CN110696047B - Experimental method for simulating dynamic variable load and variable inertia of joint of industrial robot - Google Patents
Experimental method for simulating dynamic variable load and variable inertia of joint of industrial robot Download PDFInfo
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- CN110696047B CN110696047B CN201911032442.3A CN201911032442A CN110696047B CN 110696047 B CN110696047 B CN 110696047B CN 201911032442 A CN201911032442 A CN 201911032442A CN 110696047 B CN110696047 B CN 110696047B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses an experimental method for simulating the dynamic variable load and the variable inertia of a joint of an industrial robot, which adopts an experimental device for simulating the dynamic variable load and the variable inertia of a single joint of the industrial robot, and comprises a control system, a first motor control circuit, a second motor control circuit, a first frame, a second frame, a first input servo motor, a first speed reducer, a first coupler, a dynamic torque sensor, a gear transmission case, a second coupler, an angle sensor, a first double bearing seat and a variable inertia lever arm, the invention integrates inertia time variation and load time variation and can briefly simulate various complex working conditions of a joint.
Description
Technical Field
The invention relates to the field of joint servo control system testing, relates to the field of variable-load and variable-inertia experimental methods, and particularly relates to an experimental method for simulating single joint dynamic variable-load and variable-inertia of an industrial robot.
Background
At present, the experiment of the servo motor control algorithm directly carried out on the joint of the industrial robot needs to overcome a plurality of technical difficulties, the experiment difficulty is high, and the data acquisition is difficult, so that the research is limited to the software simulation stage. In order to effectively perform experiments to evaluate the control effect of the control algorithm, an experimental method for simulating the working condition of the joint load inertia is designed, and data can be reasonably and efficiently acquired, so that experimental research can be performed.
The loading modes generally adopted by the existing load simulation device are mechanical loading, electro-hydraulic servo loading, electromagnetic loading and motor loading, inertia simulation loading devices and the like. The main advantages of mechanical loading are reliable operation, simple structure and the disadvantages of not being able to realize continuously changing load spectrum and not being able to load or adjust load during operation. The electro-hydraulic servo loading can realize continuous loading, has wider frequency band and large output load moment, but has the defects of large volume of a hydraulic source, large noise, easy generation of redundant moment and the like. At present, a direct current motor or a torque motor is mainly adopted as motor loading equipment, the direct current motor is used as a loading element, armature current is large, power loss is large, and the motor loading equipment is inconvenient to provide positive and reverse torque due to the existence of a 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, capability of realizing automatic operation and the like. Inertia simulation loading device adopts inertia dish etc. mostly, realizes changing the purpose of inertia through adjusting inertia dish size and mass, because of inertia dish installation axiality scheduling problem, causes certain experimental degree of difficulty.
Aiming at the problems existing in the loading and inertia changing modes, an experimental method is designed, wherein dynamic inertia change is realized by dynamically changing the relative position of a mass sliding block through structural design, a continuously changing load is realized by loading a permanent magnet synchronous motor, an external angle sensor is used for acquiring position information and feeding back the position information to realize position closed loop, and a torque sensor is used for acquiring the real condition of the loaded load and comprehensively researching the loaded load.
Disclosure of Invention
The invention aims to overcome the defects that the dynamic inertia change of the existing load simulation device is difficult to realize or has a complex structure, the load change has no real-time property or is difficult to control, and the device can not simultaneously have the functions of changing the inertia and changing the load, and can not well simulate the working condition of the joint load inertia of the industrial robot, and provides an experimental method for simulating the dynamic variable load and the variable inertia of the joint of the industrial robot. An external angle sensor is connected to obtain position information for feedback to realize position closed loop, and a torque sensor is used for obtaining the real situation of the applied load, so that the experimental method for research is comprehensively carried out.
