CN110861090A - Torque feedforward control system and method - Google Patents
Torque feedforward control system and method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The invention relates to a moment feedforward control system and a method, wherein the method comprises the following steps: the motion controller generates a joint command and transmits the joint command to the servo controller through the HAL equipment driving module, and the servo controller controls a servo motor to regulate and control the joint robot to perform repetitive motion according to the joint command; collecting joint expected corner signals and moment signals of the robot in the motion process by using a joint moment sensor, and transmitting the collected joint expected corner signals and moment signals to an HAL equipment driving module; the HAL equipment driving module processes the joint expected corner signal and the moment signal by using a feedforward compensation algorithm to obtain a moment feedforward quantity signal and transmits the moment feedforward quantity signal to the servo controller; and the servo controller regulates and controls the servo motor to operate according to the moment feedforward quantity signal and the joint instruction. Compared with the prior art, the invention realizes the high-speed movement of the robot, improves the control precision of the movement track of the robot and improves the dynamic response characteristic of the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a torque feedforward control system and method by using a joint torque sensor.
Background
With the continuous maturity of industrial robot technology, the continuous reduction of industrial robot price and the annual increase of labor cost, industrial robots are being accelerated to be integrated into the aspects of social production and life, and are playing more and more important roles. With the advance of intelligent manufacturing, the progress of industrial robot technology, the development of industry and the application of industry are put in outstanding positions, and industrial robots are widely applied to the fields of transportation, spraying, welding, assembly and the like, and develop towards higher speed, high precision and high intelligence, and provide more rigorous requirements for the control precision of the robots.
In a traditional robot control strategy, a PID (proportion integration differentiation) adjusting technology in a servo drive is utilized, but the control precision of the robot in a high-speed motion process cannot be ensured only through a control strategy of error feedback, various nonlinear factors in the motion control of the robot are ignored, and the position tracking precision and the response speed of a robot joint are difficult to ensure under the conditions of high speed or heavy load. It is necessary to solve these problems.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, an object of the present invention is to provide a torque feedforward control system and method that improve control accuracy and improve the dynamic response characteristics of a robot.
The technical scheme for solving the technical problems is as follows: a torque feedforward control method, comprising the steps of:
and 4, the servo controller regulates and controls the servo motor to operate according to the moment feedforward quantity signal and the joint instruction.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the motion controller performs trajectory planning and motion interpolation on the robot, and generates joint instructions according to the trajectory planning and transmits the joint instructions to the servo controller through the HAL equipment driving module.
Further, the servo controller comprises a position controller, a speed controller and a current controller;
the position controller receives a joint instruction, generates a regulation signal according to the joint instruction and transmits the regulation signal to the speed controller;
the speed controller processes the control signal to obtain a speed signal and transmits the speed signal to the current controller;
the current controller processes the speed signal, generates a current signal and transmits the current signal to the servo motor, and the servo motor operates according to the current signal; the current controller also receives the moment feedforward quantity signal, processes the moment feedforward quantity of the moment feedforward quantity signal and the current signal, generates a superposed current signal and transmits the superposed current signal to the servo motor, and the servo motor operates according to the superposed current signal.
The dynamic feedforward module is used for establishing a dynamic model and establishing a feedforward compensation algorithm according to the dynamic model; a feed forward compensation algorithm is introduced into the HAL device driver module.
Further, the feedforward compensation algorithm determines parameters of a dynamic model according to rod piece mass data, rod piece length data and inertia tensor data of the rod piece of the robot, and then determines a dynamic feedforward algorithm; the HAL equipment driving module acquires joint corner data, angular velocity data and angular acceleration data according to the joint expected corner signal and the moment signal, calculates by utilizing a feedforward compensation algorithm, and acquires the optimal moment for each joint of the robot to finish planning the track
(ii) a According to the optimum torque value
And the torque feedforward amount of the joint torque signal
Determining a torque feed forward quantity
。
In the above embodiment, the dynamic model specifically includes:
wherein
；
Wherein the content of the first and second substances,
: j-th joint best moment;
: the ith joint feedback moment;
: an inertia matrix;
: a homogeneous transformation matrix from a No. 0 coordinate system to a No. k coordinate system;
: the desired rotation angle of the ith joint of the robot;
: the desired angular velocity of the ith joint of the robot;
: the desired angular acceleration of the ith joint of the robot;
: the i-th joint inertia matrix is obtained,
: the expression of the gravity vector in coordinate system No. 0,
: the expression of the centroid of the bar member j in the coordinate system of number j.
