CN111070237A - Integrated joint and integrated joint multi-sensor control system and method - Google Patents
Integrated joint and integrated joint multi-sensor control system and method Download PDFInfo
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- CN111070237A CN111070237A CN201911379689.2A CN201911379689A CN111070237A CN 111070237 A CN111070237 A CN 111070237A CN 201911379689 A CN201911379689 A CN 201911379689A CN 111070237 A CN111070237 A CN 111070237A
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 77
- 238000006073 displacement reaction Methods 0.000 claims description 23
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention relates to the technical field of robot control, in particular to an integrated joint and an integrated joint multi-sensor control system and method. The central control unit corrects the position information and the electrical angle information of the speed reducer by adopting the position information of the motor to obtain the corrected position information and the corrected electrical angle information, an incremental encoder arranged at the output shaft end of the motor has higher resolution, data measured by the incremental encoder is used for calibrating data measured by an absolute value encoder at the end of the speed reducer to obtain high-precision position information, a control signal is generated according to the corrected high-precision position information and sent to a driver, and the driver controls the motor to operate according to the control signal, so that the stable and accurate control of the integrated joint is realized.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an integrated joint and an integrated joint multi-sensor control system and method.
Background
The integrated joint has wide application scenes in the field of robots, so that how to realize accurate control of the integrated joint is very important. The existing integrated joint part adopts a single encoder and is arranged at the end of a motor, the accurate position of the output end of a speed reducer cannot be predicted when the motor is powered on, the actual full-closed-loop control is not true, and the control is not accurate enough.
Disclosure of Invention
The invention mainly solves the technical problem that the existing integrated joint is not accurate enough in control, and the embodiment provides the following technical scheme.
The integrated joint multi-sensor control system comprises an integrated joint and a control system, wherein the integrated joint comprises a motor, a speed reducer connected with an output shaft of the motor, and a driver electrically connected with the motor and a control end of the speed reducer; the control system comprises a central control unit, and a Hall sensor, an incremental encoder and an absolute value encoder which are respectively and electrically connected with the central control unit;
the Hall sensor is arranged on the motor electronics and used for measuring the electrical angle information of the motor;
the incremental encoder is arranged on an output shaft of the motor and used for measuring the position information of the motor;
the absolute value encoder is arranged on an output shaft of the speed reducer and used for measuring the position information of the speed reducer;
the central control unit is connected with the driver and used for correcting the position information and the electrical angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electrical angle information, generating a control signal according to the corrected position information and electrical angle information and sending the control signal to the driver, and the driver is used for controlling the motor to operate according to the control signal.
In one embodiment, the position information of the motor comprises electrical angle information and displacement information corresponding to a Z-phase signal of the incremental encoder;
the position information of the speed reducer comprises displacement information of an absolute value encoder;
the step of correcting the position information of the speed reducer by using the position information of the motor to obtain corrected position information comprises the following steps:
correcting the electrical angle information measured by the Hall sensor by adopting the electrical angle information corresponding to the Z-phase signal of the incremental encoder to obtain corrected electrical angle information; and correcting the position information measured by the absolute value encoder by adopting the displacement information corresponding to the Z-phase signal to obtain the corrected position information.
In one embodiment, the correcting the electrical angle information measured by the hall sensor by using the electrical angle information corresponding to the Z-phase signal includes:
acquiring an electrical angle value corresponding to a Z-phase signal of the incremental encoder, and adding the electrical angle value measured by the Hall sensor and the electrical angle value corresponding to the Z-phase signal to obtain a corrected electrical angle value;
the correcting the position information measured by the absolute value encoder by using the displacement information corresponding to the Z-phase signal to obtain the corrected position information includes:
when the Z-phase signal of the incremental encoder is detected, the position information recorded by the incremental encoder at the current moment is acquired, the position information recorded by the incremental encoder at the initial moment of the absolute value encoder and the position information recorded by the incremental encoder at the current moment are added to be used as corrected position information, and the corrected position information is used as the current position information of the absolute value encoder.
