CN111070237B - 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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- CN111070237B CN111070237B CN201911379689.2A CN201911379689A CN111070237B CN 111070237 B CN111070237 B CN 111070237B CN 201911379689 A CN201911379689 A CN 201911379689A CN 111070237 B CN111070237 B CN 111070237B
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 80
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 238000007789 sealing Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 3
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Classifications
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Manipulator (AREA)
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, wherein the system comprises a central control unit, a Hall sensor, an incremental encoder and an absolute value encoder which are respectively and electrically connected with the central control unit, and the incremental encoder and the absolute value encoder are respectively used for collecting position information of a motor and a speed reducer. The central control unit corrects the position information and the electric angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electric angle information, an 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 stable and precise 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 important. The existing integrated joint part adopts a single encoder, is installed at a motor end, cannot predict the accurate position of the output end of the speed reducer when the power is on, is not actually full-closed loop control in the true sense, and is not accurate enough in control.
Disclosure of Invention
The invention mainly solves the technical problem that the existing integrated joint control is not accurate enough, and the embodiment provides the following technical scheme.
The integrated joint multi-sensor control system comprises a motor, a speed reducer connected with an output shaft of the motor, and a driver electrically connected with control ends of the motor and the speed reducer; the control system comprises a central control unit, 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 a stator of the motor and is used for measuring electric angle information of the motor;
the incremental encoder is arranged on an output shaft of the motor and is used for measuring the position information of the motor;
the absolute value encoder is arranged on an output shaft of the speed reducer and is used for measuring the position information of the speed reducer;
the central control unit is connected with the driver and is used for correcting the position information and the electric angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electric angle information, generating a control signal according to the corrected position information and electric 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 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 correcting the position information of the speed reducer by adopting 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 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 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, to obtain corrected electrical angle information 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 adopting the displacement information corresponding to the Z phase signal, and obtaining corrected position information comprises the following steps:
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 is added with the position information recorded by the incremental encoder at the current moment 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 comprises a motor, a speed reducer connected with an output shaft of the motor, and a driver electrically connected with control ends of the motor and the speed reducer; the control method comprises the following steps:
acquiring electric angle information of the motor by adopting a Hall sensor;
acquiring the 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 electric angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electric angle information, and generating a control signal to control the motor to operate according to the corrected position information and electric angle information.
In one embodiment, 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 correcting the position information of the speed reducer by adopting 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 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 further comprising a Hall sensor, a first position sensor, a second position sensor and a central control unit;
the Hall sensor is arranged on a stator of the motor and is used for measuring electric angle information of the motor;
the first position sensor is arranged on an output shaft of the motor and used for measuring position information of the motor;
the second position sensor is arranged on an output shaft of the speed reducer and is used for measuring position information of the speed reducer;
the central control unit is connected with the driver and is used for correcting the position information and the electric angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electric angle information, generating a control signal according to the corrected position information and electric 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 motor is fixedly installed in the installation shell, the speed reducer is sleeved on a first end of an output shaft of the motor, and the braking device is sleeved on a second end of the output shaft of the motor.
In one embodiment, the motor further comprises an end cover, wherein the end cover is arranged at the end part of the first end of the output shaft of the motor, and the periphery of the end cover is matched with the first end of the mounting shell to seal the first end of the mounting shell.
In one embodiment, the first position sensor is an incremental encoder and the second position sensor is an absolute value encoder, the incremental encoder being disposed on the second end of the output shaft of the motor and the absolute value encoder being disposed on the output shaft of the speed 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 corrected position information and electrical angle information, wherein an incremental encoder arranged at the output shaft end of the motor has higher resolution, data measured by the incremental encoder are used for calibrating data measured by an absolute value encoder at the speed reducer end to obtain high-precision position information, a control signal is generated according to the corrected high-precision position information and sent to the driver, and the driver controls the motor to operate according to the control signal, so that stable and accurate control of the integrated joint is realized.
Drawings
FIG. 1 is a schematic 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 control method workflow diagram of an embodiment of the present application;
fig. 4 is a schematic view of an integrated joint structure according to an embodiment of the present application.
Detailed Description
The invention will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, some operations associated with the present application have not been shown or described in the specification to avoid obscuring the core portions of the present application, and may not be necessary for a person skilled in the art to describe in detail the relevant operations based on the description herein and the general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects 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 corresponding to the detected position signal and the detected electric angle information of a Z-phase signal (also called zero crossing signal) of the incremental encoder, the position information and the electric angle information recorded by the Hall sensor are updated in real time by adopting the corrected position information and the electric angle information, and the central control unit controls the motor based on the corrected position information and the corrected electric angle information, so that the high-precision and stable control of the integrated joint is realized.