The invention has the beneficial effects that: the feedforward compensation calculation is utilized to improve the position tracking precision of the robot joint under the condition of high-speed movement and the nonlinear effect generated by dynamic coupling and structural flexibility; the motion controller, the HAL equipment driving module, the servo controller, the servo motor, the joint torque sensor and the dynamics feedforward module are coordinated to operate, a feedforward value can be modified in real time, the control precision of the motion track of the robot is improved under the condition that the robot moves at a high speed, and the dynamic response characteristic of the robot is improved.
Another technical solution of the present invention for solving the above technical problems is as follows: a torque feedforward control system comprises a motion controller, an HAL equipment driving module, a servo controller, a servo motor and a joint torque sensor;
the motion controller is used for generating a joint command and transmitting the joint command to the HAL equipment driving module;
the HAL equipment driving module transmits a joint instruction to a servo controller; the servo controller is also used for processing the joint expected rotation angle signal and the moment signal by utilizing a feedforward compensation algorithm to obtain a moment feedforward quantity signal and transmitting the moment feedforward quantity signal to the servo controller;
the servo controller is used for controlling the servo motor to control the joint robot to perform repetitive motion according to the joint instruction; and the servo motor is regulated and controlled to operate according to the moment feedforward quantity signal and the joint instruction.
The joint torque sensor is used for collecting joint expected corner signals and torque signals of the robot in the movement process and transmitting the joint expected corner signals and the torque signals to the HAL equipment driving module.
The invention has the beneficial effects that: the feedforward compensation calculation is utilized to improve the position tracking precision of the robot joint under the condition of high-speed movement and the nonlinear effect generated by dynamic coupling and structural flexibility; the motion controller, the HAL equipment driving module, the servo controller, the servo motor, the joint torque sensor and the dynamics feedforward module are coordinated to operate, a feedforward value can be modified in real time, the control precision of the motion track of the robot is improved under the condition that the robot moves at a high speed, and the dynamic response characteristic of the robot is improved.
Drawings
FIG. 1 is a flow chart of a torque feedforward control method of the present invention;
FIG. 2 is a block diagram of a torque feed forward control system of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a motion controller, 2, a HAL equipment driving module;
3. servo controller, 3.1, position controller, 3.2, speed controller, 3.3, current controller;
4. servo motor, 5, joint torque sensor, 6, dynamics feedforward module.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example 1:
as shown in fig. 1, a torque feedforward control method includes the following steps:
and 4, the servo controller 3 regulates and controls the servo motor 4 to operate according to the moment feedforward quantity signal and the joint instruction.
According to the communication principle of the EtherCAT servo controller 3, an equipment driving module is constructed, the support of the EtherCAT servo controller 3 on speed and torque feedforward control is realized, the relation between PDO related to feedforward and joint speed and moment is verified, and a HAL equipment driving module 2 with an EtherCAT interface hardware board card is created; the method comprises the steps of realizing a comp file, finally compiling to generate a ko file, and dynamically loading the ko file into a kernel; the HAL file instantiates the designed HAL equipment driving module 2, makes pin connection of software and hardware, and adds the torque feedforward implementation function into a thread.
The moment feedforward quantity is output to the servo controller 3 through an EtherCAT real-time bus, and meanwhile, the feedback of joint moment signals is completed in the same servo period, so that the moment feedforward quantity is modified in real time according to the joint moment value.
The feedforward compensation calculation is utilized to improve the position tracking precision of the robot joint under the condition of high-speed movement and the nonlinear effect generated by dynamic coupling and structural flexibility; the motion controller 1, the HAL equipment driving module 2, the servo controller 3, the servo motor 4, the joint torque sensor 5 and the dynamics feedforward module 6 are coordinated to operate, a feedforward value can be modified in real time, the control precision of the motion track of the robot is improved under the high-speed motion of the robot, and the dynamic response characteristic of the robot is improved.
In the above embodiment, the motion controller 1 performs trajectory planning and motion interpolation on the robot, and the motion controller 1 generates joint commands according to the trajectory planning and transmits the joint commands to the servo controller 3 through the HAL device driving module 2.
