CN113507239B - Driving system and method for non-physical brake wall-climbing robot - Google Patents

Driving system and method for non-physical brake wall-climbing robot Download PDF

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CN113507239B
CN113507239B CN202110804060.9A CN202110804060A CN113507239B CN 113507239 B CN113507239 B CN 113507239B CN 202110804060 A CN202110804060 A CN 202110804060A CN 113507239 B CN113507239 B CN 113507239B
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CN113507239A (en
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王秋
陈明松
蔺永诚
曾维栋
王冠强
吴敏杰
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Central South University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/005—Arrangements for controlling doubly fed motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/24—Arrangements for stopping
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/30—Arrangements for controlling the direction of rotation

Abstract

The invention provides a driving system and a method for a non-physical brake wall-climbing robot. The feedforward gravity compensation amount is estimated by adopting a designed algorithm, the given switching frequency PWM and the motor steering are corrected in time, the problem that the existing physically-free brake driving system is difficult to self-stabilize is solved, and the problem of poor system robustness is improved by introducing an improved anti-saturation algorithm.

Description

Driving system and method for non-physical brake wall-climbing robot
Technical Field
The invention relates to the field of robot control, in particular to a driving system and method for a non-physical brake wall-climbing robot.
Background
The power system of the negative pressure adsorption type wall-climbing robot mostly adopts a motor direct-drive scheme, and the performance of a motor and a matched drive system directly determines the maneuvering performance of the robot. The vehicle-mounted battery supplies energy to the whole robot, if the alternating current motor is adopted to provide power, the inverter and the DC-DC conversion are needed, the intermediate loss is large, and the continuation of the journey of the robot is not facilitated.
Therefore, the direct-current brushless motor is applied to reduce the manufacturing cost of the wall climbing robot and improve the whole cruising ability, and the market trend is great. Most designers prevent the robot from sliding when the robot is static by additionally installing a physical brake, so that the weight of the robot is greatly increased, and more rigorous tests are provided for key components represented by required driving force and batteries. The existing physically-free brake driving system for the wall climbing robot has the phenomena of poor stability and easy slip loss in the self-stabilization and reversing processes.
Accordingly, there is a need for improvements in the prior art.
Disclosure of Invention
Aiming at a driving system of a wall-climbing robot carrying a direct-current brushless motor to provide kinetic energy, the invention provides a driving system for a wall-climbing robot without a physical brake.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a drive system for a non-physical brake wall-climbing robot comprises: the device comprises a first subtracter, a speed outer loop integrator, an open/closed loop control switching module, a second subtracter, a current inner loop integrator, a nine-axis IMU sensor, a feedforward compensation quantity estimation module, a first adder, a third subtracter, a pulse width vector modulation module, a three-phase voltage inverter, a physical brake-free BLDC module, a speed reducer and wheel module, a three-phase current acquisition module, an analog-to-digital conversion and calculation module, a photoelectric encoder module and a rotating speed estimation module;
the main control system sets the target rotating speed
Figure BDA0003165699580000022
Inputting the signal into a first subtracter;
the first subtracter calculates and obtains a target rotating speed
Figure BDA0003165699580000021
And actual rotational speed
Figure BDA0003165699580000023
The difference value delta omega of (a) is input into a speed outer loop integrator;
the speed outer loop integrator performs proportional integral calculation according to the difference value delta omega to obtain closed loop q-axis current
Figure BDA0003165699580000024
Inputting the input signal into an open/closed loop control switching module;
the speed outer loop integrator calculates to obtain the closed loop q-axis current
Figure BDA0003165699580000025
Inputting the input signal into an open/closed loop control switching module;
the open/close loop control switching module calculates the maximum torque T of the BLDC module without physical brake at presentmaxObtaining a threshold current ImaxAccording to the set open-loop q-axis current
Figure BDA0003165699580000026
Closed loop q-axis current
Figure BDA0003165699580000028
Physical brake-free BLDC module real-time power and phase current and actual corner
Figure BDA0003165699580000027
Calculating to obtain a set value of the q-axis current
Figure BDA0003165699580000029
And input to the second subtracter;
the second subtracter calculates the set q-axis current value
Figure BDA00031656995800000210
And the actual current value iqDifference value Δ i ofqInputting the current into a current inner loop integrator;