Embodiment one:
the present embodiment provides an integrated joint multi-sensor control system, 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 ends of the motor 107 and the speed reducer 106. The multi-sensor control system includes a central control unit 104, and a hall sensor 101, an incremental encoder 102, and an absolute value encoder 103 electrically connected thereto, respectively.
Wherein the hall sensor 101 is arranged on the stator of the motor 107 for measuring electrical angle information of the motor. The hall sensor 101 may feed back the electrical angle position of the motor 107, the hall determined electrical angle being a rough electrical angle and the zero crossing signal determining a specific electrical angle. The zero crossing signals of the general motor correspond to the zero position of the electrical angle of the motor, and after the zero crossing signals are detected, the electrical angle value measured by the Hall sensor is directly assigned to be 0. When the electric angle of the motor 107 changes by 0-360 degrees, 6 combined signals are output by the Hall signals measured by the Hall sensor 101, and each signal lasts for 60 degrees. Therefore, the rough position of the motor electrical angle can be approximately calculated according to the value of the hall signal.
In a specific operation, as shown in fig. 3, the values of the hall sensor 101, the count of the incremental encoder 102, the zero-crossing signal of the incremental encoder 102 and the absolute value encoder 103 of a single turn are read during power-up. The approximate electrical angle is determined by the hall signal value. The Hall signal outputs three-phase UVW, assuming that Hall value is calculated as gchalval value= 4*U + 2*V +w; along with the increase of the electric angle from 0 to 360 degrees, the change rule of the Hall value is 1-3-2-6-5-4, a table lookup is established according to the rule, and the approximate electric angle is calculated as follows:
| Hall | 1 | 2 | 3 | 4 | 5 | 6 |
| electric angle | 0 | 120 | 60 | 300 | 240 | 180 |
As each group of Hall values corresponds to an electric angle of 60 degrees, the middle value is taken as the electric angle after the Hall values are read, for example, 30 degrees are taken as the electric angle when the electric angle corresponding to the Hall values is read to be 60 degrees, so that the electric angle error is plus or minus 30 degrees, and the initial positioning requirement can be met. The electric angle measured by the hall sensor 101 is recorded, and the intermediate value of the electric angle is taken as electric angle information measured by the hall sensor 101.
Wherein the incremental encoder 102 is arranged on the output shaft of the motor 107, i.e. on the rotor of the motor 107, for measuring the position information of the motor 107. When the incremental encoder 102 is used for controlling the motor 107, the recorded data is cleared after each power-on, 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 the incremental optical encoder) itself can be used to calibrate the electrical angle of motor 107 while simultaneously achieving calibration of absolute position subdivision. The zero crossing signals of the general motor correspond to the zero position of the electrical angle of the motor, and after the zero crossing signals are detected, the electrical angle value measured by the Hall sensor is directly assigned to be 0.
Wherein the absolute value encoder 103 is provided on an output shaft of the speed reducer 106 for measuring position information of the speed reducer. In this embodiment, a single-turn absolute value encoder 106 is used for full-closed loop control of the output end, so as to ensure the accuracy of the whole control flow.
During the movement, the position control uses an incremental encoder 102 arranged at the output end of a motor 107 and an absolute encoder 103 arranged at the output end of a speed reducer 106. For 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 a higher resolution with a higher accuracy than the single-turn absolute value encoder 103 at the output of the speed 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 by using the position information of the motor, obtain corrected position information and electrical angle information, 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 specifically expressed as the pulse number.
Wherein 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 correcting the position information of the speed reducer 106 by using the position information of the motor 107 includes:
correcting the electrical angle information measured by the Hall sensor 101 by adopting 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 adopting 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 comprises:
the electrical angle value corresponding to the Z-phase signal of the incremental encoder 102 is acquired, and the electrical angle value measured by the hall sensor is added to the electrical angle value corresponding to the Z-phase signal as a corrected electrical angle value.
