CN111221367B - Control method of multifunctional actuator combining motor and controllable clutch - Google Patents
Control method of multifunctional actuator combining motor and controllable clutch Download PDFInfo
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- CN111221367B CN111221367B CN202010170125.4A CN202010170125A CN111221367B CN 111221367 B CN111221367 B CN 111221367B CN 202010170125 A CN202010170125 A CN 202010170125A CN 111221367 B CN111221367 B CN 111221367B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The invention discloses a control method of a multifunctional actuator combining a motor and a controllable clutch, which comprises the following steps: 1, judging the working mode of a controlled object according to the expected clamping force and the actual clamping force; and 2, respectively controlling the motor and the controllable clutch according to the working mode, so that the actuator can accurately and quickly output expected clamping force. The invention can effectively match with a multifunctional actuator to realize smooth, quick and accurate force/torque output, thereby avoiding the motor from rotating blockage and overheating and achieving the aim of back driving of the tail end of the actuator when the clutch is not engaged.
Description
Technical Field
The invention relates to a control method of an actuator in an electromechanical control system, in particular to a control method of a multifunctional actuator combining a controllable clutch and a motor.
Background
The actuator is an important component of an electromechanical control system: the actuator is controlled by the controller to exert action on the electromechanical system, and the performance of the actuator profoundly influences the overall performance of the electromechanical system. Robots are typical electromechanical systems. Most of the conventional industrial robots adopt motors with speed reducers as actuators and adopt a position control mode, so that end actuators of the robots strictly run along a specified track, and meanwhile, connecting rods of the conventional industrial robots often have large inertia, so that external force is difficult to interfere in the set track of the robots. Therefore, the traditional industrial robot has higher position precision and is suitable for various tasks which need to be repeated continuously and relate to positioning, such as material transfer, assembly line assembly and the like.
However, the robot using the position control method is vulnerable to human beings who enter the working space. The new generation of robots is expected to have good physical man-machine interaction performance, namely, a human can safely and harmoniously interact with the robot, which requires that the end effector of the robot and even the force or moment output by each joint and the connecting rod have controllable safety limit values, and the actuators at each joint of the robot can be reversely driven by the human.
On the other hand, the conventional industrial robot is difficult to be competent for various tasks requiring accurate force output, such as expecting the end effector of the robot to output a preset pressure and simultaneously move in a direction perpendicular to the pressure; at present, control strategies for realizing the task are complex; also, if prolonged compression is required, motors in certain joint actuators may stall and burn out due to overheating. Therefore, actuators at each joint of the robot are expected to have the capacity of controlling the torque and the rotating speed simultaneously so as to simplify a control strategy; in addition, the actuator should also have reliable overload protection and be capable of being restarted at any time.
However, the motor with the speed reducer is still an actuator widely applied to an electromechanical system adopting a position control mode due to mature technology and reliable structure; however, the motor with the reducer does not have the above-mentioned required performance due to its rigid connection, large inertia and reduction ratio; the realization of the combined control of position and force and the back drive capability requires the design of a more complex controller.
Disclosure of Invention
The invention aims to overcome the defects of the existing actuator and provides a control method of a multifunctional actuator combining a motor and a controllable clutch, so that the multifunctional actuator can be effectively matched to realize smooth, quick and accurate force/torque output, the motor is prevented from rotating and being overheated due to blocking, and the aim of reversely driving the tail end of the actuator when the clutch is not engaged is fulfilled.
The invention adopts the following technical scheme for solving the technical problems:
the invention relates to a control method of a multifunctional actuator combining a motor and a controllable clutch, wherein the multifunctional actuator takes a motor (1) as a near end, is connected with the controllable clutch through a transmission device, and takes the clutch as the tail end of the multifunctional actuator, and is characterized in that the control method comprises the following steps:
if the expected clamping force is greater than 0 and the actual clamping force is equal to 0, the working mode of the controlled object is the brake clearance elimination mode;
if the expected clamping force is greater than 0 and the actual clamping force is also greater than 0, indicating that the working mode of the controlled object is a clamping force maintaining mode;
if the expected clamping force is equal to '0' and the actual clamping force is greater than '0', the working mode of the controlled object is a clamping force canceling mode;
if the expected clamping force is equal to '0' and the actual clamping force is also equal to '0', the working mode of the controlled object is a stop standby mode;
if the mode is a mode for eliminating the brake clearance, the motor (1) is controlled to rotate in the positive direction, and a driving signal of the controllable clutch is controlled, so that the controllable clutch tends to be in rigid transmission;
if the clamping force mode is kept, the motor (1) is controlled to rotate in the positive direction, and a driving signal of the controllable clutch is controlled, so that the controllable clutch tends to yield and slide transmission, and the torque transmission capacity of the controllable clutch is changed as required;
if the clamping force mode is cancelled, the motor (1) is controlled to rotate reversely, and a driving signal of the controllable clutch is controlled, so that the controllable clutch tends to rigid body transmission;
and if the mode is the stop standby mode, the motor (1) and the controllable clutch are controlled not to work.