The integrated joint control method comprises the steps that the integrated joint comprises a motor, a speed reducer connected with an output shaft of the motor and a driver electrically connected with the motor and a control end of the speed reducer; the control method comprises the following steps:
acquiring electrical angle information of the motor by using a Hall sensor;
acquiring position information of the motor by adopting an incremental encoder;
acquiring position information of the speed reducer by adopting an absolute value encoder;
and correcting the position information and the electrical angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electrical angle information, and generating a control signal according to the corrected position information and electrical angle information to control the motor to operate.
In one embodiment, the position information of the motor comprises electrical angle information and displacement information corresponding to a Z-phase signal of the incremental encoder;
the position information of the speed reducer comprises displacement information of an absolute value encoder;
the step of correcting the position information of the speed reducer by using the position information of the motor to obtain corrected position information comprises the following steps:
correcting the electrical angle information measured by the Hall sensor by adopting the electrical angle information corresponding to the Z-phase signal to obtain corrected electrical angle information; and correcting the position information measured by the absolute value encoder by adopting the displacement information corresponding to the Z-phase signal to obtain the corrected position information.
An integrated joint comprising a multi-sensor control system as described above.
The integrated joint comprises a motor, a speed reducer, a driver and a braking device, wherein the speed reducer and the braking device are both arranged on an output shaft of the motor, and the driver is electrically connected with a control end of the motor; the device is characterized by also comprising a Hall sensor, a first position sensor, a second position sensor and a central control unit;
the Hall sensor is arranged on the motor electronics and used for measuring the electrical angle information of the motor;
the first position sensor is arranged on an output shaft of the motor and used for measuring the position information of the motor;
the second position sensor is arranged on an output shaft of the speed reducer and used for measuring the position information of the speed reducer;
the central control unit is connected with the driver and used for correcting the position information and the electrical angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electrical angle information, generating a control signal according to the corrected position information and electrical angle information and sending the control signal to the driver, and the driver is used for controlling the motor to operate according to the control signal.
In one embodiment, the brake device further comprises an installation shell, the motor is fixedly installed in the installation shell, the speed reducer is sleeved on the first end of the output shaft of the motor, and the brake device is sleeved on the second end of the output shaft of the motor.
In one embodiment, the motor further comprises an end cover, the end cover is arranged at the end of the first end of the output shaft of the motor, and the periphery of the end cover and the first end of the mounting shell are matched for sealing the first end of the mounting shell.
In one embodiment, the first position sensor is an incremental encoder, the second position sensor is an absolute encoder, the incremental encoder is disposed on the second end of the output shaft of the motor, and the absolute encoder is disposed on the output shaft of the reducer.
According to the integrated joint multi-sensor control system of the embodiment, the central control unit corrects the position information and the electrical angle information of the speed reducer by adopting the position information of the motor to obtain the corrected position information and the corrected electrical angle information, wherein the incremental encoder arranged at the output shaft end of the motor has higher resolution, the data measured by the incremental encoder is used for calibrating the data measured by the absolute value encoder at the end of the speed reducer to obtain high-precision position information, a control signal is generated according to the corrected high-precision position information and is sent to the driver, and the driver controls the motor to operate according to the control signal, so that the stable and accurate control of the integrated joint is realized.
Drawings
FIG. 1 is a schematic structural diagram of a control system according to an embodiment of the present application;
FIG. 2 is a flow chart of a control method according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating a control method according to an embodiment of the present disclosure;
fig. 4 is a schematic structural view of an integrated joint according to an embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning.
In the embodiment of the invention, based on a multi-sensor system consisting of a Hall sensor, an incremental encoder and an absolute value encoder, the high-precision characteristic of the incremental encoder is adopted, the position information recorded by the absolute value encoder and the electric angle information recorded by the Hall sensor are corrected in real time by acquiring the position signal and the electric angle information which are detected by the incremental encoder corresponding to the Z-phase signal (also called zero-crossing signal), the position information and the electric angle information recorded last time in a storage module are updated in real time by adopting the corrected position information and the electric angle information, and a central control unit controls a motor based on the corrected position information and the electric angle information, so that the high-precision and stable control of an integrated joint is realized.