The invention realizes the purpose through the following technical scheme: an experimental method for simulating the dynamic variable load and the variable inertia of a joint of an industrial robot is adopted, an experimental device for simulating the dynamic variable load and the variable inertia of a single joint of the industrial robot is adopted, and the experimental device for simulating the dynamic variable load and the variable inertia of the joint of the industrial robot comprises a control system, a first motor control circuit, a second motor control circuit, a first frame, a second frame, a first input servo motor, a first speed reducer, a first coupler, a dynamic torque sensor, a gear transmission box, a second coupler, an angle sensor, a first double bearing seat, a variable lever arm inertia, a third coupler, a rotating shaft, a second input servo motor, a second speed reducer, a fourth coupler, a mass slider, a swing arm, a second double bearing seat, a rotating shaft, a first supporting base, a second supporting base, a third supporting base, a fourth supporting base and a fifth supporting base,
the first input servo motor and the first speed reducer are fixed on the third support base, an output shaft of the first input servo motor is sequentially connected with the first speed reducer, the first coupler, the dynamic torque sensor, the second coupler, the gear transmission case, the third coupler, the angle sensor and the rotating shaft which are sequentially distributed along a straight line, the dynamic torque sensor is fixed on the second support base, the rotating shaft is supported through the first double bearing seat, and the first double bearing seat is fixed on the first support base; the variable inertia lever arm is connected with the rotating shaft flat key and limited by a shaft end retainer ring, the second input servo motor and the second speed reducer are both fixed on a fourth supporting base, an output shaft of the second input servo motor is sequentially connected with the second speed reducer, a fourth coupler and a gear transmission case, a main input shaft of the gear transmission case is connected with the dynamic torque sensor through the second coupler, an auxiliary input shaft of the gear transmission case is connected with the second speed reducer through the fourth coupler, an output shaft of the gear transmission case is connected with the rotating shaft through the third coupler, and the angle sensor is installed on the rotating shaft and fixed on the first double bearing seat;
the first supporting base, the second supporting base, the third supporting base and the fourth supporting base are all fixed on the working table surface of the first machine frame; the second double bearing seat is fixed on a fifth supporting base, the fifth supporting base is fixed on a working table surface of a second rack, a rotating shaft is sleeved on the second double bearing seat and is supported by the second double bearing seat, the rotating shaft is connected with one end of a swing arm through a flat key, the other end of the swing arm is hinged on a mass sliding block, a through hole matched with the variable inertia lever arm is formed in the mass sliding block, and the mass sliding block is sleeved on the variable inertia lever arm; the axis of the rotating shaft is parallel to the axis of the rotating shaft and is staggered with the axis of the rotating shaft;
the first motor control circuit, the second motor control circuit, the angle sensor and the dynamic torque sensor are all electrically connected with the control system, the first motor control circuit is electrically connected with the first input servo motor and controls the motion of the first input servo motor, and the second motor control circuit is electrically connected with the second input servo motor and controls the motion of the second input servo motor; the experimental method specifically comprises the following steps:
the method comprises the following steps: the control system controls the output of a first input servo motor through a first motor control circuit, and the first input servo motor transmits torque to the rotating shaft through a first speed reducer, a first coupler, a dynamic torque sensor, a second coupler, a gear transmission box and an angle sensor to drive the variable-inertia lever arm to rotate; meanwhile, the variable inertia lever arm drives the mass slider to rotate along the rotation center of the swing arm and simultaneously axially slide along the variable inertia lever arm, so that the dynamic change of inertia is realized;
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; error calculation and corresponding data processing are carried out by utilizing a control algorithm of a position controller of a control system, the collected phase current of a first input servo motor ABC is converted into a static coordinate system (alpha-beta) through coordinate transformation, namely a natural coordinate system (ABC) is converted into a static coordinate system (alpha-beta) through clark through a vector control technology to obtain iα、iβAnd the coordinate system is converted into a synchronous rotating coordinate system (d-q) through park, wherein the direction of a d axis is the direction of a permanent magnet excitation magnetic field, and the direction of a q axis is the direction vertical to a rotor magnetic field to obtain id、iqRespectively mixing id,iqFeeding back to PI current controller to form current closed loop, and calculating position signal to obtain speedThe degree signal is fed back to the PI speed controller to realize speed closed loop, and the position signal is directly fed back to the position controller to form three closed loop vector control; finally, q-axis current i is obtainedq *，iq *D-axis current i as current target signal d *0; calculating a voltage input value U under a rotating coordinate system (d-q) according to the current-voltage relation under the synchronous rotating coordinate systemd、UqThe SVPWM signal is output through voltage pulse width modulation and is transmitted to a driver to drive a first input servo motor, so that the position control is realized; wherein ω iseIs the electrical angular velocity, Ld、LqIs d-axis and q-axis inductance, PnThe number of pole pairs of the motor is;
step three: starting a second input servo motor, controlling the second input servo motor to output load torque in the same direction or the reverse direction by using a second motor control circuit, loading the load torque to the variable inertia lever arm through a gear transmission box, realizing dynamic change of the load of the variable inertia lever arm, and continuously repeating the second step to perform accurate position control;
step four: in the process, the dynamic torque sensor always collects torque signals, the collected torque information is sent to the control system to realize the control of the load torque, the control system is used for continuously recording the torque information, and the actual load condition is observed;
step five: changing the output load condition of a second input servo motor or changing the distance b between the rotation center of the swing arm and the rotation center of the variable inertia lever arm to realize different changes of inertia, simulating the load inertia characteristics of the robot joint under different working conditions, repeating the steps, and observing the control performance of a position control algorithm under different load inertia changes;
step six: and changing the position controller algorithm, repeating the steps, collecting corresponding data, and comparing and analyzing the control performance of different position controller algorithms under the same working condition.