The motion controller 1 performs track planning and motion interpolation on the robot, so that the feedforward value can be modified in real time conveniently, and the control precision of the motion track of the robot is improved.
In the above embodiment, the servo controller 3 includes a position controller 3.1, a speed controller 3.2 and a current controller 3.3;
the position controller 3.1 receives the joint instruction, generates a regulation and control signal according to the joint instruction and transmits the regulation and control signal to the speed controller 3.2;
the speed controller 3.2 processes the control signal to obtain a speed signal, and transmits the speed signal to the current controller 3.3;
the current controller 3.3 processes the speed signal, generates a current signal and transmits the current signal to the servo motor 4, and the servo motor 4 operates according to the current signal; the current controller 3.3 also receives the moment feedforward quantity signal, processes the moment feedforward quantity and the current signal of the moment feedforward quantity signal, generates a superposed current signal and transmits the superposed current signal to the servo motor 4, and the servo motor 4 operates according to the superposed current signal.
The dynamic feedforward module 6 is used for establishing a dynamic model and establishing a feedforward compensation algorithm according to the dynamic model; the feed forward compensation algorithm is introduced into the HAL device driver module 2.
In the above embodiment, the feedforward compensation algorithm determines parameters of a dynamic model according to the rod mass data, the rod length data, and the inertia tensor data of the rod of the robot, and further determines a dynamic feedforward algorithm; the HAL equipment driving module 2 acquires joint corner data, angular velocity data and angular acceleration data according to the expected joint corner signal and the torque signal, and before the useCalculating by a feedback compensation algorithm to obtain the optimal moment of each joint of the robot to finish the planned track
(ii) a According to the optimum torque value
And the torque feedforward amount of the joint torque signal
Determining a torque feed forward quantity
。
In the above embodiment, the dynamic model specifically includes:
wherein
；
Wherein the content of the first and second substances,
: j-th joint best moment;
: the ith joint feedback moment;
: an inertia matrix;
: a homogeneous transformation matrix from a No. 0 coordinate system to a No. k coordinate system;
: the desired rotation angle of the ith joint of the robot;
: the desired angular velocity of the ith joint of the robot;
: the desired angular acceleration of the ith joint of the robot;
: the ith jointThe matrix of the moments of inertia,
: the expression of the gravity vector in coordinate system No. 0,
: the expression of the centroid of the bar member j in the coordinate system of number j.
The feedforward compensation calculation constructed by the dynamic model improves the position tracking precision of the robot joint under the condition of high-speed motion and the nonlinear effect generated by dynamic coupling and structural flexibility.
Example 2:
as shown in fig. 2, a torque feedforward control system includes a motion controller 1, a HAL device driving module 2, and a joint torque sensor 5;
the motion controller 1 is used for generating joint instructions and transmitting the joint instructions to the HAL equipment driving module 2;
the HAL equipment driving module 2 transmits joint instructions to the servo controller 3; the servo controller is also used for processing the joint expected rotation angle signal and the moment signal by utilizing a feedforward compensation algorithm to obtain a moment feedforward quantity signal and transmitting the moment feedforward quantity signal to the servo controller 3;
the servo controller 3 is used for controlling the servo motor 4 to control the joint robot to perform repetitive motion according to the joint instruction; and the servo motor 4 is regulated and controlled to operate according to the moment feedforward quantity signal and the joint instruction.
The joint torque sensor 5 is used for acquiring joint expected rotation angle signals and torque signals of the robot in the movement process and transmitting the joint expected rotation angle signals and the torque signals to the HAL equipment driving module 2.
According to the communication principle of the EtherCAT servo controller 3, an equipment driving module is constructed, the support of the EtherCAT servo controller 3 on speed and torque feedforward control is realized, the relation between PDO related to feedforward and joint speed and moment is verified, and a HAL equipment driving module 2 with an EtherCAT interface hardware board card is created; the method comprises the steps of realizing a comp file, finally compiling to generate a ko file, and dynamically loading the ko file into a kernel; the HAL file instantiates the designed HAL equipment driving module 2, makes pin connection of software and hardware, and adds the torque feedforward implementation function into a thread.
