CN111416561B - An Improved Motor Three-loop Control Method - Google Patents
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
Description
技术领域technical field
本发明涉及机器人控制技术领域，具体为一种改进的电机三环控制方法。The invention relates to the technical field of robot control, in particular to an improved three-loop control method for a motor.
背景技术Background technique
随着机器人技术的发展，基于动力学的拖动示教功能得到了广泛应用。在拖动示教应用中，一种常见的拖动实现方式是通过让电机工作在力矩控制模式下，控制器实时计算出各轴静平衡所需的力矩值并作为指令力矩下发至电机处，使得机器人能够实现自平衡，这样操作员只需较小的力即可实现各轴的拖动。而当机器人处于示教再现模式下，电机需要工作在位置控制模式下才能够保证很好的位置精度。也就是说在拖动示教应用中，电机需要经常在力矩控制模式与位置控制模式间进行切换。With the development of robot technology, the drag teaching function based on dynamics has been widely used. In the drag teaching application, a common drag method is to make the motor work in the torque control mode. The controller calculates the torque value required for the static balance of each axis in real time and sends it to the motor as the command torque. , so that the robot can achieve self-balancing, so that the operator only needs a small force to achieve the drag of each axis. When the robot is in the teaching and reproducing mode, the motor needs to work in the position control mode to ensure good position accuracy. That is to say, in the drag teaching application, the motor needs to frequently switch between the torque control mode and the position control mode.
目前电机一般采用三环控制，由外到内分别是位置环、速度环、电流环。对应的也有三种控制模式，即位置控制模式、速度控制模式以及力矩控制模式。位置控制模式需要用到位置环、速度环、电流环这三环，而力矩控制模式则只需要使用电流环。在进行模式切换时，先需要下伺服，让电机处于抱闸状态，然后进行模式切换，最后上伺服，松开抱闸，使电机工作在新的控制模式下。因为需要上下伺服，过程较复杂，耗时长。因而研究在上伺服的状态下实现电机力矩控制模式与位置控制模式的快速切换显得非常重要。At present, the motor generally adopts three-loop control, which are the position loop, the speed loop and the current loop from the outside to the inside. There are also three corresponding control modes, namely position control mode, speed control mode and torque control mode. The position control mode needs to use the three loops of position loop, speed loop and current loop, while the torque control mode only needs to use the current loop. When switching between modes, you need to first turn off the servo to keep the motor in the brake state, then switch the mode, and finally turn on the servo and release the brake to make the motor work in a new control mode. Because it needs to be up and down the servo, the process is complicated and time-consuming. Therefore, it is very important to study the rapid switching between the motor torque control mode and the position control mode in the state of the upper servo.
发明内容SUMMARY OF THE INVENTION
为了解决上述技术问题，本发明提出了一种改进的电机三环控制方法。In order to solve the above technical problems, the present invention proposes an improved three-loop control method for a motor.
本发明所要解决的技术问题采用以下技术方案来实现：The technical problem to be solved by this invention adopts the following technical solutions to realize:
一种改进的电机三环控制方法，具体步骤如下：An improved motor three-loop control method, the specific steps are as follows:
(1)在电机三环控制中的速度环后增加一个可设定最小值和最大值以对速度环输出量进行判断并调整速度环输出量的输出限制模块；(1) After the speed loop in the motor three-loop control, add an output limit module that can set the minimum and maximum values to judge the output of the speed loop and adjust the output of the speed loop;
(2)根据需要切换的力矩控制模式、位置控制模式，设定好输出限制模块范围，通过控制器下发指令位置、力矩前馈量以及设定好的输出限制模块范围至电机上，以使电机切换到需要的模式。(2) According to the torque control mode and position control mode to be switched, set the output limit module range, and issue the command position, torque feedforward amount and the set output limit module range to the motor through the controller, so that the The motor switches to the desired mode.
进一步地，所述步骤(1)中输出限制模块的输入与输出之间的公式如下：Further, the formula between the input and the output of the output restriction module in the step (1) is as follows:
在公式(一)中Vin为输出限制模块的输入也即速度环输出量，Vout为输出限制模块的输出值，min为输出限制模块定义的最小值，而max为输出限制模块定义的最大值。In formula (1), V in is the input of the output limit module, that is, the output of the speed loop, V out is the output value of the output limit module, min is the minimum value defined by the output limit module, and max is the maximum value defined by the output limit module. value.