The control method of the multifunctional actuator is also characterized in that: the transmission device is a short-distance transmission device of a gear speed reducer or a long-distance transmission device of chain transmission, belt transmission and rope transmission.
For the actuator with a plurality of groups of transmission mechanisms and a plurality of clutches, the output end of each transmission mechanism and each clutch are arranged at each joint of an electromechanical system, and the same motor and the input end of the transmission mechanism provide a pure rotating speed source, thereby realizing single-motor multi-degree-of-freedom control.
The controllable clutch is a magnetic powder clutch or a magneto-rheological clutch.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts a layered control method, judges the working mode of the controlled object according to the expected clamping force and the actual clamping force, changes the control signal to directly control the rotating speed and the torque transmission capacity of the motor and the controllable clutch so as to simplify the complex force control strategy, thereby realizing smooth, quick and accurate force/torque output. The actuator and the control strategy thereof can eliminate the torque overshoot which can be generated by the motor in the traditional electromechanical system.
2. When the clamping force is kept in the working mode, the output end of the clutch cannot continuously rotate at the stage, in order to prevent the motor from being failed due to the overheat caused by the long-time locked rotation, the input end of the clutch and the output shaft of the motor which is rigidly connected with the input end of the clutch are kept rotating, the controllable clutch is communicated with a corresponding driving signal through the change of a control signal, the yield sliding power transmission of the clutch is realized, the output end of the actuator can serve as a pure torque source in the working mode, and the torque is maintained under the condition of the long-time locked rotation.
3. When the actuator outputs the target torque, the pure rotating speed source part of the actuator is controlled to enable the tail end of the actuator to output the target rotating speed, so that the simultaneous control of the torque and the rotating speed is realized.
Drawings
FIG. 1 is a most basic structure diagram of the actuator of the present invention;
FIG. 2 is a schematic of an open loop mode of the actuator controlling torque output according to the present invention;
FIG. 3 is a schematic illustration of a closed loop manner of controlling torque output by an actuator according to the present invention;
FIG. 4 is a schematic diagram of an embodiment of the actuator of the present invention;
FIG. 5 is a schematic view of another embodiment of the actuator of the present invention;
FIG. 6 is a flow chart of a method of controlling an actuator according to the present invention.
Reference numbers in the figures: the gear reducer comprises a motor 1, a gear reducer 2, a controllable clutch input end 3, a controllable clutch front end cover 4, a magnetic conduction shell 5, a magnet exciting coil 6, an insulating interlayer 7, a controllable clutch rear end cover 8, a controllable clutch output end 9, a sealing ring 10, a controllable liquid 11, a lead screw 12, a nut 13, a fixed obstacle 14, an input belt wheel A15, a transmission belt A16, an output belt wheel A17, an input belt wheel B18, a transmission belt B19 and an output belt wheel B20.
Detailed Description
In the embodiment, the most basic structure of the multifunctional actuator in the control method of the multifunctional actuator combining the motor and the controllable clutch is shown in fig. 1, and the multifunctional actuator is composed of a motor 1, a gear reduction device 2 and the controllable clutch; the controllable clutch in the scheme is selected as a magneto-rheological clutch, and the magneto-rheological clutch comprises an input end 3, a controllable clutch front end cover 4, a magnetic conduction shell 5, an excitation coil 6, an insulating interlayer 7, a controllable clutch rear end cover 8, a controllable clutch output end 9, a sealing ring 10, a controllable liquid 11 and the like. The motor 1 enables the input end 3 of the magnetorheological clutch to rotate in a cavity filled with controllable liquid of the clutch through a gear speed reducer 2; when current is conducted in the excitation coil 6, magnetic lines of force form a closed loop along the front end cover 4, the rear end cover 8 and the shell 5 of the clutch which are made of magnetic materials; and the magnetic force line can vertically pass through the axial gap between the input end 3 and the output end 9 of the clutch, so that the controllable liquid in the gap is gathered into a columnar structure along the direction of the magnetic force line, and the columnar structure can resist the shearing action between the two disks, thereby transmitting the power from the input end 3 to the output end 9. In the actuator of the invention, it is the output 9 of the clutch that ultimately outputs a force or torque outwards, and this output is dependent on the strength of the applied magnetic field; the motor 1 provides the shear rate for the controllable fluid as a torque source only through the gear reduction unit 2, but does not participate in the controllable torque output. Thus, control of the actuator output torque is control of the controllable clutch.