Furthermore, the output shaft of the first input servo motor, the first speed reducer, the first coupler, the dynamic torque sensor, the second coupler, the third coupler, the angle sensor and the shaft axis of the rotating shaft are positioned on the same straight line.
Furthermore, the working table surfaces of the first frame and the first frame are positioned on the same horizontal plane, a gap is formed between the first frame and the first frame, and the variable inertia lever arm can freely penetrate through the gap between the first frame and the first frame when driving the swing arm and the mass sliding block to rotate.
Furthermore, the first input servo motor and the second input servo motor are both permanent magnet synchronous motors.
Furthermore, the first coupler, the second coupler, the third coupler and the fourth coupler are all elastic couplers.
Furthermore, the rotating shaft is a multi-section stepped shaft and comprises a first straight line section, a second straight line section, a third stage and a fourth straight line section which are sequentially connected, the diameters of the first straight line section, the second straight line section and the third stage are gradually increased, key grooves are formed in the first straight line section and the fourth 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 connected with a third coupling device through a key, a sleeve in clearance fit with the outer diameter of the fourth straight line section of the rotating shaft is arranged at one end of the variable inertia lever arm, and the sleeve of the variable inertia lever arm is fixedly connected with the fourth straight line section of the rotating shaft through a key; the second straight-line section of the rotating shaft is supported on the first double-bearing seat through a bearing, and one end of the variable inertia lever arm is axially positioned through a third step section of the rotating shaft; the angle sensor is a hollow disc-shaped angular displacement sensor, an external fixed seat of the angle sensor is fixed on a first double-bearing seat, the rotating end of the angle sensor is sleeved at one end of a sensor positioning groove in a 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.
Further, assuming that the distance between the rotation center of the swing arm and the axis of the rotating shaft is b, the distance between the mass point of the mass slider and the axis of the rotating shaft is c, and the distance between the mass point of the mass slider and the axis of the rotating shaft is a, the distance can be obtained
Assume mass slider mass m1Mass of variable inertia lever arm is m2The length of the variable inertia lever arm is L, the total rotational inertia of the variable inertia lever arm is J, and the variable inertia lever arm can be obtained according to a rotational inertia calculation formula:
approaching the characteristic of the variation of the inertia of the robot joint.
The invention has the beneficial effects that:
1. the invention integrates inertia dynamic change and load dynamic change, and can briefly simulate the change of the load inertia characteristic of the joint under various complex working conditions.
2. According to the invention, the angle signal detected by the angle sensor is fed back to the control system, a position control closed loop system can be formed, and the dynamic torque sensor acquires the torque signal feedback to ensure the load of the variable inertia lever arm. Meanwhile, the performance of a control algorithm of the joint servo system is researched through the collected angle signal and the collected torque signal.
3. In the invention
Theta is the angle through which the lever arm is rotated,
the inertia change of the industrial robot is simulated along with the rotation of the rotating shaft. Meanwhile, the positioning groove is formed in the working table surface of the second rack, the distance b between the rotation center of the swing arm and the rotation center of the variable inertia lever arm can be changed, different changes of inertia are achieved, and the device is simple to operate, convenient to install, easy to adjust and convenient to control experimental process variables.
4. The invention adopts a second input servo motor to output the load which changes in the same direction or in the reverse direction and loads the load on the variable inertia mechanical arm through the gear transmission box, thereby realizing the function of simulating the change of the joint load.
Drawings
FIG. 1 is a schematic diagram of an experimental method for simulating dynamic variable load and variable inertia of a single joint of an industrial robot.
Fig. 2 is a vector control schematic of the present invention.
Fig. 3 is a schematic diagram of the principle of variable inertia of the present invention.
FIG. 4 is a graph of the distance c from the mass point of the mass slider to the axis of the shaft for varying loads in accordance with the present invention.
