting base, a second supporting base and a third supporting base.
Description
Technical Field
The invention relates to the field of testing of joint servo control systems, relates to the field of variable-load and variable-inertia experimental methods, and particularly relates to an experimental method for simulating variable load and variable inertia of a joint of an industrial robot.
Background
At present, many technical difficulties need to be overcome when experiments of servo motor control algorithms are directly carried out on joints of industrial robots, so that related researches are mostly limited to a software simulation stage. In order to effectively perform experiments and evaluation of a control algorithm to simulate working conditions, changes of load and inertia need to be considered in design, and therefore a set of load simulation scheme capable of simulating joint motion of an industrial robot is particularly needed.
The existing load simulation method generally adopts loading modes such as mechanical load, electro-hydraulic servo load, electromagnetic load and motor load, inertia simulation load and the like.
The mechanical load has the advantages of reliable operation and simple structure, but has the defects of being incapable of achieving continuous load spectrum and being incapable of loading or adjusting load in operation. The electro-hydraulic servo loading can realize continuous loading of broadband and large output load torque, but is limited by the characteristics of large hydraulic source quantity, large noise, easy generation of redundant torque and the like. At present, a direct current motor or a torque motor is mainly used for motor loading. The dc motor, as a load element, has a large armature current and power loss, and cannot effectively provide "forward and reverse torque" due to the presence of the commutator. The electromagnetic loading equipment mainly comprises a hysteresis dynamometer, a magnetic powder brake and the like, and has the main advantages of wide rotating speed range, convenience in control, simplicity in operation and the like, but an accurate mathematical model for simulating a load is required. The inertial disk is mostly adopted as the inertial simulation loading device. Inertia is changed by adjusting the size and mass distribution of the inertia disk. Some experimental difficulties are caused by the difficulty in ensuring a high degree of coaxiality each time the inertia disc is installed.
Disclosure of Invention
In order to avoid various defects of the existing load simulation experiment method, such as the fact that the mechanical load cannot simulate a continuous load spectrum, and the load cannot be changed or adjusted in operation; the electro-hydraulic servo loading hydraulic source has large quantity and large noise, and is easy to generate redundant torque; the current and power loss of a click armature loaded by a motor are large, and forward and reverse torques cannot be provided; electromagnetic loading requires an accurate mathematical model of the simulated load; the coaxiality is difficult to guarantee when the inertia disc is installed. The invention provides an experimental method for simulating variable load and variable inertia of a joint of an industrial robot, which can synthesize inertia static change, meet various complex loads, briefly simulate joint motion working conditions and facilitate the research of a control algorithm of a joint servo system.
The invention realizes the purpose through the following technical scheme: an experimental method for simulating variable load and variable inertia of a joint of an industrial robot is characterized in that an experimental device for simulating the variable load and variable inertia of the joint of the industrial robot is adopted, the experimental device for simulating the variable load and variable inertia of the joint of the industrial robot comprises a control system, a motor drive control circuit, a dynamometer controller, a working table top, an input servo motor, a planetary gear reducer, a first coupler, a dynamic torque sensor, a second coupler, an angle sensor, a double bearing seat, a variable inertia lever arm, a third coupler, a rotating shaft, a mass slider, a positioning bolt, a hysteresis dynamometer, a first supporting base, a second supporting base and a third supporting base, wherein the input servo motor and the planetary gear reducer are fixed on the third supporting base, and an output shaft of the input servo motor is sequentially connected with the planetary gear reducer, the first coupler, the second coupler, the dynamic torque sensor is fixed on the second supporting base, the rotating shaft is supported through a double bearing seat, and the double bearing seat is fixed on the first supporting base; the first supporting base, the second supporting base and the third supporting base are all fixed on the working table top; one end of the variable inertia lever arm is fixedly arranged on the rotating shaft through a key, the axial lead of the variable inertia lever arm is perpendicular to the axial lead of the rotating shaft, at least three annular positioning grooves uniformly distributed along the axial lead direction are uniformly distributed on the variable inertia lever