The first embodiment is as follows:
the present embodiment provides an integrated joint multi-sensor control system, wherein the integrated joint includes a motor, a speed reducer 106 connected to an output shaft of the motor 107, and a driver 105 electrically connected to control terminals of the motor 107 and the speed reducer 106. The multi-sensor control system comprises a central control unit 104, and a hall sensor 101, an incremental encoder 102 and an absolute value encoder 103 which are electrically connected with the central control unit respectively.
Among them, the hall sensor 101 is provided on the electronics of the motor 107 for measuring electrical angle information of the motor. The hall sensor 101 can feed back the electrical angular position of the motor 107, the hall determined electrical angle being a coarse electrical angle and the zero crossing signal being a specific electrical angle. The zero-crossing signal of a common motor corresponds to the electric angle zero position of the motor, and after the zero-crossing signal is detected, the electric angle value measured by the Hall sensor is directly assigned to be 0. When the electrical angle of the motor 107 is changed by 0-360 degrees, the Hall signal measured by the Hall sensor 101 outputs 6 combined signals in total, and each signal lasts for 60 degrees. Therefore, the rough position of the electrical angle of the motor can be roughly estimated according to the value of the Hall signal.
In a specific working process, as shown in fig. 3, when the power is turned on, the value of the hall sensor 101, the count of the incremental encoder 102, the zero-crossing signal of the incremental encoder 102, and the value of the single-turn absolute encoder 103 are read. From the hall signal values, the approximate electrical angle is determined. Outputting three-phase UVW by a Hall signal, and calculating a Hall (Hall value) value as gHallValue (electric angle) ═ 4U + 2V + W; with the increase of the electrical angle from 0-360 degrees, the change rule of the Hall value is 1-3-2-6-5-4, a table is established according to the change rule, and the approximate electrical angle is calculated as follows:
| Hall | 1 | 2 | 3 | 4 | 5 | 6 |
| electric angle | 0 | 120 | 60 | 300 | 240 | 180 |
Because every group hall value has corresponded 60 degrees electrical angle, read and take the median as electrical angle after the hall value, for example read that the electrical angle that the hall value corresponds is 60 degrees, then take 30 degrees as electrical angle, consequently electrical angle error is positive and negative 30 degrees, can satisfy the initial positioning demand. The electrical angle measured by the hall sensor 101 is recorded, and the intermediate value of the electrical angle is taken as the electrical angle information measured by the hall sensor 101.
The incremental encoder 102 is disposed on an output shaft of the motor 107, that is, on a rotor of the motor 107, and is used for measuring position information of the motor 107. When the incremental encoder 102 is used for controlling the motor 107, data recorded after each power-on is cleared, and the incremental encoder is mainly used for controlling a speed loop and a current loop. The zero-crossing signal (i.e., Z-phase signal) of the incremental encoder (also called incremental optical encoder) can be used to calibrate the electrical angle of the motor 107, and can also be used to calibrate the absolute position subdivision. The zero-crossing signal of a common motor corresponds to the electric angle zero position of the motor, and after the zero-crossing signal is detected, the electric angle value measured by the Hall sensor is directly assigned to be 0.
The absolute value encoder 103 is disposed on an output shaft of the speed reducer 106, and is used for measuring position information of the speed reducer. In the embodiment, a single-turn absolute value encoder 106 is adopted for full closed-loop control of the output end, so that the accuracy of the whole control flow is ensured.
During the movement, the position control uses an incremental encoder 102 arranged at the output end of a motor 107 and an absolute value encoder 103 arranged at the output end of a speed reducer 106. In the case of an integrated joint, the reduction ratio is generally about 100 in order to ensure sufficient torque output. In this case, the incremental encoder at the output of the motor 107 can achieve higher resolution, with higher accuracy than the single-turn absolute encoder 103 at the output of the reducer 106.