FIG. 5 is an axial diagram of an experimental device for simulating the dynamic variable load and variable inertia of a joint of an industrial robot.
FIG. 6 is a front view of an experimental device for simulating the dynamic variable load and the variable inertia of a joint of an industrial robot.
Fig. 7 is a schematic diagram of a variable inertia lever arm of the present invention.
Fig. 8 is a schematic structural view of the swing arm of the present invention.
Fig. 9 is a schematic view, partially in section, of the connection of a mass slide, swing arm and variable inertia lever arm of the present invention.
Fig. 10 is a schematic structural view of the rotating shaft of the present invention.
Fig. 11 is a schematic view of the construction of the gear transmission case of the present invention.
In the figure, 1-a first input servo motor, 2-a first speed reducer, 3-a first coupling, 4-a dynamic torque sensor, 5-a second input servo motor, 6-a second speed reducer, 7-a fourth supporting base, 8-a fourth coupling, 9-a gear transmission case, 10-a third coupling, 11-an angle sensor, 12-a first double bearing seat, 13-a mass slide block, 14-an inertia variable lever arm, 15-a hinge, 16-a swing arm, 17-a rotating shaft, 18-a rotating shaft, 19-a second double bearing seat, 20-a fifth supporting base, 21-a first supporting base, 22-a second coupling, 23-a second supporting base, 24-a third supporting base, 25-a first frame, 26-a second frame, 27-a first straight line segment, 28-a second straight line segment, 29-a third stage, 30-a fourth straight line segment, 31-a sensor positioning groove, 91-an auxiliary input shaft of a gear transmission case, 92-a main input shaft of the gear transmission case, 93-an output shaft of the gear transmission case, 94-an auxiliary gear, 95-a driving gear, 96-a shell and 97-a bearing.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 to 11, an experimental method for simulating single-joint dynamic variable load and variable inertia of an industrial robot is provided, which includes a control system, a first motor control circuit, a second motor control circuit, a first frame 25, a second frame 26, a first input servo motor 1, a first reducer 2, a first coupler 3, a dynamic torque sensor 4, a gear box 9, a second coupler 22, an angle sensor 11, a first double bearing seat 12, a variable inertia lever arm 14, a third coupler 10, a rotating shaft 17, a second input servo motor 5, a second reducer 6, a fourth coupler 8, a mass slider 13, a swing arm 16, a second double bearing seat 19, a rotating shaft 18, a first support base 21, a second input servo motor 5, a fourth coupler 8, a mass slider 13, a swing arm 16, a second double bearing seat 19, a rotating shaft 18, a first support base 21, a second support base, and a third support base, wherein the first support base is provided in a manner that the experimental apparatus is capable of simulating single-joint dynamic variable load and variable inertia of an industrial robot A second support foot 23, a third support foot 24, a fourth support foot 7 and a fifth support foot 20.
The first input servo motor 1 and the first speed reducer 2 are both fixed on a third support base 24, an output shaft of the first input servo motor 1 is sequentially connected with the first speed reducer 2, the first coupler 3, the dynamic torque sensor 4, the second coupler 22, the gear transmission box 9, the third coupler 10, the angle sensor 11 and a rotating shaft 17 which are sequentially distributed along a straight line, the dynamic torque sensor 4 is fixed on the second support base 23, the rotating shaft 17 is supported through a first double bearing seat 12, the first double bearing seat 12 is fixed on the first support base 21, and the variable inertia lever arm 14 is in flat key connection with the rotating shaft 17 and is limited by a shaft end retainer ring; second input servo motor 5 and second reduction gear 6 are all fixed on fourth support base 7, and second reduction gear 6, fourth shaft coupling 8 and gear transmission case 9 are connected gradually to second input servo motor 5's output shaft, gear transmission case 9's main input shaft passes through second shaft coupling 22 and is connected with dynamic torque sensor 4, gear transmission case 9's supplementary input shaft passes through fourth shaft coupling 8 and connects second reduction gear 6, gear transmission case 9's output shaft passes through third shaft coupling 10 and connects pivot 17, and the angle sensor 11 dress of telling is connected with first double bearing frame 12 on pivot 17.