arm, a mass sliding block is sleeved on the variable inertia lever arm, a positioning screw hole is formed in the mass sliding block, and a positioning bolt penetrates through the mass sliding block and extends into the bottom of the annular positioning groove of the variable inertia lever arm through the front end of the positioning bolt to realize the position fixation of the mass sliding block and the variable inertia lever arm; the motor drive control circuit, the dynamometer controller, the angle sensor and the dynamic torque sensor are all electrically connected with the control system, the motor drive control circuit is electrically connected with the input servo motor and controls the motion of the input servo motor, and the dynamometer controller is connected with the hysteresis dynamometer and controls the motion of the hysteresis dynamometer; the experimental method specifically comprises the following steps:
the method comprises the following steps: the control system controls the output of an input servo motor through a motor driving control circuit, and the input servo motor transmits torque to a rotating shaft through a planetary gear reducer, a first coupler, a dynamic torque sensor, a second coupler and an angle sensor to drive the variable inertia lever arm to rotate;
step two: the angle sensor detects the rotating angle of the rotating shaft and feeds back a position signal of the rotating angle of the rotating shaft to the control system;
the coordinate transformation is carried out by utilizing the vector control technology of a servo control system, namely, a natural coordinate system (ABC) is transformed into a static coordinate system (alpha-beta) through a click, and is transformed into a synchronous rotating coordinate system (d-q) through a park, wherein the d-axis direction is the direction of a permanent magnet excitation magnetic field, the q-axis direction is the direction vertical to a rotor magnetic field, a three-closed-loop vector control algorithm is utilized in the synchronous rotating coordinate system, namely, the input of a current controller is the output of a speed controller, the input of the speed controller is the output of a position controller, and i is firstly setdWhen the stator current is 0, only the quadrature axis component exists, the electromagnetic torque and the quadrature axis current are in a linear relation, and the stator current is equivalent to a direct current motor, so that the calculation is simplified. Feeding the measured position, speed and q-axis current back to the position, speed and current controller to form three closed-loop vector control, calculating the current required by position control, and utilizing the relation between current and voltage
Calculating control voltage, and controlling the change of the voltage by controlling the switching value of the inverter circuit through SVPWM so as to control the winding voltage to be input into the output of the servo motor through control;
wherein U isd、Id、Rd、LdVoltage, current, resistance, self-inductance, U, on the d-axis, respectivelyq、Iq、Rq、LqVoltage, current, resistance and self-inductance on the q axis respectively;
step three: in the process of the second step, the dynamic torque sensor always keeps collecting torque signals, sends the collected torque information to the control system, and continuously records the torque information by using the control system;
step four: starting a hysteresis dynamometer, controlling the hysteresis dynamometer to output load torque in the same direction or the reverse direction to be loaded on a variable inertia lever arm by using a dynamometer control system to realize load change of the variable inertia lever arm, continuously acquiring torque signals by using a dynamic torque sensor in the process, sending the acquired torque information to the control system, and continuously recording the torque information by using the control system; simultaneously, continuously detecting the rotation angle information of the variable inertia lever arm by using an angle sensor, feeding back a position signal of the angle information to a control system, and continuously recording the angle information by using the control system;
step five: closing the magnetic hysteresis dynamometer, adjusting the position of a mass slider on the variable inertia lever arm to realize inertia change of the variable inertia lever arm, and repeating the steps;
step six: and repeating the process of the fourth step and the process of the fifth step, finishing recording the position change of the variable inertia lever arm and the torque signal under the condition of inputting different position controller control algorithms, comparing and analyzing the data of the position change and the torque signal measured by different control algorithms, obtaining an experimental conclusion after carrying out multiple times of analysis and comparison, and finishing the experimental research on the control algorithms.
Furthermore, the output shaft of the input servo motor, the planetary gear reducer, the first coupler, the dynamic torque sensor, the second coupler, the angle sensor, the rotating shaft, the third coupler and the axis of the hysteresis dynamometer are located on the same straight line.