Correcting the position information measured by the absolute value encoder 103 using displacement information corresponding to the Z-phase signal of the incremental encoder 102, the corrected position information including:
when the Z-phase signal of the incremental encoder 102 is detected, the position information recorded by the current-time incremental encoder 102 is acquired, the position information recorded by the absolute-value encoder 103 at the initial time is added to the position information recorded by the current-time incremental encoder 102 as 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. Every time the output end (i.e., output shaft) of the motor 107 moves for one turn, the incremental encoder 102 at the end of the motor 107 generates 5000×4×100 pulse units, i.e., 2000000 pulse units; the incremental encoder 102 at the output of the motor 107 generates 2-17 units, i.e., 131072 pulse units. Obviously, higher control accuracy can be achieved by using the motor-side incremental encoder 102 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 deviate, and the accuracy of the output end cannot be completely and accurately fed back, so that the two encoder data are utilized to perform data fusion, the two data are integrated into one data, and the fused data integrate the characteristics of the two encoder data, so that the resolution 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 motor 107 position control is performed with the corrected position as a reference, so that higher control accuracy can be realized.
The incremental encoder 102 is used for position calibration of the zero crossing signal. Since the incremental encoder 102 has no pulse count at power up, it does not function when it is fused with the single-turn absolute value encoder 103, and the position accuracy is simply determined by the single-turn absolute value encoder accuracy. In the method, double encoder fusion data corresponding to the zero crossing signal of the photoelectric encoder are confirmed when the integrated joint leaves the factory and calibrated, and are stored in a storage medium, when the zero crossing signal is detected, a position offset can be added on the basis of the position recorded last time, and the position accuracy calibration is realized. In the method, the data fusion of 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., 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 the storage medium, when the zero crossing signal is detected, an electrical angle bias is added on the basis of the last recorded electrical angle, the electrical angle is calibrated to a specific value, the calibration of the electrical angle is completed, and more accurate electrical angle control is realized.
Embodiment two:
the present embodiment provides an integrated joint control method, which includes a motor 107, a speed reducer 106 connected to an output shaft of the motor 107, and a driver 105 electrically connected to control ends of the motor 107 and the speed reducer 106. Referring to fig. 2, the control method includes:
step 201: acquiring electrical angle information of the motor 107 by using the Hall sensor 101;
step 202: acquiring position information of the motor 107 by using an incremental encoder 102;
step 203: acquiring position information of a speed reducer 106 by using an absolute value encoder 103;
step 204: the position information and the electrical angle information of the speed reducer are corrected by using the position information of the motor 107 to obtain corrected position information and electrical angle information, and a control signal is generated according to the corrected position information and electrical angle information to the driver 105, and the driver 105 is used for controlling the motor to operate according to the control signal.
Wherein 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 positional information of the speed reducer 106 includes displacement information of the absolute value encoder.
The method for correcting the position information of the speed reducer by adopting 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 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 displacement information corresponding to the Z-phase signal to obtain corrected position information.
The correcting the position information of the speed reducer 106 by using the position information of the motor 107 includes:
correcting the electrical angle information measured by the Hall sensor 101 by adopting 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 adopting 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 comprises:
the electrical angle value corresponding to the Z-phase signal of the incremental encoder 102 is acquired, and the electrical angle value measured by the hall sensor is added to the electrical angle value corresponding to the Z-phase signal as a corrected electrical angle value.
Example III
The embodiment provides an integrated joint, which comprises the multi-sensor control system provided by the embodiment 1, and is used together with various encoders based on the system, so that high-precision and stable control of the integrated joint is realized.
Example IV
The present embodiment provides an integrated joint, as shown in fig. 4, which includes a motor 107, a speed reducer 106, a driver and a brake 1010, wherein the speed reducer 106 and the brake 1010 are both installed 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 comprises 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 a stator of the motor 107 and is used for measuring electrical angle information of the motor 107; the first position sensor is arranged on an output shaft of the motor 107 and is used for measuring position information of the motor 107; the second position sensor is provided on the output shaft of the speed reducer 106 for measuring the position information of the speed 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 by using the position information of the motor 107, obtain corrected position information and electrical angle information, 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 specific correction method is the same as that in the above embodiment, and will not be described here 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 comprises an end cover 109, the end cover 109 is arranged at the end part of the first end of the output shaft of the motor 107, the periphery of the end cover 109 is matched with the first end of the installation shell 108 for sealing, for example, the end cover 109 can be connected with the end part of the installation shell 108 through threads or bolts, and sealing of the installation shell 108 is achieved.
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 a second end of an output shaft of the motor 107, and the absolute value encoder 103 is disposed on an output shaft of the speed reducer 106, specifically, an output flange of the speed reducer 106.