The moment feedforward quantity is output to the servo controller 3 through an EtherCAT real-time bus, and meanwhile, the feedback of joint moment signals is completed in the same servo period, so that the moment feedforward quantity is modified in real time according to the joint moment value.
The feedforward compensation calculation is utilized to improve the position tracking precision of the robot joint under the condition of high-speed movement and the nonlinear effect generated by dynamic coupling and structural flexibility; the motion controller 1, the HAL equipment driving module 2, the servo controller 3, the servo motor 4, the joint torque sensor 5 and the dynamics feedforward module 6 are coordinated to operate, a feedforward value can be modified in real time, the control precision of the motion track of the robot is improved under the high-speed motion of the robot, and the dynamic response characteristic of the robot is improved.
In the above embodiment, the motion controller 1 performs trajectory planning and motion interpolation on the robot, and the motion controller 1 generates joint commands according to the trajectory planning and transmits the joint commands to the servo controller 3 through the HAL device driving module 2.
The motion controller 1 performs track planning and motion interpolation on the robot, so that the feedforward value can be modified in real time conveniently, and the control precision of the motion track of the robot is improved.
In the above embodiment, the servo controller 3 includes a position controller 3.1, a speed controller 3.2 and a current controller 3.3;
the position controller 3.1 receives the joint instruction, generates a regulation and control signal according to the joint instruction and transmits the regulation and control signal to the speed controller 3.2;
the speed controller 3.2 processes the control signal to obtain a speed signal, and transmits the speed signal to the current controller 3.3;
the current controller 3.3 processes the speed signal, generates a current signal and transmits the current signal to the servo motor 4, and the servo motor 4 operates according to the current signal; the current controller 3.3 also receives the moment feedforward quantity signal, processes the moment feedforward quantity and the current signal of the moment feedforward quantity signal, generates a superposed current signal and transmits the superposed current signal to the servo motor 4, and the servo motor 4 operates according to the superposed current signal.
The dynamic feedforward module 6 is used for establishing a dynamic model and establishing a feedforward compensation algorithm according to the dynamic model; the feed forward compensation algorithm is introduced into the HAL device driver module 2.
In the above embodiment, the feedforward compensation algorithm determines parameters of a dynamic model according to the rod mass data, the rod length data, and the inertia tensor data of the rod of the robot, and further determines a dynamic feedforward algorithm; the HAL equipment driving module 2 acquires joint corner data, angular velocity data and angular acceleration data according to the joint expected corner signal and the moment signal, calculates by utilizing a feedforward compensation algorithm, and acquires the optimal moment for each joint of the robot to finish planning the track
(ii) a According to the optimum torque value
And the torque feedforward amount of the joint torque signal
Determining a torque feed forward quantity
。
In the above embodiment, the dynamic model specifically includes:
wherein
；
Wherein the content of the first and second substances,
: j-th joint best moment;
: the ith joint feedback moment;
: an inertia matrix;
: a homogeneous transformation matrix from a No. 0 coordinate system to a No. k coordinate system;
: the desired rotation angle of the ith joint of the robot;
: the desired angular velocity of the ith joint of the robot;
: the desired angular acceleration of the ith joint of the robot;
: the i-th joint inertia matrix is obtained,
: the expression of the gravity vector in coordinate system No. 0,
: the expression of the centroid of the bar member j in the coordinate system of number j.
The feedforward compensation calculation constructed by the dynamic model improves the position tracking precision of the robot joint under the condition of high-speed motion and the nonlinear effect generated by dynamic coupling and structural flexibility.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A torque feedforward control method, comprising the steps of:
step 1, a motion controller (1) generates a joint command and transmits the joint command to a servo controller (3) through an HAL equipment driving module (2), and the servo controller (3) controls a servo motor (4) to regulate and control a joint robot to perform repetitive motion according to the joint command;
step 2, collecting joint expected corner signals and moment signals of the robot in the movement process by using a joint moment sensor (5), and transmitting the collected joint expected corner signals and moment signals to an HAL equipment driving module (2);
step 3, the HAL equipment driving module (2) processes the joint expected rotation angle signal and the moment signal by using a feedforward compensation algorithm to obtain a moment feedforward quantity signal and transmits the moment feedforward quantity signal to the servo controller (3);
and 4, the servo controller (3) regulates and controls the servo motor (4) to operate according to the moment feedforward quantity signal and the joint instruction.