Further, be provided with the bar groove on the table surface, the bar groove is located and becomes inertia lever arm under, and the length in bar groove is greater than twice of inertia lever arm length, and the width in bar groove is greater than the diameter of quality slider. The inertia variable lever arm can freely pass through the strip-shaped groove when carrying the mass slide block to rotate.
Furthermore, five annular positioning grooves are formed in the annular positioning groove and are distributed at equal intervals along the axial direction of the variable inertia lever arm.
Further, the input servo motor is a permanent magnet synchronous motor.
Furthermore, the first coupling, the second coupling and the third coupling are all elastic couplings.
Furthermore, the rotating shaft is a multi-section stepped shaft and comprises a first straight line section, a second straight line section, a third straight line section, a fourth stage and a fifth straight line section which are sequentially connected, the diameters of the first straight line section, the second straight line section, the third straight line section and the fourth stage are gradually increased, key grooves are formed in the first straight line section, the third straight line section and the fifth straight line section, a sensor positioning groove is formed in one end, close to the first straight line section, of the second straight line section, the first straight line section of the rotating shaft is in key connection with the second coupler, the fifth straight line section of the rotating shaft is in key connection with the third coupler, a sleeve in clearance fit with the outer diameter of the third straight line section of the rotating shaft is arranged at one end of the inertia variable lever arm, and the sleeve of the inertia variable lever arm is fixedly connected; the second straight-line segment of the rotating shaft is supported on the double bearing seats through bearings, and the left end and the right end of the variable inertia lever arm are respectively positioned through the fourth stage of the rotating shaft and the bearings of the double bearing seats; the angle sensor is a hollow disc-shaped angular displacement sensor, an external fixed seat of the angle sensor is fixed on the double bearing seats, the rotating end of the angle sensor is sleeved at one end of the second straight line section of the rotating shaft, and the rotating end of the angle sensor is fixed and positioned through the sensor positioning groove in the rotating shaft. The rotating end inside the angle sensor rotates along with the rotation of the rotating shaft.
Furthermore, five rings of annular positioning grooves are formed in the variable inertia lever arm, the distance between every two adjacent annular positioning grooves is d, and the mass of the mass sliding block is assumed to be m1The distance from the mass center of the mass slide block to the axial lead of the rotating shaft is r, and the mass of the inertia lever arm is m2The length is L, the total moment of inertia of the lever arm is J, the distance from the annular positioning groove closest to the rotating shaft to the axial lead of the rotating shaft is y1, and the moment of inertia of the variable-inertia lever arm can be obtained according to a moment of inertia calculation formula as follows:
The invention has the beneficial effects that:
1. the invention integrates inertia static change, can change inertia and load, and the load control system can meet the conditions of various complex loads and can briefly simulate the joint motion condition.
2. The invention can test the static and dynamic performances of the servo system under different load working conditions by measuring signals such as torque, angle and the like of the controlled object. Signals such as torque, angle and the like of the controlled object are used as feedback signals to form a complete position or force closed-loop control system, and the accurate feedback signals can well improve the control precision of the servo system. The experimental method can be better used for researching the performance of the control algorithm of the joint servo system.
3. The invention arranges an annular positioning groove on the variable inertia lever arm, realizes the change of the rotational inertia by using the different installation positions of the mass slide block, and changes the distance between the mass slide block and the rotating axis by using J-mr2The change of the rotational inertia is realized by changing the size of the rotational radius r, the operation of inertia change is simple, the installation is convenient, the adjustment is easy, and the experiment process is convenient to carry out.
4. The invention uses a hysteresis dynamometer to output the load which changes in the same direction or the reverse direction to the variable inertia mechanical arm, thereby realizing the function of simulating the change of the joint load. The output load of the hysteresis dynamometer can be changed by changing the magnitude of the exciting current, the load on the simulation joint is simple and quick to set, and the mechanism has long service life due to the principle that the hysteresis dynamometer applies the load in a non-contact manner.