进一步地，若步骤(2)中电机需要切换到力矩控制模式时，具体步骤如下：Further, if the motor needs to be switched to the torque control mode in step (2), the specific steps are as follows:
(A)设定输出限制模块的输出的最小值和最大值均为零；(A) The minimum value and the maximum value of the output of the output limit module are set to be zero;
(B)在位置环计算得到速度环输入量，在速度环计算得到速度环输出量；(B) Calculate the input of the speed loop in the position loop, and calculate the output of the speed loop in the speed loop;
(C)速度环输出量经过输出限制模块后，速度环输出量为零，然后加上力矩前馈量一起作为电流环的输入量；(C) After the output of the speed loop passes through the output limit module, the output of the speed loop is zero, and then the torque feedforward is added as the input of the current loop;
(D)在电流环，计算电流环的输入量和经电流反馈模块得到的力矩之差，即力矩跟随误差，力矩跟随误差经过驱动电路转换为电流发给电机，以使电机切换到力矩控制模式上。(D) In the current loop, calculate the difference between the input of the current loop and the torque obtained by the current feedback module, that is, the torque following error. The torque following error is converted into a current through the drive circuit and sent to the motor, so that the motor switches to the torque control mode superior.
进一步地，若步骤(2)中电机需要切换到位置控制模式时，具体步骤如下：Further, if the motor needs to be switched to the position control mode in step (2), the specific steps are as follows:
(S1)设定输出限制模块的输出的最小值小于负的电机峰值力矩，最大值大于正的电机峰值力矩；(S1) Set the minimum value of the output of the output limit module to be less than the negative motor peak torque, and the maximum value to be greater than the positive motor peak torque;
(S2)在位置环计算得到速度环输入量，在速度环计算得到速度环输出量；(S2) Calculate the speed loop input in the position loop, and calculate the speed loop output in the speed loop;
(S3)速度环输出量经过输出限制模块后，速度环输出量不变，然后加上力矩前馈量一起作为电流环的输入量；(S3) After the output of the speed loop passes through the output limit module, the output of the speed loop remains unchanged, and then the torque feedforward is added as the input of the current loop;
(S4)在电流环，计算电流环的输入量和经电流反馈模块得到的力矩之差，即力矩跟随误差，力矩跟随误差经过驱动电路转换为电流发给电机，以使电机切换到位置控制模式上。(S4) In the current loop, calculate the difference between the input of the current loop and the torque obtained by the current feedback module, that is, the torque following error. The torque following error is converted into a current through the drive circuit and sent to the motor, so that the motor switches to the position control mode superior.
进一步地，在位置环，计算指令位置和经位置反馈模块得到的实际位置之差，即为位置跟随误差，位置跟随误差经过位置控制模块得到速度环的输入量。Further, in the position loop, the difference between the calculated command position and the actual position obtained by the position feedback module is the position following error, and the position following error obtains the input of the speed loop through the position control module.
进一步地，在速度环，计算速度环输入量和经速度反馈模块得到的实际速度之差，即速度跟随误差，速度跟随误差经过速度控制模块得到速度环输出量。Further, in the speed loop, the difference between the input of the speed loop and the actual speed obtained by the speed feedback module is calculated, that is, the speed following error, and the speed following error is obtained through the speed control module to obtain the output of the speed loop.
本发明的有益效果是：The beneficial effects of the present invention are:
与现有技术相比，本发明能够实现位置控制模式与力矩控制模式之间的快速切换，节省了大量切换时间；此外，本发明中的速度环输出量可以动态调整，进而可以控制机器人位置控制的响应特性。Compared with the prior art, the present invention can realize fast switching between the position control mode and the torque control mode, saving a lot of switching time; in addition, the output of the speed loop in the present invention can be dynamically adjusted, and then the robot position control can be controlled. response characteristics.