The gear transmission box 9 comprises a shell 96, a bearing 97, a main input shaft 92 of the gear transmission box, an auxiliary input shaft 91 of the gear transmission box, an output shaft 93 of the gear transmission box, an auxiliary gear 94 and a driving gear 95, wherein the main input shaft 92 of the gear transmission box and the output shaft 93 of the gear transmission box are the same shaft, the driving gear 95 is fixed on the main input shaft 92 of the gear transmission box, the auxiliary gear 94 is fixed on the auxiliary input shaft 91 of the gear transmission box, the main input shaft 92 of the gear transmission box and the auxiliary input shaft 91 of the gear transmission box are arranged in parallel, and the two shafts are fixed on the shell through the bearing 97. The main input shaft 92 of the gear box provides torque to the variable inertia lever arm 14 when input is made, and the auxiliary input shaft 91 of the gear box provides load change to the variable inertia lever arm 14 when input is made.
The first support base 21, the second support base 23, the third support base 24 and the fourth support base are all fixed on the working table surface of the first frame 25; the second double bearing seat 19 is fixed on a fifth support base 20, the fifth support base 20 is fixed on a working table of a second frame 26, the rotating shaft 18 is sleeved on the second double bearing seat 19 and supported by the second double bearing seat 19, the rotating shaft 18 is fixedly connected with one end of the swing arm 16, the other end of the swing arm 16 is hinged on a mass slider 13 through a hinge 15, a through hole matched with the variable inertia lever arm 14 is formed in the mass slider 13, and the mass slider 13 is sleeved on the variable inertia lever arm 14; the axis of the rotating shaft 18 is parallel to the axis of the rotating shaft 17 and is staggered. The swing arm 16 is provided with a plurality of mounting holes distributed at equal intervals, the hinge 15 is mounted in one of the mounting holes, the position of the hinge 15 is adjustable, and the position of the mass slider 13 can be manually adjusted by adjusting different positions of the hinge 15, so that the distance from the mass center of the mass slider 13 to the rotating shaft has two adjusting modes.
The first motor control circuit, the second motor control circuit, the angle sensor 11 and the dynamic torque sensor 4 all belong to a control system hardware part, the control system controls the motion of the first input servo motor 1 through the first motor control circuit, and the control system controls the torque output of the second input servo motor 5 through the second motor control circuit; the experimental method specifically comprises the following steps:
the method comprises the following steps: the control system controls the output of a first input servo motor 1 through a first motor control circuit, and the first input servo motor 1 transmits torque to a rotating shaft 17 through a first speed reducer 2, a first coupler 3, a dynamic torque sensor 4, a gear transmission box 9, a second coupler 22 and an angle sensor 11 to drive a variable inertia lever arm 14 to rotate;
step two: the angle sensor 11 detects the rotating angle of the rotating shaft 17 and feeds back a position signal of the rotating angle of the rotating shaft 17 to the control system;
error calculation and corresponding data processing are carried out by utilizing a control algorithm of a position controller of a control system, the collected phase current of a first input servo motor 1ABC is converted into a stationary coordinate system (alpha-beta) through coordinate conversion, namely a natural coordinate system (ABC) is converted into an i alpha and an i beta through a clark, the phase current is converted into a synchronous rotating coordinate system (d-q) through a park, wherein the direction of a d axis is the direction of a permanent magnet excitation magnetic field, the direction of a q axis is the direction vertical to the direction of a rotor magnetic field, id and iq are obtained, the id and the iq are respectively fed back to a PI current controller to form a current closed loop, a position signal is calculated to obtain a speed signal, the speed signal is fed back to the PI speed controller to realize a speed closed loop, and the position signal is directly fed back to the position controller to form a three-closed vector control; finally obtaining q-axis current iq, wherein iq is a current target signal, and d-axis current id is 0; calculating voltage input values Ud and Uq under a rotating coordinate system (d-q) according to a current-voltage relation under a synchronous rotating coordinate system, outputting SVPWM signals through voltage pulse width modulation and transmitting the SVPWM signals to a driver, and driving a first input servo motor to realize position control; wherein, ω e is the electrical angular velocity, Ld and Lq are inductance coefficients of d axis and q axis, Pn is the number of pole pairs of the motor;
step three: and starting the second input servo motor 5, and controlling the second input servo motor 5 to output load torque in the same direction or reverse direction to be loaded on the variable inertia lever arm 14 through the gear transmission case 9 by using a second motor control circuit to realize load change of the variable inertia lever arm 14. The variable inertia lever arm 14 rotates to drive the mass slider 13 to rotate and simultaneously axially slide along the variable inertia lever arm 14, so that dynamic change of inertia is realized. Continuously repeating the second step to perform accurate position control;
step four: in the process, the dynamic torque sensor 4 always keeps the acquisition of torque signals, feeds the acquired torque information back to the maximum torque in the control system for closed-loop control, continuously records the torque information by using the control system and observes the actual load condition of the control system;
step five: changing the output load condition of the second input servo motor 5 or changing the distance b between the rotating center of the swing arm 16 and the rotating center of the variable inertia lever arm 14 to realize different dynamic changes of inertia, simulating the load inertia characteristics of the robot joint under different working conditions, repeating the steps, and observing the control performance of a position control algorithm under different load inertia changes;
step six: and changing the position controller algorithm, repeating the steps, collecting corresponding data, and comparing and analyzing the control performance of different position controller algorithms under the same working condition.