5. The invention uses the angle sensor to detect the rotation angle, uses the position signal obtained by the angle sensor to compare with the set input signal, feeds the difference value back to the control system, outputs the corresponding control signal to control the output of the input servo motor through the control algorithm operation in the servo system, and continuously reduces the error of the position to a proper range. The experimental method can realize the accurate control of the real-time position of the variable inertia lever arm.
6. The dynamic torque sensor is used for acquiring a torque signal received by the swing arm, the torque signal acquired by the torque sensor is communicated with the hysteresis dynamometer, and whether the torque output by the hysteresis dynamometer is out of alignment is checked, so that the accurate control of the load of the variable-inertia lever arm is ensured.
Drawings
FIG. 1 is a block diagram of an experimental method for simulating variable load and variable inertia of a joint of an industrial robot adopted by the invention.
FIG. 2 is a schematic diagram of the coordinate relationship of the synchronous rotating coordinate system of the present invention.
FIG. 3 is a vector control schematic of the velocity closed loop vector control algorithm of the present invention.
Fig. 4 is a schematic overall structure diagram of an experimental device for simulating variable load and variable inertia of a joint of an industrial robot adopted by the invention.
Fig. 5 is a schematic structural diagram of an angle sensor in an experimental device for simulating variable load and variable inertia of a joint of an industrial robot, which is adopted by the invention.
Fig. 6 is a schematic structural diagram of an inertia moment varying lever arm in an experimental device for simulating the variable load and the variable inertia of a joint of an industrial robot adopted by the invention.
Fig. 7 is a schematic structural diagram of a rotating shaft in an experimental device for simulating variable load and variable inertia of a joint of an industrial robot adopted by the invention.
Fig. 8 is a schematic structural diagram of a mass slider in an experimental device for simulating variable load and variable inertia of a joint of an industrial robot adopted by the invention.
In the figure, 1-an input servo motor, 2-a planetary gear reducer, 3-a first coupler, 4-a dynamic torque sensor, 5-a second coupler, 6-an angle sensor, 7-a double bearing seat, 8-a mass slider, 9-an inertia variable lever arm, 10-a positioning bolt, 11-a rotating shaft, 12-a third coupler, 13-a hysteresis dynamometer, 14-a first supporting base, 15-a second supporting base, 16-a third supporting base, 17-a working table top, 18-an annular positioning groove, 20-a positioning screw hole, 21-a first straight line segment, 22-a second straight line segment, 23-a third straight line segment, 24-a fourth stage, 25-a fifth straight line segment and 26-a sensor positioning groove.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 to 8, an experimental method for simulating the variable load and the variable inertia of a joint of an industrial robot is adopted, and the experimental device for simulating the variable load and the variable inertia of the joint of the industrial robot comprises a control system, a motor drive control circuit, a dynamometer controller, a workbench surface 17, an input servo motor 1, a planetary gear reducer 2, a first coupler 3, a dynamic torque sensor 4, a second coupler 5, an angle sensor 6, a double bearing seat 7, a variable inertia lever arm 9, a third coupler 12, a rotating shaft 11, a mass slider 8, a positioning bolt 10, a hysteresis dynamometer 13, a first supporting base 14, a second supporting base 15 and a third supporting base 16, wherein the input servo motor 1 and the planetary gear reducer 2 are fixed on the third supporting base 16, and an output shaft of the input servo motor 1 is sequentially connected with the planetary gear reducer 2, the output shaft of the input servo motor 1 and the planetary gear reducer 2 are sequentially distributed along a straight line, The dynamic torque sensor 4 is fixed on the second supporting base 15, the rotating shaft 11 is supported by a double bearing seat 7, and the double bearing seat 7 is fixed on a first supporting base 14; the first supporting base 14, the second supporting base 15 and the third supporting base 16 are all fixed on a working table surface 17; one end of the variable inertia lever arm 9 is fixedly arranged on the rotating shaft 11 through a key, the axial lead of the variable inertia lever arm 9 is perpendicular to the axial lead of the rotating shaft 11, at least three annular positioning grooves 18 which are uniformly distributed along the axial lead direction are uniformly distributed on the variable inertia lever