The control method has a flow chart as shown in fig. 2, and is performed according to the following steps:
if the expected clamping force is greater than 0 and the actual clamping force is equal to 0, the working mode of the controlled object is the brake clearance elimination mode;
if the expected clamping force is greater than 0 and the actual clamping force is also greater than 0, indicating that the working mode of the controlled object is a clamping force maintaining mode;
if the expected clamping force is equal to '0' and the actual clamping force is greater than '0', the working mode of the controlled object is a clamping force canceling mode;
if the expected clamping force is equal to '0' and the actual clamping force is also equal to '0', the working mode of the controlled object is a stop standby mode;
if the mode is a mode for eliminating the brake clearance, the motor 1 is controlled to rotate in the positive direction, and the exciting current of the controllable clutch is controlled, so that the magnetic substance in the controllable clutch tends to a rigid body;
if the clamping force mode is kept, the motor 1 is controlled to rotate in the positive direction, the exciting current of the controllable clutch is controlled, the magnetic current substance in the controllable clutch tends to yield, and the torque transmission capacity of the controllable clutch is changed as required;
if the clamping force mode is cancelled, the motor 1 is controlled to rotate reversely, and the exciting current of the controllable clutch is controlled to be large or small, so that the magnetic current substance in the controllable clutch tends to be a rigid body;
if the standby mode is stopped, the motor 1 and the controllable clutch are controlled not to work.
In specific embodiments, the short-range transmission device with the transmission device being a gear reduction device is shown in fig. 1, or the long-range transmission device with the transmission device being a chain transmission, a belt transmission or a rope transmission is shown in fig. 4.
In specific implementation, for an actuator with a plurality of groups of transmission mechanisms and a plurality of clutches, the output end of each transmission mechanism and each clutch can be arranged at each joint of an electromechanical system, and the same motor and the input end of the transmission mechanism provide pure rotating speed sources; thereby realizing single-motor multi-degree-of-freedom control. As shown in fig. 4, the structure is expected to be applied to an electromechanical system with multiple degrees of freedom such as a robot. The motor 1 drives the input ends of the two controllable clutches to rotate simultaneously through the gear reduction device 2, the A group belt transmission devices 15, 16 and 17 and the B group belt transmission devices 18, 19 and 20. According to the upper layer control instruction, exciting currents with different sizes can be introduced into the two controllable clutches to generate different output torques at the two output ends.
In specific implementation, the structure and the control strategy shown in fig. 3 are expected to be applied to a brake-by-wire system of an electric vehicle. The output end 9 of the actuator is connected with a screw rod 12. Rotation of the screw 12 will cause linear movement of the nut 13. When the nut 13 contacts the fixed obstacle 14 and presses the latter, the nut 13 cannot advance and the screw 12 and the actuator output 9 cannot rotate further. If the nut 13 is required to keep pressing the fixed barrier 14, the conventional actuator usually keeps the motor in a locked-rotor state to maintain torque output, but the motor is easily burnt due to overheating; the actuator and the control strategy of the invention utilize the performance that the controllable liquid can still transmit power under the condition of yielding, so that the output end 9 of the actuator and the screw rod 12 still have torque output under the state of stalling, and therefore, the nut 13 can continuously compress the fixed barrier 14, and meanwhile, the input end 3 of the clutch and the motor 1 and the gear reduction device 2 connected with the input end 3 still need to continuously rotate to provide a shearing rate as a torque source; also, the force exerted by the nut 13 on the fixed barrier 14 can be adjusted in real time by varying the excitation current of the clutch.
In specific implementation, the controllable clutch can be controlled in an open-loop mode or a closed-loop mode. The open-loop control mode needs to accurately calibrate the relationship between the output torque and the input exciting current of the controllable clutch in advance, and requires that the relationship is less influenced by external factors such as temperature and the like, but after calibration is completed, the control strategy is simple and the system response is quick. Fig. 5 shows the control strategy in open loop: the upper layer controller of the electromechanical system provides a target torque, the actuator controller obtains an exciting current instruction corresponding to the target torque by looking up a table, and a magnetic field is excited in the clutch through the controllable current source, so that the actuator outputs the torque.