The central control unit 104 is connected to the driver 105, and is configured to correct the position information and the electrical angle information of the speed reducer 106 measured by the absolute value encoder 106 using the position information of the motor to obtain corrected position information and electrical angle information, and generate a control signal according to the corrected position information and electrical angle information, and send the control signal to the driver 105, where the driver 105 is configured to control the motor 107 to operate according to the control signal. The central control unit 104 may employ an MCU (micro control unit).
The position information of the motor 107 measured by the incremental encoder 102 includes electrical angle information and displacement information corresponding to the Z-phase signal of the incremental encoder 102, and the displacement information is embodied as a pulse number.
The position information of the speed reducer 106 measured by the absolute value encoder 103 includes displacement information of the absolute value encoder 103.
The step of correcting the position information of the speed reducer 106 by using the position information of the motor 107 to obtain corrected position information includes:
correcting the electrical angle information measured by the Hall sensor 101 by adopting the electrical angle information corresponding to the Z-phase signal of the incremental encoder to obtain corrected electrical angle information; and correcting the position information measured by the absolute value encoder 103 by using the displacement information corresponding to the Z-phase signal to obtain corrected position information.
Specifically, the electrical angle information measured by the hall sensor is corrected by adopting the electrical angle information corresponding to the Z-phase signal, and the corrected electrical angle information includes:
and acquiring an electrical angle value corresponding to the Z-phase signal of the incremental encoder 102, and adding the electrical angle value measured by the Hall sensor and the electrical angle value corresponding to the Z-phase signal to obtain a corrected electrical angle value.
The step of correcting the position information measured by the absolute value encoder 103 by using the displacement information corresponding to the Z-phase signal of the incremental encoder 102 to obtain the corrected position information includes:
when the Z-phase signal of the incremental encoder 102 is detected, the position information recorded by the incremental encoder 102 at the current time is acquired, the position information recorded at the initial time of the absolute value encoder 103 is added to the position information recorded by the incremental encoder 102 at the current time to be corrected position information, and the corrected position information is used as the current position information of the absolute value encoder. For example, the incremental encoder at the output end of the motor is a 5000-wire incremental encoder 102, and the output end of the speed reducer 106 is a 17-bit single-turn absolute value encoder 103. For each rotation of the output end (i.e. output shaft) of the motor 107, the incremental encoder 102 at the end of the motor 107 generates 5000 × 4 × 100 units of pulses, i.e. 2000000 units of pulses; the incremental encoder 102 at the output of the motor 107 produces 2 < Lambda > 17 units, 131072 pulse units. Obviously, higher control accuracy can be achieved by using the incremental encoder 102 at the motor end for position control. However, since the output end from the motor end to the speed reducer 106 passes through the absolute value encoder 103, the output end of the motor 107 passes through the speed reducer 106, the speed reducer 106 is of a flexible structure, the position of the output end of the motor 107 and the position of the output end of the speed reducer 106 have deviation, and the accuracy of the output end cannot be completely and accurately fed back, two data are integrated into one data by utilizing the two encoder data to perform data fusion, the characteristics of the two encoder data are integrated into the fused data, the resolution ratio can be improved, and the position of the output end of the speed reducer 106 can be fed back. That is, the motor position is corrected by the above method, and the position of the motor 107 is controlled based on the corrected position, thereby achieving higher control accuracy.
Position calibration is performed using the incremental encoder 102 zero crossing signal. Because the incremental encoder 102 has no pulse counting when being electrified, the incremental encoder does not work when being fused with the single-turn absolute value encoder 103, and the position precision is determined by the precision of the single-turn absolute value encoder. In the method, double-encoder fusion data corresponding to a zero-crossing signal of a photoelectric encoder is confirmed when the integrated joint is subjected to factory calibration and is stored in a storage medium, and when the zero-crossing signal is detected, a position offset can be added on the basis of the position recorded last time, so that position precision calibration is realized. In the method, the data fusion of the two encoders is realized by adopting extended Kalman filtering, and the fused data is used as position control.