arm 9, the mass sliding block 8 is sleeved on the variable inertia lever arm 9, a positioning screw hole 20 is formed in the mass sliding block 8, and the positioning bolt 10 penetrates through the mass sliding block 8 and extends into the bottom of the annular positioning groove 18 of the variable inertia lever arm 9 through the front end of the positioning bolt 10 to fix the position of the mass sliding block 8 and the variable inertia lever arm 9; the motor drive control circuit, the dynamometer controller, the angle sensor 6 and the dynamic torque sensor are all connected with the control system, the motor drive control circuit is connected with the input servo motor 1 and controls the motion of the input servo motor, and the dynamometer controller is connected with the hysteresis dynamometer 13 and controls the motion of the hysteresis dynamometer; the experimental method specifically comprises the following steps:
the method comprises the following steps: the control system controls the output of the input servo motor 1 through a motor driving control circuit, and the input servo motor 1 transmits torque to the rotating shaft 11 through the planetary gear reducer 2, the first coupler 3, the dynamic torque sensor 4, the second coupler 5 and the angle sensor 6 to drive the variable inertia lever arm 9 to rotate;
step two: the angle sensor 6 detects the rotating angle of the rotating shaft 11 and feeds back a position signal of the rotating angle of the rotating shaft 11 to the control system;
the coordinate transformation is carried out by utilizing the vector control technology of a servo control system, namely, a natural coordinate system (ABC) is transformed into a static coordinate system (alpha-beta) through a click, and is transformed into a synchronous rotating coordinate system (d-q) through a park, wherein the d-axis direction is the direction of a permanent magnet excitation magnetic field, the q-axis direction is the direction vertical to a rotor magnetic field, a three-closed-loop vector control algorithm is utilized in the synchronous rotating coordinate system, namely, the input of a current controller is the output of a speed controller, the input of the speed controller is the output of a position controller, and i is firstly setdWhen the stator current is 0, only the quadrature axis component exists, the electromagnetic torque and the quadrature axis current are in linear relation, and the stator current is equivalent to a direct current motorAnd the calculation is simplified. Feeding the measured position, speed and q-axis current back to the position, speed and current controller to form three closed-loop vector control, calculating the current required by position control, and utilizing the relation between current and voltage
Calculating control voltage, and controlling the change of the voltage by controlling the switching value of the inverter circuit through SVPWM so as to control the winding voltage to be input into the output of the servo motor 1 through control;
step three: in the process of the second step, the dynamic torque sensor 4 always keeps acquiring torque signals, transmits the acquired torque information to the control system, and continuously records the torque information by using the control system;
step four: starting a hysteresis dynamometer, controlling the hysteresis dynamometer to output load torque in the same direction or the reverse direction to be loaded on the variable inertia lever arm 9 by using a dynamometer control system to realize the load change of the variable inertia lever arm 9, continuously acquiring torque signals by using the dynamic torque sensor 4 in the process, sending the acquired torque information to the control system, and continuously recording the torque information by using the control system; simultaneously, continuously detecting the rotation angle information of the variable inertia lever arm 9 by using the angle sensor 6, feeding back the position signal of the angle information to the control system, and continuously recording the angle information by using the control system;
step five: closing the magnetic hysteresis dynamometer, adjusting the position of a mass slider on the variable inertia lever arm 9 to realize inertia change of the variable inertia lever arm 9, and repeating the steps;
step six: and repeating the process of the fourth step and the process of the fifth step, finishing recording the position change of the variable inertia lever arm and the torque signal under the condition of inputting different position controller control algorithms, comparing and analyzing the data of the position change and the torque signal measured by different control algorithms, obtaining an experimental conclusion after carrying out multiple times of analysis and comparison, and finishing the experimental research on the control algorithms.