附图说明Description of drawings
下面结合附图和实施例对本发明进一步说明：Below in conjunction with accompanying drawing and embodiment, the present invention is further described:
图1为本发明的电机三环控制框图。FIG. 1 is a block diagram of the three-loop control of the motor according to the present invention.
具体实施方式Detailed ways
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合附图以及实施例对本发明进一步阐述。In order to make the technical means, creative features, achieved goals and effects of the present invention easy to understand and understand, the present invention is further described below with reference to the accompanying drawings and embodiments.
如图1所示，一种改进的电机三环控制方法，具体步骤如下：As shown in Figure 1, an improved motor three-loop control method, the specific steps are as follows:
(1)在电机三环控制中的速度环后增加一个可设定最小值和最大值以对速度环输出量进行判断并调整速度环输出量的输出限制模块。(1) After the speed loop in the three-loop control of the motor, add an output limit module that can set the minimum and maximum values to judge the output of the speed loop and adjust the output of the speed loop.
具体的，所述步骤(1)中输出限制模块的输入与输出之间的公式如下：Specifically, the formula between the input and the output of the output restriction module in the step (1) is as follows:
在公式(一)中Vin为输出限制模块的输入也即速度环输出量，Vout为输出限制模块的输出值，min为输出限制模块定义的最小值，而max为输出限制模块定义的最大值。In formula (1), V in is the input of the output limit module, that is, the output of the speed loop, V out is the output value of the output limit module, min is the minimum value defined by the output limit module, and max is the maximum value defined by the output limit module. value.
当速度环输出量大于输出限制模块定义的最大值时，速度环输出量被调整为输出限制模块的最大值；当速度环输出量小于输出限制模块定义的最小值时，速度环输出量被调整为输出限制模块的最小值；而当速度环输出量介于输出限制模块定义的最大值与最小值之间时，速度环输出量保持不变。When the output value of the speed loop is greater than the maximum value defined by the output limit module, the output value of the speed loop is adjusted to the maximum value of the output limit module; when the output value of the speed loop is less than the minimum value defined by the output limit module, the output value of the speed loop is adjusted is the minimum value of the output limit module; and when the speed loop output is between the maximum and minimum values defined by the output limit module, the speed loop output remains unchanged.
(2)根据需要切换的力矩控制模式、位置控制模式，设定好输出限制模块范围，通过控制器下发指令位置、力矩前馈量以及设定好的输出限制模块范围至电机上，以使电机切换到需要的模式。(2) According to the torque control mode and position control mode to be switched, set the output limit module range, and issue the command position, torque feedforward amount and the set output limit module range to the motor through the controller, so that the The motor switches to the desired mode.
为了更进一步阐述本方法，现以电机在上伺服状态下，在力矩控制模式和位置控制模式之间切换为例。已知速度环输出量的范围在负的电机峰值力矩到正的电机峰值力矩之间。In order to further illustrate the method, it is now taken as an example that the motor switches between the torque control mode and the position control mode when the motor is in the upper servo state. The range of the known speed loop output is between negative motor peak torque and positive motor peak torque.
当电机需要切换到力矩控制模式时，具体步骤如下：When the motor needs to switch to torque control mode, the specific steps are as follows:
(A)设定输出限制模块的输出的最小值和最大值均为零。(A) The minimum value and maximum value of the output of the output limit module are set to zero.
(B)在位置环计算指令位置和经位置反馈模块得到的实际位置之差，即为位置跟随误差，位置跟随误差经过位置控制模块得到速度环输入量；在速度环，计算速度环输入量和经速度反馈模块得到的实际速度之差，即速度跟随误差，速度跟随误差经过速度控制模块得到速度环输出量。(B) The difference between the command position calculated in the position loop and the actual position obtained by the position feedback module is the position following error. The position following error obtains the speed loop input through the position control module; in the speed loop, calculate the speed loop input and The difference between the actual speeds obtained by the speed feedback module is the speed following error, and the speed following error is obtained through the speed control module to obtain the speed loop output.
(C)速度环输出量经过输出限制模块后，根据步骤(1)中的公式(一)可知，速度环输出量始终为零，然后加上力矩前馈量一起作为电流环的输入量。(C) After the output of the speed loop passes through the output limit module, according to formula (1) in step (1), the output of the speed loop is always zero, and then the torque feedforward is added as the input of the current loop.