The electrical angle calibration is performed by using the zero-crossing signal (i.e., the Z-phase signal) of the incremental encoder 102, the electrical angle corresponding to the zero-crossing signal of the incremental encoder 102 is specific, the corresponding value can be identified in advance and stored in a storage medium, when the zero-crossing signal is detected, an electrical angle offset is added on the basis of the electrical angle recorded last time, the electrical angle is calibrated to the specific value, the calibration of the electrical angle is completed, and more accurate electrical angle control is realized.
Example two:
the present embodiment provides a method for controlling an integrated joint including a motor 107, a speed reducer 106 connected to an output shaft of the motor 107, and a driver 105 electrically connected to control terminals of the motor 107 and the speed reducer 106. Referring to fig. 2, the control method includes:
step 201: acquiring electrical angle information of a motor 107 by using a Hall sensor 101;
step 202: acquiring position information of the motor 107 by adopting the incremental encoder 102;
step 203: acquiring position information of a speed reducer 106 by using an absolute value encoder 103;
step 204: and correcting the position information and the electrical angle information of the speed reducer by using the position information of the motor 107 to obtain corrected position information and electrical angle information, and generating a control signal to the driver 105 according to the corrected position information and electrical angle information, wherein the driver 105 is used for controlling the motor to operate according to the control signal.
The position information of the motor 107 includes electrical angle information and displacement information corresponding to the Z-phase signal of the incremental encoder 102; the position information of the speed reducer 106 includes displacement information of an absolute value encoder.
Wherein, the position information of adopting the motor to carry out the correction to the position information of speed reducer and obtaining the position information after the correction includes:
correcting the electrical angle information measured by the Hall sensor by adopting the electrical angle information corresponding to the Z-phase signal to obtain corrected electrical angle information; and correcting the position information measured by the absolute value encoder by adopting the displacement information corresponding to the Z-phase signal to obtain the corrected position information.
The step of correcting the position information of the speed reducer 106 by using the position information of the motor 107 to obtain corrected position information includes:
correcting the electrical angle information measured by the Hall sensor 101 by adopting the electrical angle information corresponding to the Z-phase signal of the incremental encoder to obtain corrected electrical angle information; and correcting the position information measured by the absolute value encoder 103 by using the displacement information corresponding to the Z-phase signal to obtain corrected position information.
Specifically, the electrical angle information measured by the hall sensor is corrected by adopting the electrical angle information corresponding to the Z-phase signal, and the corrected electrical angle information includes:
and acquiring an electrical angle value corresponding to the Z-phase signal of the incremental encoder 102, and adding the electrical angle value measured by the Hall sensor and the electrical angle value corresponding to the Z-phase signal to obtain a corrected electrical angle value.
EXAMPLE III
The embodiment provides an integrated joint, which comprises the multi-sensor control system provided in embodiment 1, and is matched with various encoders based on the system, so that the integrated joint is controlled stably with high precision.
Example four
The embodiment provides an integrated joint, as shown in fig. 4, which includes a motor 107, a speed reducer 106, a driver and a braking device 1010, wherein the speed reducer 106 and the braking device 1010 are both mounted on an output shaft of the motor 107, and the driver 105 is electrically connected with a control end of the motor 107.
Further, the integrated joint further includes a hall sensor 101, a first position sensor, a second position sensor, and a central control unit 104.
Wherein, the hall sensor 101 is arranged on the electronics of the motor 107 and is used for measuring the electrical angle information of the motor 107; a first position sensor is provided on the output shaft of the motor 107 for measuring position information of the motor 107; the second position sensor is provided on the output shaft of the reduction gear 106, and is used for measuring position information of the reduction gear 106.