The output shaft of the input servo motor 1, the planetary gear reducer 2, the first coupler 3, the dynamic torque sensor 4, the second coupler 5, the angle sensor 6, the rotating shaft 11, the third coupler 12 and the hysteresis dynamometer 13 are located on the same straight line.
A strip-shaped groove is formed in the working table surface 17 and located right below the variable inertia lever arm 9, the length of the strip-shaped groove is larger than two times of the length of the variable inertia lever arm 9, and the width of the strip-shaped groove is larger than the diameter of the mass sliding block 8.
Five annular positioning grooves 18 are formed in the annular positioning groove 18, and the five annular positioning grooves 18 are distributed at equal intervals along the axial direction of the variable inertia lever arm 9.
The input servo motor 1 is a permanent magnet synchronous motor. The first coupler 3, the second coupler 5 and the third coupler 12 are all elastic couplers.
The rotating shaft 11 is a multi-section stepped shaft and comprises a first straight line section 21, a second straight line section 22, a third straight line section 23, a fourth stage 24 and a fifth straight line section 25 which are connected in sequence, the diameters of the first straight line section 21, the second straight line section 22, the third straight line section 23 and the fourth stage 24 are gradually increased, the first straight line segment 21, the third straight line segment 23 and the fifth straight line segment 25 are provided with key slots, one end of the second straight line segment 22 close to the first straight line segment 21 is provided with a sensor positioning groove 26, the first straight line section 21 of the rotating shaft 11 is connected with the second coupler 5 through a key, the fifth straight line section 25 of the rotating shaft 11 is connected with the third coupler 12 through a key, one end of the variable inertia lever arm 9 is provided with a sleeve in clearance fit with the outer diameter of the third straight-line segment 23 of the rotating shaft 11, and the sleeve of the variable inertia lever arm 9 is fixedly connected with the third straight-line segment 23 of the rotating shaft 11 through a key; the second straight-line segment 22 of the rotating shaft 11 is supported on the double bearing seat 7 through a bearing, and the left end and the right end of the variable inertia lever arm 9 are respectively positioned through the fourth stage 24 of the rotating shaft 11 and the bearing of the double bearing seat 7; the angle sensor 6 is a hollow disk-shaped angular displacement sensor, an external fixed seat of the angle sensor 6 is fixed on the double bearing seat 7, the rotating end of the angle sensor 6 is sleeved at one end of the second straight line section 22 of the rotating shaft 11, which is provided with a sensor positioning groove 26, and the rotating end of the angle sensor 6 is fixed and positioned through the sensor positioning groove 26 on the rotating shaft 11. The rotating end inside the angle sensor 6 follows the rotation with the rotation of the rotating shaft 11.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.
Claims (8)
1. An experimental method for simulating variable load and variable inertia of a joint of an industrial robot is characterized by comprising the following steps: the experimental device for simulating the variable load and the variable inertia of the joint of the industrial robot comprises a control system, a motor drive control circuit, a dynamometer controller, a working table top (17), an input servo motor (1), a planetary gear reducer (2), a first coupler (3), a dynamic torque sensor (4), a second coupler (5), an angle sensor (6), a double bearing seat (7), an inertia variable lever arm (9), a third coupler (12), a rotating shaft (11), a mass slider (8), a positioning bolt (10), a hysteresis dynamometer (13), a first supporting base (14), a second supporting base (15) and a third supporting base (16), wherein the input servo motor (1) and the planetary gear reducer (2) are fixed on the third supporting base (16), an output shaft of an input servo motor (1) is sequentially connected with a planetary gear reducer (2), a first coupler (3), a dynamic torque sensor (4), a second coupler (5), an angle sensor (6), a rotating shaft (11), a third coupler (12) and a hysteresis dynamometer (13) which are sequentially distributed along a straight line, the dynamic torque sensor (4) is fixed on a second supporting base (15), the rotating shaft (11) is supported by a double bearing seat (7), and the double bearing seat (7) is fixed on a first supporting base (14); the first supporting base (14), the second supporting base (15) and the third supporting base (16) are all fixed on a working table surface (17); one end of the variable inertia lever arm (9) is fixedly arranged on the rotating shaft (11) through a key, the axial lead of the variable inertia lever arm (9) is perpendicular to the axial lead of the rotating shaft (11), at least three annular positioning grooves (18) which are uniformly distributed along the axial lead direction are uniformly distributed on the variable inertia lever arm (9), the mass sliding block (8) is sleeved on the variable inertia lever arm (9), a positioning screw hole (20) is formed in the mass sliding block (8), and a positioning bolt (10) penetrates through the mass sliding block (8) and extends into the bottom of the annular positioning groove (18) of the variable inertia lever arm (9) through the front end of the positioning bolt (10) to realize the position fixation of the mass sliding block (8) and the variable inertia lever arm (9); the motor drive control circuit, the dynamometer controller, the angle sensor (6) and the dynamic torque sensor are all electrically connected with the control system, the motor drive control circuit is electrically connected with the input servo motor (1) and controls the motion of the input servo motor, and the dynamometer controller is connected with the hysteresis dynamometer (13) and controls the motion of the hysteresis dynamometer; the experimental method specifically comprises the following steps:
the method comprises the following steps: the control system controls the output of the input servo motor (1) through a motor driving control circuit, and the input servo motor (1) transmits torque to the rotating shaft (11) through the planetary gear reducer (2), the first coupler (3), the dynamic torque sensor (4), the second coupler (5) and the angle sensor (6) to drive the variable inertia lever arm (9) to rotate;
step two: the angle sensor 6 detects the rotating angle of the rotating shaft (11) and feeds back a position signal of the rotating angle of the rotating shaft (11) to the control system;
the coordinate transformation is carried out by utilizing the vector control technology of a servo control system, namely, a natural coordinate system (ABC) is transformed into a static coordinate system (alpha-beta) through a click, and is transformed into a synchronous rotating coordinate system (d-q) through a park, wherein the d-axis direction is the direction of a permanent magnet excitation magnetic field, the q-axis direction is the direction vertical to a rotor magnetic field, a three-closed-loop vector control algorithm is utilized in the synchronous rotating coordinate system, namely, the input of a current controller is the output of a speed controller, the input of the speed controller is the output of a position controller, and i is firstly setdWhen the stator current is 0, only a quadrature axis component exists, the electromagnetic torque and the quadrature axis current are in a linear relation, and the stator current is equivalent to a direct current motor, so that the calculation is simplified; feeding the measured position, speed and q-axis current back to the position, speed and current controller to form three closed-loop vector control, calculating the current required by position control, and utilizing the relation between current and voltage
Calculating control voltage, and controlling the change of the voltage by controlling the switching value of the inverter circuit through SVPWM so as to control the winding voltage to be input into the output of the servo motor (1) through control;
step three: in the process of the second step, the dynamic torque sensor (4) always keeps the collection of torque signals, sends the collected torque information to the control system, and continuously records the torque information by using the control system;
step four: starting a hysteresis dynamometer, controlling the hysteresis dynamometer to output load torque in the same direction or the reverse direction to be loaded on a variable inertia lever arm (9) by using a dynamometer control system to realize the load change of the variable inertia lever arm (9), continuously acquiring torque signals by using a dynamic torque sensor (4) in the process, sending the acquired torque information to the control system, and continuously recording the torque information by using the control system; simultaneously, continuously detecting the rotation angle information of the variable inertia lever arm (9) by using an angle sensor (6), feeding back a position signal of the angle information to a control system, and continuously recording the angle information by using the control system;
step five: closing the hysteresis dynamometer, adjusting the position of a mass slider on the variable inertia lever arm (9), realizing inertia change of the variable inertia lever arm (9), and repeating the steps;
step six: and repeating the process of the fourth step and the process of the fifth step, finishing recording the position change of the variable inertia lever arm and the torque signal under the condition of inputting different position controller control algorithms, comparing and analyzing the data of the position change and the torque signal measured by different control algorithms, obtaining an experimental conclusion after carrying out multiple times of analysis and comparison, and finishing the experimental research on the control algorithms.