the current inner loop integrator is based on the difference value delta iqProportional integral calculation is carried out to obtain a given space voltage vector amplitude u of a control target0Inputting the signals into a first adder;
the nine-axis IMU sensor is used for measuring and calculating a robot running included angle theta and inputting the robot running included angle theta into the feedforward compensation quantity estimation module;
the feedforward compensation amount estimation module calculates a preposed amount u to be compensated according to the input running included angle theta and the information of the size and the weight of the robotp+Inputting the maximum load power P into a first adder, and calculating the maximum load power P of the BLDC module without physical brake at presentmaxAnd a maximum torque TmaxInputting the input signal into an open/closed loop control switching module;
the first adder pair needs to compensate the prefix up+Sum voltage vector magnitude u0Summing to obtain the amplitude U of the output space voltage vectorrefInputting the signal into a third subtracter;
the third subtracter is based on the input space voltage vector magnitude UrefCalculating the sum maximum amplitude umaxThe ratio of the difference is input into an improved anti-saturator for regulating and outputting the final space voltage vector amplitude UrefTo a pulse width vector modulation module;
the pulse width vector modulation module is used for modulating the vector amplitude U according to the input space voltagerefAnd actual corner of physically brake-free BLDC module
Figure BDA0003165699580000031
When the electric brake cannot support the self-stability or uniform-speed downward movement of the robot, the pulse width vector modulation module can regulate and output new six-path modulation PWM, change the steering of the motor and reversely rotate to generate braking torque;
the three-phase voltage inverter generates final driving current and inputs the final driving current into the BLDC module without the physical brake;
the BLDC module without the physical brake drives the speed reducer and the wheel module to move in a corresponding rotating speed direction, so that the wall-climbing robot completes various movements on the wall surface;
the three-phase current acquisition module acquires corresponding three-phase current iA、iBAnd iCInputting the data into an analog-to-digital conversion and calculation module;
the analog-to-digital conversion and calculation module measures three-phase current iA、iBAnd iCCalculating to obtain an actual q-axis current value, and inputting the actual q-axis current value into a second subtracter;
photoelectric encoder module measures actual rotation angle of physically-brake-free BLDC module
Figure BDA0003165699580000032
Inputting the input data into an open/closed loop control switching module, a feedforward compensation quantity estimation module, a pulse width vector modulation module and a rotating speed estimation module;
the rotating speed estimation module is used for estimating the actual rotating angle of the BLDC module according to the input physical-free brake
Figure BDA0003165699580000041
Calculating to obtain real-time rotating speed
Figure BDA0003165699580000042
And input to the first subtractor.
The invention also provides a driving method for the non-physical brake wall-climbing robot, wherein the method for realizing the open/closed loop control switching module comprises the following steps:
the first step is as follows: according to the input maximum torque TmaxCalculating to obtain a threshold current Imax；
The second step is that: calculating the real-time power P and the phase current I of the BLDC module without the physical brake;
the third step: according to real-time power P, phase current I and maximum load power PmaxThreshold current ImaxComparing, and judging a further working mode;
state 1: normal starting stage of robot (real-time power P is less than or equal to P)maxReal-time phase current I is less than or equal to ImaxOperation of the motorThe number of turns is less than or equal to 10), entering a speed open-loop control mode, and outputting the set q-axis open-loop small current by an open/closed-loop control switching module
Figure BDA0003165699580000043
After the operation is stable (the real-time power P is less than or equal to P)maxReal-time phase current I is less than or equal to ImaxThe number of running turns of the motor is more than 10), the speed closed-loop control mode is entered, and the open/closed-loop control switching module outputs the calculated q-axis closed-loop current
Figure BDA0003165699580000044
State 2: abnormal start phase (not satisfying real-time power P ≦ PmaxAnd the real-time phase current I is less than or equal to ImaxWhen the real-time power P is less than or equal to P), further judging the situationmaxAnd phase current I > ImaxWhen the system is in an overcurrent mode, the system automatically sends a latch command to stop alarming, and when the real-time power P is larger than PmaxAnd phase current I is less than or equal to ImaxThen entering a locked-rotor running mode, if the locked-rotor time t is less than tmaxRe-estimating the real-time power P and phase current I of the BLDC module without physical brake, if the locked rotor time t is more than or equal to tmaxAnd then stopping the machine to alarm.