The central control unit 104 is connected to the driver 105, and is configured to correct the position information and the electrical angle information of the speed reducer 106 by using the position information of the motor 107 to obtain corrected position information and electrical angle information, and generate a control signal according to the corrected position information and electrical angle information, and send the control signal to the driver 105, where the driver 105 is configured to control the operation of the motor 107 according to the control signal. The specific calibration method is the same as that in the above embodiments, and is not described herein again.
Further, the integrated joint further comprises a mounting shell, the motor 107 is fixedly mounted in the mounting shell 108, the harmonic reducer is sleeved on a first end of an output shaft of the motor 107, and the reducer 106 and the braking device are sleeved on a second end of the output shaft of the motor 107.
The integrated joint further includes an end cover 109, the end cover 109 is disposed at an end of the first end of the output shaft of the motor 107, the periphery of the end cover 109 and the first end of the mounting housing are matched for sealing the first end of the mounting housing 108, for example, the end cover 109 may be connected to the end of the mounting housing 108 through a thread or a bolt, so as to seal the mounting housing 108.
In this embodiment, the first position sensor is an incremental encoder 102, the second position sensor is an absolute value encoder 103, the incremental encoder 102 is disposed at the second end of the output shaft of the motor 107, and the absolute value encoder 103 is disposed on the output shaft of the speed reducer 106, specifically, on the output flange of the speed reducer 106.
The reducer 106 in this embodiment is a harmonic reducer, and an output shaft (not shown) of the reducer 106 is connected to the absolute value encoder 103.
The central control unit 104 of this embodiment selects an MCU (micro control unit), and the central control unit 104 calibrates the position and the electrical angle of the motor based on the data measured by the various encoders of the system, thereby achieving high-precision and stable control of the integrated joint.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. The integrated joint multi-sensor control system comprises an integrated joint and a control system, wherein the integrated joint comprises a motor, a speed reducer connected with an output shaft of the motor, and a driver electrically connected with the motor and a control end of the speed reducer; the control system is characterized by comprising a central control unit, and a Hall sensor, an incremental encoder and an absolute value encoder which are respectively and electrically connected with the central control unit;
the Hall sensor is arranged on the motor electronics and used for measuring the electrical angle information of the motor;
the incremental encoder is arranged on an output shaft of the motor and used for measuring the position information of the motor;
the absolute value encoder is arranged on an output shaft of the speed reducer and used for measuring the position information of the speed reducer;
the central control unit is connected with the driver and used for correcting the position information and the electrical angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electrical angle information, generating a control signal according to the corrected position information and electrical angle information and sending the control signal to the driver, and the driver is used for controlling the motor to operate according to the control signal.
2. The multi-sensor control system of claim 1, wherein the position information of the motor includes electrical angle information and displacement information corresponding to a Z-phase signal of the incremental encoder;
the position information of the speed reducer comprises displacement information of an absolute value encoder;
the step of correcting the position information of the speed reducer by using the position information of the motor to obtain corrected position information comprises the following steps:
correcting the electrical angle information measured by the Hall sensor by adopting the electrical angle information corresponding to the Z-phase signal of the incremental encoder to obtain corrected electrical angle information; and correcting the position information measured by the absolute value encoder by adopting the displacement information corresponding to the Z-phase signal to obtain the corrected position information.
3. The multi-sensor control system according to claim 2, wherein the correcting the electrical angle information measured by the hall sensor using the electrical angle information corresponding to the Z-phase signal comprises:
acquiring an electrical angle value corresponding to a Z-phase signal of the incremental encoder, and adding the electrical angle value measured by the Hall sensor and the electrical angle value corresponding to the Z-phase signal to obtain a corrected electrical angle value;
the correcting the position information measured by the absolute value encoder by using the displacement information corresponding to the Z-phase signal to obtain the corrected position information includes:
when the Z-phase signal of the incremental encoder is detected, the position information recorded by the incremental encoder at the current moment is acquired, the position information recorded by the incremental encoder at the initial moment of the absolute value encoder and the position information recorded by the incremental encoder at the current moment are added to be used as corrected position information, and the corrected position information is used as the current position information of the absolute value encoder.