2. An experimental method for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, characterized in that: the output shaft of the input servo motor (1), the planetary gear reducer (2), the first coupler (3), the dynamic torque sensor (4), the second coupler (5), the angle sensor (6), the rotating shaft (11), the third coupler (12) and the hysteresis dynamometer (13) are located on the same straight line.
3. An experimental method for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, characterized in that: a strip-shaped groove is formed in the working table surface (17), the strip-shaped groove is located under the variable inertia lever arm (9), the length of the strip-shaped groove is larger than two times of the length of the variable inertia lever arm (9), and the width of the strip-shaped groove is larger than the diameter of the mass sliding block (8).
4. An experimental method for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, characterized in that: five annular positioning grooves (18) are formed in the annular positioning groove (18), and the five annular positioning grooves (18) are distributed at equal intervals along the axial direction of the variable inertia lever arm (9).
5. An experimental method for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, characterized in that: the input servo motor (1) is a permanent magnet synchronous motor.
6. An experimental method for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, characterized in that: the first coupler (3), the second coupler (5) and the third coupler (12) are all elastic couplers.
7. An experimental method for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 1, characterized in that: the rotating shaft (11) is a multi-section stepped shaft and comprises a first straight line section (21), a second straight line section (22), a third straight line section (23), a fourth stage (24) and a fifth straight line section (25) which are sequentially connected, the diameters of the first straight line section (21), the second straight line section (22), the third straight line section (23) and the fourth stage (24) are gradually increased, key slots are formed in the first straight line section (21), the third straight line section (23) and the fifth straight line section (25), a sensor positioning groove (26) is formed in one end, close to the first straight line section (21), of the second straight line section (22), of the rotating shaft (11) is in key connection with a second coupler (5), the fifth straight line section (25) of the rotating shaft (11) is in key connection with a third coupler (12), and a sleeve in clearance fit with the outer diameter of the third straight line section (23) of the rotating shaft (11) is arranged at one end of the variable inertia (9), the sleeve of the variable inertia lever arm (9) is fixedly connected with the third straight line section (23) of the rotating shaft (11) through a key; the second straight line section (22) of the rotating shaft (11) is supported on the double bearing seat (7) through a bearing, and the left end and the right end of the variable inertia lever arm (9) are respectively positioned through a fourth stage (24) of the rotating shaft (11) and the bearing of the double bearing seat (7); angle sensor (6) are cavity dish form angular displacement sensor, and the outside fixing base of angle sensor (6) is fixed on biax bearing seat (7), and the rotation end suit of angle sensor (6) is provided with the one end of sensor constant head tank (26) in second straightway (22) of pivot (11), and the rotation end of angle sensor (6) is fixed and is fixed a position through sensor constant head tank (26) on pivot (11). The rotating end inside the angle sensor (6) rotates along with the rotation of the rotating shaft (11).
8. An experimental method for simulating the variable load and the variable inertia of the joint of the industrial robot according to claim 4, wherein the experimental method comprises the following steps: five rings of annular positioning grooves (18) are formed in the inertia variable lever arm (9), the distance between every two adjacent annular positioning grooves (18) is d, and the mass of the mass sliding block (8) is assumed to be m1The distance from the mass center of the mass slider (8) to the axis of the rotating shaft (11) is r, the mass of the inertia moment variable lever arm (9) is m2, the length of the inertia moment variable lever arm is L, the total rotational inertia moment of the lever arm is J, and the distance from the annular positioning groove (18) closest to the rotating shaft (11) to the axis of the rotating shaft (11) is y1, so that the fact that r is y1+ dxi, where i ═ 0,1,2,3, 4;
the moment of inertia of the variable inertia lever arm (9) can be obtained according to a moment of inertia calculation formula as follows:
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