The speed reducer 106 in the present embodiment adopts a harmonic speed reducer, and an output shaft (not shown) of the speed reducer 106 is connected to the absolute value encoder 103.
The central control unit 104 of the 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 realizing high-precision and stable control of the integrated joint.
The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.
Claims (8)
1. An integrated joint multi-sensor 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 control ends of the motor and the speed reducer; the control system is characterized by comprising a central control unit, 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 a stator of the motor and is used for measuring electric angle information of the motor;
the incremental encoder is arranged on an output shaft of the motor and is used for measuring the position information of the motor;
the absolute value encoder is arranged on an output shaft of the speed reducer and is used for measuring the position information of the speed reducer;
the central control unit is connected with the driver and is used for correcting the position information and the electric angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electric angle information, generating a control signal according to the corrected position information and electric 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;
the position information of the motor comprises electric angle information and displacement information corresponding to Z-phase signals of the incremental encoder;
the position information of the speed reducer comprises displacement information of an absolute value encoder;
the correcting the position information of the speed reducer by adopting 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 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 corrected position information.
2. The multi-sensor control system of claim 1, wherein correcting the electrical angle information measured by the hall sensor 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 adopting the displacement information corresponding to the Z phase signal, and obtaining corrected position information comprises the following steps:
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 is added with the position information recorded by the incremental encoder at the current moment to be used as corrected position information, and the corrected position information is used as the current position information of the absolute value encoder.
3. An integrated joint comprising a multi-sensor control system according to any of claims 1-2.
4. An integrated joint control method comprises a motor, a speed reducer connected with an output shaft of the motor, and a driver electrically connected with control ends of the motor and the speed reducer; the control method is characterized by comprising the following steps:
acquiring electric angle information of the motor by adopting a Hall sensor;
acquiring the position information of the motor by adopting an incremental encoder;
acquiring position information of the speed reducer by adopting an absolute value encoder;
correcting the position information and the electric angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electric angle information, and generating a control signal to control the motor to operate according to the corrected position information and electric angle information;
the position information of the motor comprises electric angle information and displacement information corresponding to Z-phase signals of the incremental encoder;
the position information of the speed reducer comprises displacement information of an absolute value encoder;
the correcting the position information of the speed reducer by adopting 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 corrected position information.
5. An integrated joint for applying the integrated joint control method according to claim 4, wherein the integrated joint comprises a motor, a speed reducer, a driver and a braking device, 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 further comprising a Hall sensor, a first position sensor, a second position sensor and a central control unit;
the Hall sensor is arranged on a stator of the motor and is used for measuring electric angle information of the motor;
the first position sensor is arranged on an output shaft of the motor and used for measuring position information of the motor;
the second position sensor is arranged on an output shaft of the speed reducer and is used for measuring position information of the speed reducer;
the central control unit is connected with the driver and is used for correcting the position information and the electric angle information of the speed reducer by adopting the position information of the motor to obtain corrected position information and electric angle information, generating a control signal according to the corrected position information and electric 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.
6. The integrated joint of claim 5, further comprising a mounting housing, wherein the motor is fixedly mounted within the mounting housing, wherein the speed reducer is sleeved on a first end of an output shaft of the motor, and wherein the brake is sleeved on a second end of the output shaft of the motor.
7. The integrated joint of claim 6, further comprising an end cap disposed at an end of the first end of the output shaft of the motor, the end cap being configured to mate with the first end of the mounting housing about the periphery thereof for sealing the first end of the mounting housing.
8. The integrated joint of claim 7, wherein the first position sensor is an incremental encoder and the second position sensor is an absolute value encoder, the incremental encoder being disposed on the second end of the output shaft of the motor and the absolute value encoder being disposed on the output shaft of the speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911379689.2A CN111070237B (en) | 2019-12-27 | 2019-12-27 | Integrated joint and integrated joint multi-sensor control system and method |
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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 |
| CN112923953B (en) * | 2021-01-28 | 2022-01-04 | 北京比得机器人科技有限公司 | Robot motor positioning method |
| CN113765302B (en) * | 2021-08-23 | 2023-02-28 | 浙江锐鹰传感技术有限公司 | Motor using dual encoders and encoding method thereof |
| CN113746274B (en) * | 2021-08-23 | 2022-08-09 | 浙江锐鹰传感技术有限公司 | Motor using double incremental encoder and encoding method thereof |
| 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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