In the specific implementation, the closed-loop control method is as shown in fig. 6, and this method does not need to be calibrated in advance, but needs a more complicated controller design, and may involve nonlinear control such as adaptive control, fuzzy control, sliding mode control, and the like. Closed loop control approaches are more resistant to various disturbances but may result in longer system response times. After a certain exciting current is given to the clutch, the clutch has corresponding torque transmission capacity.
If the magnet exciting coil 6 of the clutch is not electrified, the output end 9 of the clutch can rotate freely in the cavity of the clutch without being limited by the motor 1 and the gear reduction device 2 at the other end, so that the back driving capability of the actuator is realized.
Because the rotation speed of the output end is always lower than that of the input end when the controllable clutch works, and the rotation speed difference between the two ends is small when the controllable liquid in the clutch is not yielding, if the controllable clutch is expected to transmit controlled motion and power at the same time, an encoder can be arranged at the output end 9 of the clutch on the basis of realizing the torque control, and the rotation speed control parallel to the torque control is designed in the controller. The rotation speed control strategy is simple feedback control: the controller continuously adjusts the rotating speed of the input end of the clutch which is rigidly connected with the motor according to the difference value between the target rotating speed and the rotating speed measured by the encoder.
In specific implementation, the controllable clutch is a magnetic powder clutch or a magnetorheological clutch.
The multifunctional actuator combining the motor and the controllable clutch and the control method thereof are expected to be applied to various electromechanical systems, such as the improvement of the safety of the wire control brake system of the electric automobile, the stable output of a cutting and feeding system of a numerical control machine tool, the design and the control of a multi-degree-of-freedom robot and the like.
Claims (1)
1. A control method of a multifunctional actuator combining a motor and a controllable clutch, the multifunctional actuator takes the motor (1) as a near end, is connected with the controllable clutch through a transmission device, and takes the clutch as a tail end of the multifunctional actuator, and is characterized in that the control method comprises the following steps:
step 1, setting an expected clamping force of a controlled object at the tail end of a multifunctional actuator, and acquiring an actual clamping force of the controlled object;
step 2, judging the working mode of the controlled object according to the expected clamping force and the actual clamping force;
if the expected clamping force is greater than 0 and the actual clamping force is equal to 0, the working mode of the controlled object is the brake clearance elimination mode;
if the expected clamping force is greater than 0 and the actual clamping force is also greater than 0, indicating that the working mode of the controlled object is a clamping force maintaining mode;
if the expected clamping force is equal to '0' and the actual clamping force is greater than '0', the working mode of the controlled object is a clamping force canceling mode;
if the expected clamping force is equal to '0' and the actual clamping force is also equal to '0', the working mode of the controlled object is a stop standby mode;
step 3, respectively controlling the motor (1) and the controllable clutch according to the working mode;
if the mode is a mode for eliminating the brake clearance, the motor (1) is controlled to rotate in the positive direction, and a driving signal of the controllable clutch is controlled, so that the controllable clutch tends to be in rigid transmission;
if the clamping force mode is kept, the motor (1) is controlled to rotate in the positive direction, and a driving signal of the controllable clutch is controlled, so that the controllable clutch tends to yield and slide transmission, and the torque transmission capacity of the controllable clutch is changed as required;
if the clamping force mode is cancelled, the motor (1) is controlled to rotate reversely, and a driving signal of the controllable clutch is controlled, so that the controllable clutch tends to rigid body transmission;
if the standby mode is stopped, controlling the motor (1) and the controllable clutch not to work, wherein the transmission device is a short-distance transmission device of a gear speed reducer or a long-distance transmission device of chain transmission, belt transmission and rope transmission; for the actuator with a plurality of groups of transmission devices and a plurality of controllable clutches, the output end of each transmission device and each controllable clutch are arranged at each joint of an electromechanical system, and the same motor and the input end of the transmission device provide pure rotating speed sources, so that single-motor multi-degree-of-freedom control is realized; the controllable clutch is a magnetic powder clutch or a magneto-rheological clutch.
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| CN202010170125.4A CN111221367B (en) | 2020-03-12 | 2020-03-12 | Control method of multifunctional actuator combining motor and controllable clutch |
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| CN202010170125.4A CN111221367B (en) | 2020-03-12 | 2020-03-12 | Control method of multifunctional actuator combining motor and controllable clutch |
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| CN112476423B (en) * | 2020-11-12 | 2022-03-08 | 腾讯科技（深圳）有限公司 | Method, device and equipment for controlling joint motor of robot and storage medium |
| CN115647072B (en) * | 2022-10-28 | 2024-05-28 | 中色科技股份有限公司 | Coiling machine torque control method for accurately controlling reel torque |
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