The implementation method of the feedforward compensation quantity estimation module comprises the following steps:
the first step is as follows: obtaining the maximum load power P of the BLDC module without the physical brake according to the formulas (1) and (2)maxAnd a maximum torque TmaxInputting the input signal into an open/closed loop control switching module;
Figure BDA0003165699580000051
Figure BDA0003165699580000052
where n is the real-time speed of the BLDC module without physical brake, m0The total weight of the robot is g, the gravity acceleration is g, and r is the outer radius of a wheel;
the second step: calculating a feedforward coefficient KθAccording to the real-time rotation angle of the physically-free brake BLDC module measured by the photoelectric encoder module
Figure BDA0003165699580000053
Substituting the formula (3) to calculate and obtain a pre-feedback coefficient KθWhen the robot is ready to move downwards, turn around or is self-stabilized, feedforward compensation is carried out, otherwise, feedforward compensation is not carried out;
Figure BDA0003165699580000054
the third step: according to the Daronbel virtual work principle, a force balance equation is established when the robot moves linearly in any posture;
Figure BDA0003165699580000055
in the formula N1、N2、N3、N4Reaction forces of the wall surfaces to the wheels 1, 2, 3, 4, respectively, Fp1The tightening force generated by the negative pressure, FfyoFor driving friction of wall-climbing robots, Ff3The friction force of the wall to the sealing skirt is adopted, G is the gravity borne by the robot, and-Ma is imaginary inertia force;
the negative pressure adsorption force of the obtained action satisfies the formula (5);
Figure BDA0003165699580000056
in the formula of1、μ2The friction coefficients of the left driving gear train and the right driving gear train are constant;
substituting geometric dimension parameters H (height of gravity center from wall surface), L (length of robot) and B (width) of the robot into formula (5) respectively to obtain the minimum negative pressure adsorption force meeting the conditions as follows:
Figure BDA0003165699580000061
the fourth step: substituting a mathematical model (formula (7)) of the negative pressure-rotating speed measured by the test into a formula (8) in combination with a mechanical analysis result;
Fp1(x)＝p1n2+p2n+p3 (7)
Figure BDA0003165699580000062
in the formula p1、p2、p3Respectively different constant coefficients;
solving to obtain a rotating speed n;
Figure BDA0003165699580000063
combining the previously obtained feedforward coefficient KθSubstituting into formula (10) to obtain the prefix up+；
Figure BDA0003165699580000064
In the formula KfIs the proportionality coefficient between the rotation speed and the space vector voltage amplitude.
As an improvement of the driving method for the non-physical brake wall-climbing robot, the invention comprises the following steps: space voltage vector magnitude UrefThe implementation method of the integral anti-saturator comprises the following steps:
the first step is as follows: defining the integral saturation depth deltau＝(Uref-umax)/umaxX 100%, setting a threshold constant beta;
the second step is that: calculating the compensation coefficient when 0 < deltau＝(Uref-umax)/umaxWhen the x is more than or equal to 100 percent and beta is larger than or equal to the saturation depth, namely the saturation depth is within a threshold value, a traditional inverse calculation tracking compensation algorithm is adopted to provide negative feedback compensation (K) for the current inner loop integratorc×(δuβ)) to a saturation depth δuIs reduced to 0;
when deltau＝(Uref-umax)/umaxX 100% > beta, space voltage vector amplitude UrefIn a deep saturation state, the compensation coefficient K should be adjustedcTo make the saturation depth deltauDecrease to a threshold constant β, then Uref＝(1+β)×umaxThe following relationships are given;
Figure BDA0003165699580000071
the compensation coefficient K can be obtainedc；
Figure BDA0003165699580000072
In the formula KpIs a constant coefficient;
due to the integration time constant TiMinimum, KpTiδu-Tiumax(1+β)＜＜KpδuTherefore, the above formula can be simplified as follows:
Figure BDA0003165699580000073
the third step: determining the final output UrefCompensation coefficient KcThe regulation rule of (1) is:
Figure BDA0003165699580000074
determining a spatial voltage vector magnitude UrefFinal output after anti-integral saturation compensation;
Figure BDA0003165699580000075
the invention has the following beneficial effects:
(1) the gravity compensation amount of the device is estimated by utilizing a designed algorithm, the given switching frequency PWM controlled by the motor is corrected in time by a pre-feedback method, the problem that the existing physical brake driving system is difficult to self-stabilize is solved on the premise of not increasing a physical brake mechanism, and the safety of the wall climbing robot in wall surface work is ensured;
(2) when the wall climbing robot moves downwards on the wall surface, the switch control quantity is infinitely increased due to the integral accumulation effect of the system error and exceeds the execution threshold of the actuator, so that an improved anti-saturation algorithm is introduced, the direction of the error is changed in a critical area, the control quantity is gradually reduced, the saturated area is exited, and the dynamic response performance of the wall climbing robot is improved;
(3) when the quality of the robot exceeds a stable range value which can be responded by an electric brake, the algorithm can automatically change the steering of the motor and reversely rotate to generate a braking torque, so that the smooth control of the downward moving process is realized, the hardware cost of the whole driving system is reduced, more detection equipment can be carried, and the cruising ability and the application upper limit are improved.