The output shaft of the input servo motor, the first speed reducer 2, the first coupler 3, the dynamic torque sensor 4, the second coupler 22, the third coupler 10, the angle sensor 11 and the rotating shaft 17 are positioned on the same straight line.
The working platforms of the first frame 25 and the first frame 25 are located on the same horizontal plane, a gap is arranged between the first frame 25 and the first frame 25, and the variable inertia lever arm 14 can freely pass through the gap between the first frame 25 and the first frame 25 when driving the swing arm 16 and the mass slider 13 to rotate.
The first input servo motor 1 and the second input servo motor 5 are both permanent magnet synchronous motors. .
The first coupler 3, the second coupler 22, the third coupler 10 and the fourth coupler 8 are all elastic couplers.
The rotating shaft 17 is a multi-section stepped shaft and comprises a first straight line section 27, a second straight line section 28, a third stage 29 and a fourth straight line section 30 which are sequentially connected, the diameters of the first straight line section 27, the second straight line section 28 and the third stage 29 are gradually increased, key grooves are formed in the first straight line section 27 and the fourth straight line section 30, a sensor positioning groove 31 is formed in one end, close to the first straight line section 27, of the second straight line section 28, the first straight line section 27 of the rotating shaft 17 is connected with the third shaft coupler 10 through keys, a sleeve in clearance fit with the outer diameter of the fourth straight line section 30 of the rotating shaft 17 is arranged at one end of the variable inertia lever arm 14, and the sleeve of the variable inertia lever arm 14 is fixedly connected with the fourth straight line section 30 of the rotating shaft 17 through keys; the second straight section 28 of the rotating shaft 17 is supported on the first double bearing block 12 through a bearing, and one end of the variable inertia lever arm 14 is axially positioned through a third stage 29 of the rotating shaft 17; angle sensor 11 is cavity dish form angular displacement sensor, and angle sensor 11's outside fixing base is fixed on first double bearing frame 12, and angle sensor 11's rotation end suit is provided with the one end of sensor constant head tank 31 at the second straightway 28 of pivot 17, and angle sensor 11's rotation end is fixed and is fixed a position through the sensor constant head tank 31 in the pivot 17.
Assuming that the distance between the axis of the rotating shaft 17 and the axis of the rotating shaft 18 is b, the distance between the mass point of the mass slider 13 and the axis of the rotating shaft 17 is c, the distance between the mass point of the mass slider 13 and the axis of the rotating shaft 18 is a, and the angle of the lever arm is θ, it can be obtained
The angle of rotation of the shaft is θ, and the curve of c as a function of the angle θ is shown in fig. 4. Assume mass of mass slider 13 as m1The variable inertia lever arm 14 has a mass m2The length of the variable inertia lever arm 14 is L, the total moment of inertia of the variable inertia lever arm 14 is J, and the following is obtained according to a moment of inertia calculation formula:
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 (7)
1. The experimental method for simulating the dynamic variable load and the variable inertia of the joint of the industrial robot is characterized by comprising the following steps of: the experimental device for simulating the dynamic variable load and the variable inertia of the single joint of the industrial robot comprises a control system, a first motor control circuit, a second motor control circuit, a first rack (25), a second rack (26), a first input servo motor (1), a first speed reducer (2), a first coupler (3), a dynamic torque sensor (4), a gear transmission box (9), a second coupler (22), an angle sensor (11), a first double bearing seat (12), a variable inertia lever arm (14), a third coupler (10), a rotating shaft (17), a second input servo motor (5), a second speed reducer (6), a fourth coupler (8), a mass slider (13), a swing arm (16), a second double bearing seat (19), a rotating shaft (18), a first supporting base (21), A second support base (23), a third support base (24), a fourth support base (7) and a fifth support base (20);