(D)在电流环，计算电流环的输入量和经电流反馈模块得到的力矩之差，即力矩跟随误差，力矩跟随误差经过驱动电路转换为电流发给电机，以使电机切换到力矩控制模式上。(D) In the current loop, calculate the difference between the input of the current loop and the torque obtained by the current feedback module, that is, the torque following error. The torque following error is converted into a current through the drive circuit and sent to the motor, so that the motor switches to the torque control mode superior.
当电机需要切换到力矩控制模式时，具体步骤如下：When the motor needs to switch to torque control mode, the specific steps are as follows:
(S1)设定输出限制模块的输出的最小值小于负的电机峰值力矩，最大值大于正的电机峰值力矩。在本实施例中，设定输出限制模块的最小值为负的两倍电机峰值力矩，最大值为正的两倍电机峰值力矩。(S1) The minimum value of the output of the output limiting module is set to be smaller than the negative motor peak torque, and the maximum value is greater than the positive motor peak torque. In this embodiment, the minimum value of the output limiting module is set as negative twice the motor peak torque, and the maximum value is positive twice the motor peak torque.
(S2)在位置环计算指令位置和经位置反馈模块得到的实际位置之差，即为位置跟随误差，位置跟随误差经过位置控制模块得到速度环的输入量；在速度环，计算速度环的输入量和经速度反馈模块得到的实际速度之差，即速度跟随误差，速度跟随误差经过速度控制模块得到速度环输出量。(S2) The difference between the command position calculated in the position loop and the actual position obtained by the position feedback module is the position following error. The position following error obtains the input of the speed loop through the position control module; in the speed loop, the input of the speed loop is calculated. The difference between the speed and the actual speed obtained by the speed feedback module is the speed following error, and the speed following error is obtained through the speed control module to obtain the speed loop output.
(S3)速度环输出量经过输出限制模块后，根据步骤(1)中的公式(一)可知，速度环输出量不变，然后加上力矩前馈量一起作为电流环的输入量。(S3) After the output of the speed loop passes through the output limit module, according to formula (1) in step (1), it can be known that the output of the speed loop remains unchanged, and then the torque feedforward is added as the input of the current loop.
(S4)在电流环，计算电流环的输入量和经电流反馈模块得到的力矩之差，即力矩跟随误差，力矩跟随误差经过驱动电路转换为电流发给电机，以使电机切换到位置控制模式上。(S4) In the current loop, calculate the difference between the input of the current loop and the torque obtained by the current feedback module, that is, the torque following error. The torque following error is converted into a current through the drive circuit and sent to the motor, so that the motor switches to the position control mode superior.
根据此控制方法，在当电机需要切换模式时，仅需要更改输出限制模块最小值和最大值即可实现电机在位置控制模式和力矩控制模式之间快速切换。与现有技术相比，本发明结构简单，切换时间耗时短，大大提高了切换效率。According to this control method, when the motor needs to switch modes, it is only necessary to change the minimum and maximum values of the output limit module to quickly switch the motor between the position control mode and the torque control mode. Compared with the prior art, the present invention has the advantages of simple structure, short switching time, and greatly improved switching efficiency.
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the above-mentioned embodiments and descriptions describe only the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various Such changes and improvements fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.
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| CN105958898A (en) * | 2016-06-01 | 2016-09-21 | 深圳德康威尔科技有限公司 | Voice coil motor driver and control method thereof |
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Address after: 241000 No. 96, Wanchun East Road, Wuhu District, China (Anhui) pilot Free Trade Zone, Wuhu City, Anhui Province Patentee after: Efte Intelligent Robot Co.,Ltd. Country or region after: China Patentee after: Shanghai Edge Robot Technology Co.,Ltd. Address before: Anhui city of Wuhu province Jiujiang Economic Development Zone Wan Chun Road No. 96 Patentee before: EFORT INTELLIGENT EQUIPMENT Co.,Ltd. Country or region before: China Patentee before: Shanghai Edge Robot Technology Co.,Ltd. |