2. A torque feedforward control method as claimed in claim 1, characterized in that the motion controller (1) performs trajectory planning and motion interpolation on the robot, and the motion controller (1) generates joint commands according to the trajectory planning and transmits the joint commands to the servo controller (3) through the HAL device driver module (2).
3. A torque feedforward control method according to claim 2, characterized in that the servo controller (3) comprises a position controller (3.1), a speed controller (3.2) and a current controller (3.3);
the position controller (3.1) receives the joint instruction, generates a regulation and control signal according to the joint instruction and transmits the regulation and control signal to the speed controller (3.2);
the speed controller (3.2) processes the control signal to obtain a speed signal, and transmits the speed signal to the current controller (3.3);
the current controller (3.3) processes the speed signal, generates a current signal and transmits the current signal to the servo motor (4), and the servo motor (4) operates according to the current signal; the current controller (3.3) also receives a moment feedforward quantity signal, processes the moment feedforward quantity and the current signal of the moment feedforward quantity signal, generates a superposed current signal and transmits the superposed current signal to the servo motor (4), and the servo motor (4) operates according to the superposed current signal.
4. The torque feedforward control method according to claim 1, further comprising a dynamic feedforward module (6), wherein the dynamic feedforward module (6) establishes a dynamic model, and constructs a feedforward compensation algorithm according to the dynamic model; the feed forward compensation algorithm is introduced into the HAL device driver module (2).
5. A moment feedforward control method according to claim 4, wherein the feedforward compensation algorithm determines parameters of a dynamic model according to rod mass data, rod length data and inertia tensor data of a rod of the robot, and further determines a dynamic feedforward algorithm; the HAL equipment driving module (2) acquires joint corner data, angular velocity data and angular acceleration data according to the joint expected corner signal and the moment signal, and calculates by using a feedforward compensation algorithm to acquire the optimal moment of each joint of the robot to finish the planned track
(ii) a According to the optimum torque value
And the torque feedforward amount of the joint torque signal
Determining a torque feed forward quantity
。
6. A torque feedforward control method as claimed in claim 4 or 5, characterized in that the dynamic model is in particular:
wherein
；
Wherein the content of the first and second substances,
: j-th joint best moment;
: the ith joint feedback moment;
: an inertia matrix;
: a homogeneous transformation matrix from a No. 0 coordinate system to a No. k coordinate system;
: the desired rotation angle of the ith joint of the robot;
: the desired angular velocity of the ith joint of the robot;
: the desired angular acceleration of the ith joint of the robot;
: the i-th joint inertia matrix is obtained,
: the expression of the gravity vector in coordinate system No. 0,
: the expression of the centroid of the bar member j in the coordinate system of number j.
7. A moment feedforward control system is characterized by comprising a motion controller (1), an HAL equipment driving module (2), a servo controller (3), a servo motor (4) and a joint moment sensor (5);
the motion controller (1) is used for generating joint instructions and transmitting the joint instructions to the HAL equipment driving module (2);
the HAL equipment driving module (2) transmits joint instructions to a servo controller (3); the servo controller is also used for processing the joint expected rotation angle signal and the moment signal by utilizing a feedforward compensation algorithm to obtain a moment feedforward quantity signal and transmitting the moment feedforward quantity signal to the servo controller (3);
the servo controller (3) is used for controlling the servo motor (4) to control the joint robot to perform repetitive motion according to the joint instruction; and the servo motor (4) is regulated and controlled to operate according to the moment feedforward quantity signal and the joint instruction.
8. The joint torque sensor (5) is used for collecting joint expected rotation angle signals and torque signals of the robot in the movement process and transmitting the joint expected rotation angle signals and the torque signals to the HAL equipment driving module (2).
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| CN113561170A (en) * | 2020-04-29 | 2021-10-29 | 北京配天技术有限公司 | Robot torque compensation method, robot, device and storage medium |
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Application publication date: 20200306 Assignee: Fujian ruibu Intelligent Equipment Co.,Ltd. Assignor: QUANZHOU-HUST INTELLIGENT MANUFACTURING FUTURE Contract record no.: X2024350000041 Denomination of invention: A torque feedforward control system and method Granted publication date: 20210406 License type: Common License Record date: 20240402 |