the first input servo motor (1) and the first speed reducer (2) are fixed on a third supporting base (24), an output shaft of the first input servo motor (1) is sequentially connected with the first speed reducer (2), the first coupler (3), the dynamic torque sensor (4), the second coupler (22), the gear transmission case (9), the third coupler (10), the angle sensor (11) and a rotating shaft (17) which are sequentially distributed along a straight line, the dynamic torque sensor (4) is fixed on the second supporting base (23), the rotating shaft (17) is supported through a first double bearing seat (12), and the first double bearing seat (12) is fixed on the first supporting base (21); the variable inertia lever arm (14) is in flat key connection with the rotating shaft (17) and limited by a shaft end retainer ring, the second input servo motor (5) and the second speed reducer (6) are fixed on the fourth supporting base (7), an output shaft of the second input servo motor (5) is sequentially connected with the second speed reducer (6), a fourth coupler (8) and a gear transmission case (9), a main input shaft (92) of the gear transmission case is connected with the dynamic torque sensor (4) through the second coupler (22), an auxiliary input shaft (91) of the gear transmission case is connected with the second speed reducer (6) through the fourth coupler (8), an output shaft (93) of the gear transmission case is connected with the rotating shaft (17) through the third coupler (10), and the angle sensor (11) is arranged on the rotating shaft (17) and fixed on the first double bearing seat (12);
the first supporting base (21), the second supporting base (23), the third supporting base (24) and the fourth supporting base (7) are all fixed on the working table surface of the first rack (25); the second double bearing seat (19) is fixed on a fifth supporting base (20), the fifth supporting base (20) is fixed on a working table surface of a second rack (26), a rotating shaft (18) is sleeved on the second double bearing seat (19) and supported through the second double bearing seat (19), the rotating shaft (18) is connected with one end of a swing arm (16) through a flat key, the other end of the swing arm (16) is hinged on a mass sliding block (13), a through hole matched with the variable inertia lever arm (14) is formed in the mass sliding block (13), and the mass sliding block (13) is sleeved on the variable inertia lever arm (14); the axis of the rotating shaft (18) is parallel to the axis of the rotating shaft (17) and is arranged in a staggered manner;
the first motor control circuit, the second motor control circuit, the angle sensor (11) and the dynamic torque sensor (4) all belong to a control system hardware part, the control system controls the motion of the first input servo motor (1) through the first motor control circuit, and the control system controls the torque output of the second input servo motor (5) through the second motor control circuit; the experimental method specifically comprises the following steps:
the method comprises the following steps: the control system controls the output of a first input servo motor (1) through a first motor control circuit, and the first input servo motor (1) transmits torque to a rotating shaft (17) through a first speed reducer (2), a first coupler (3), a dynamic torque sensor (4), a second coupler (22), a gear transmission box (9) and an angle sensor (11) to drive a variable inertia lever arm (14) to rotate; meanwhile, the inertia variable lever arm (14) drives the mass slider (13) to rotate along the rotation center of the swing arm and simultaneously axially slide along the inertia variable lever arm (14), so that the dynamic change of inertia is realized;
step two: the angle sensor (11) detects the rotating angle of the rotating shaft (17) and feeds back a position signal of the rotating angle of the rotating shaft (17) to the control system;
error calculation and corresponding data processing are carried out by utilizing a control algorithm of a position controller of a control system through a vector control technology;
step three: starting a second input servo motor (5), and controlling the second input servo motor (5) to output load torque in the same direction or reverse direction by using a second motor control circuit to be loaded on the variable inertia lever arm (14) through a gear transmission case (9) so as to realize dynamic change of the load of the variable inertia lever arm (14); continuously repeating the second step to perform accurate position control;
step four: in the third step, the dynamic torque sensor (4) always collects torque signals, sends the collected torque information to the control system to realize the control of the load torque, and continuously records the torque information by using the control system to observe the actual load condition;
step five: changing the output load condition of a second input servo motor (5) or changing the distance b between the rotating center of a swing arm (16) and the rotating center of an inertia-variable lever arm (14) to realize different dynamic changes of inertia, simulating the load inertia characteristics of the robot joint under different working conditions, repeating the steps, and observing the control performance of a position control algorithm under different load inertia changes;
step six: and changing the position controller algorithm, repeating the steps, collecting corresponding data, and comparing and analyzing the control performance of different position controller algorithms under the same working condition.