4. The integrated joint control method comprises the steps that the integrated joint comprises a motor, a speed reducer connected with an output shaft of the motor and a driver electrically connected with the motor and a control end of the speed reducer; the control method is characterized by comprising the following steps:
acquiring electrical angle information of the motor by using a Hall sensor;
acquiring position information of the motor by adopting an incremental encoder;
acquiring position information of the speed reducer by adopting an absolute value encoder;
and correcting the position information and the electrical angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electrical angle information, and generating a control signal according to the corrected position information and electrical angle information to control the motor to operate.
5. The integrated joint control method according to claim 4, wherein the position information of the motor includes electrical angle information and displacement information corresponding to a Z-phase signal of the incremental encoder;
the position information of the speed reducer comprises displacement information of an absolute value encoder;
the step of correcting the position information of the speed reducer by using the position information of the motor to obtain corrected position information comprises the following steps:
correcting the electrical angle information measured by the Hall sensor by adopting the electrical angle information corresponding to the Z-phase signal to obtain corrected electrical angle information; and correcting the position information measured by the absolute value encoder by adopting the displacement information corresponding to the Z-phase signal to obtain the corrected position information.
6. An integrated joint comprising a multi-sensor control system according to any of claims 1-3.
7. The integrated joint comprises a motor, a speed reducer, a driver and a braking device, wherein the speed reducer and the braking device are both arranged on an output shaft of the motor, and the driver is electrically connected with a control end of the motor; the device is characterized by also comprising a Hall sensor, a first position sensor, a second position sensor and a central control unit;
the Hall sensor is arranged on the motor electronics and used for measuring the electrical angle information of the motor;
the first position sensor is arranged on an output shaft of the motor and used for measuring the position information of the motor;
the second position sensor is arranged on an output shaft of the speed reducer and used for measuring the position information of the speed reducer;
the central control unit is connected with the driver and used for correcting the position information and the electrical angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electrical angle information, generating a control signal according to the corrected position information and electrical angle information and sending the control signal to the driver, and the driver is used for controlling the motor to operate according to the control signal.
8. The integrated joint of claim 7, further comprising a mounting housing, wherein the motor is fixedly mounted in the mounting housing, the speed reducer is sleeved on a first end of an output shaft of the motor, and the brake device is sleeved on a second end of the output shaft of the motor.
9. The integrated joint of claim 8, further comprising an end cap disposed at an end of the first end of the output shaft of the motor, the end cap and the first end of the mounting housing cooperating to seal the first end of the mounting housing.
10. The integrated joint of claim 9, wherein the first position sensor is an incremental encoder and the second position sensor is an absolute encoder, the incremental encoder being disposed on the second end of the output shaft of the motor and the absolute encoder being disposed on the output shaft of the reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111890410A (en) * | 2020-07-01 | 2020-11-06 | 北京工业大学 | Drive and control integrated cooperative robot joint with running state monitoring function |
| CN112923953A (en) * | 2021-01-28 | 2021-06-08 | 北京比得机器人科技有限公司 | Robot motor positioning method |
| CN113746274A (en) * | 2021-08-23 | 2021-12-03 | 浙江锐鹰传感技术有限公司 | Motor using double incremental encoder and encoding method thereof |
| CN113765302A (en) * | 2021-08-23 | 2021-12-07 | 浙江锐鹰传感技术有限公司 | Motor using dual encoders and encoding method thereof |
| CN114734436A (en) * | 2022-03-24 | 2022-07-12 | 苏州艾利特机器人有限公司 | Robot encoder calibration method and device and robot |
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| CN114734436B (en) * | 2022-03-24 | 2023-12-22 | 苏州艾利特机器人有限公司 | Robot encoder calibration method and device and robot |
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