2. The experimental method for simulating the dynamic variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: the output shaft of the first input servo motor (1), the first speed reducer (2), the first coupler (3), the dynamic torque sensor (4), the second coupler (22), the main input shaft (92) of the gear transmission box, the output shaft (93) of the gear transmission box, the third coupler (10), the angle sensor (11) and the rotating shaft (17) are located on the same straight line.
3. The experimental method for simulating the dynamic variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: the working platforms of the first rack (25) and the second rack (26) are positioned on the same horizontal plane, a gap is formed between the first rack (25) and the second rack (26), and the inertia variable lever arm (14) can freely penetrate through the gap between the first rack (25) and the second rack (26) when driving the swing arm (16) and the mass slider (13) to rotate.
4. The experimental method for simulating the dynamic variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: the first input servo motor (1) and the second input servo motor (5) are both permanent magnet synchronous motors.
5. The experimental method for simulating the dynamic variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: the first coupler (3), the second coupler (22), the third coupler (10) and the fourth coupler (8) are all elastic couplers.
6. The experimental method for simulating the dynamic variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: the rotating shaft (17) is a multi-section stepped shaft and comprises a first straight line section (27), a second straight line section (28), a third stage (29) and a fourth straight line section (30) which are connected in sequence, the diameters of the first straight line section (27), the second straight line section (28) and the third stage (29) are gradually increased, the first straight line segment (27) and the fourth straight line segment (30) are provided with key slots, one end of the second straight line section (28) close to the first straight line section (27) is provided with a sensor positioning groove (31), the first straight line section (27) of the rotating shaft (17) is connected with the third coupling (10) through a key, one end of the variable inertia lever arm (14) is provided with a sleeve in clearance fit with the outer diameter of the fourth straight line section (30) of the rotating shaft (17), and the sleeve of the variable inertia lever arm (14) is fixedly connected with the fourth straight line section (30) of the rotating shaft (17) through a key; the second straight section (28) of the rotating shaft (17) is supported on the first double bearing seat (12) through a bearing, and one end of the variable inertia lever arm (14) is axially positioned through a third stage (29) of the rotating shaft (17); angle sensor (11) are cavity dish form angular displacement sensor, and the outside fixing base of angle sensor (11) is fixed on first double bearing frame (12), and the rotation end suit of angle sensor (11) is provided with the one end of sensor constant head tank (31) in second straightway (28) of pivot (17), and the rotation end of angle sensor (11) is fixed and is fixed a position through sensor constant head tank (31) on pivot (17).
7. The experimental method for simulating the dynamic variable load and the variable inertia of the joint of the industrial robot according to claim 1, wherein: assuming that the distance between the axes of the rotating shaft (17) and the rotating shaft (18) is b, the distance between the mass point of the mass slider (13) and the axis of the rotating shaft (17) is c, the distance between the mass point of the mass slider (13) and the axis of the rotating shaft (18) is a, and the angle rotated by the lever arm is theta, the distance can be obtained
Assuming that the mass of the mass slide (13) is m1The mass of the variable inertia lever arm (14) is m2The length of the variable inertia lever arm (14) is L, the total moment of inertia of the variable inertia lever arm (14) is J, and the variable inertia lever arm can be obtained according to a moment of inertia calculation formula:
approaching the characteristic of the variation of the inertia of the robot joint.
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| CN101441477A (en) * | 2007-11-19 | 2009-05-27 | 北京航空航天大学 | Bending combined two-dimension time-varying load loading unit |
| CN103616107B (en) * | 2013-12-13 | 2016-08-17 | 广西大学 | A kind of varying load Variable inertia electromechanics performance testing device |
| CN109459254A (en) * | 2018-10-22 | 2019-03-12 | 东北大学 | A kind of articulated robot dynamics semi-physical simulation platform |
| CN209470865U (en) * | 2019-03-25 | 2019-10-08 | 聊城大学 | For the open servomotor testing platform for controling integrated industrial robot |
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| CN101441477A (en) * | 2007-11-19 | 2009-05-27 | 北京航空航天大学 | Bending combined two-dimension time-varying load loading unit |
| CN103616107B (en) * | 2013-12-13 | 2016-08-17 | 广西大学 | A kind of varying load Variable inertia electromechanics performance testing device |
| CN109459254A (en) * | 2018-10-22 | 2019-03-12 | 东北大学 | A kind of articulated robot dynamics semi-physical simulation platform |
| CN209470865U (en) * | 2019-03-25 | 2019-10-08 | 聊城大学 | For the open servomotor testing platform for controling integrated industrial robot |
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