Drawings
Fig. 1 is a system block diagram of a driving system for a non-physical brake wall-climbing robot according to the present invention.
Fig. 2 is a simplified schematic diagram of a single motor drive circuit for a physically brake-free wall climbing robot.
Fig. 3 is a driving method and a software flowchart for the non-physical brake wall-climbing robot.
Fig. 4 is a schematic diagram of the mechanical analysis of the motion state of the robot in any posture.
FIG. 5 is a schematic diagram of the relationship of the negative pressure to the rotational speed and the fitted curve measured experimentally.
Detailed Description
The invention is further described with reference to specific examples.
Embodiment 1, a driving system for a non-physical brake wall-climbing robot, as shown in fig. 1, includes a first subtractor (1), a speed outer loop integrator (2), an open/close loop control switching module (3), a second subtractor (4), a current inner loop integrator (5), a nine-axis IMU sensor (6), a feedforward compensation amount estimation module (7), a first adder (8), a third subtractor (9), a pulse width vector modulation module (10), a three-phase voltage inverter (11), a non-physical brake BLDC module (12), a speed reducer and wheel module (13), a three-phase current acquisition module (14), an analog-to-digital conversion and calculation module (15), a photoelectric encoder module (16), and a rotation speed estimation module (17);
the main control system sets the target rotating speed
Figure BDA0003165699580000081
Input into a first subtracter (1);
the first subtracter (1) calculates and obtains a target rotating speed
Figure BDA0003165699580000091
And actual rotational speed
Figure BDA0003165699580000092
The difference value delta omega of (a) is input into a speed outer loop integrator (2);
the speed outer loop integrator (2) performs proportional integral calculation according to the difference value delta omega to obtain closed loop q-axis current
Figure BDA0003165699580000093
Input into an open/closed loop control switching module (3);
the open/close loop control switching module (3) calculates the maximum torque T of the BLDC module (12) without physical brake at presentmaxObtaining a threshold current ImaxAccording to the set open-loop q-axis current
Figure BDA0003165699580000094
Closed loop q-axis current
Figure BDA0003165699580000095
BLDC module (12) without physical brake for real-time power and phase current and actual turning angle
Figure BDA0003165699580000096
Calculating to obtain a set value of the q-axis current
Figure BDA0003165699580000097
And input into a second subtractor (4);
a second subtracter (4) calculates a set q-axis current value
Figure BDA0003165699580000098
And the actual current value iqDifference value Δ i of (1)qInputting the current into a current inner loop integrator (5);
the current inner loop integrator (5) is used for integrating the current according to the difference value delta iqCarrying out proportional integral calculation to obtain a given space voltage vector amplitude u of a control target0Input into a first adder (8);
the nine-axis IMU sensor (6) is used for measuring and calculating a robot running included angle theta and inputting the robot running included angle theta into the feedforward compensation quantity estimation module (7);
the feedforward compensation quantity estimation module (7) calculates the preposed quantity u to be compensated according to the input running included angle theta and the robot size and weight informationp+Inputting the maximum load power P into a first adder (8) and calculating the maximum load power P of the BLDC module (12) without physical brake at presentmaxAnd a maximum torque TmaxInput into an open/closed loop control switching module (3);
the first adder (8) adds the prefix u to be compensatedp+Sum voltage vector magnitude u0Summing to obtain the amplitude U of the output space voltage vectorrefInputting the signal into a third subtracter (9);
the third subtracter (9) is used for subtracting the vector magnitude U of the input space voltagerefCalculating the sum maximum amplitude umaxThe ratio of the difference is input into an improved anti-saturator for regulating and outputting the final space voltage vector amplitude UrefTo a pulse width vector modulation module (10);
the pulse width vector modulation module (10) is used for modulating the vector amplitude U according to the input space voltagerefAnd actual rotation angle of BLDC module (12) without physical brake
Figure BDA0003165699580000101
Six modulation PWM circuits are obtained by calculation and are input into a three-phase voltage inverter (11) When the electric brake cannot support the robot to be self-stabilized or move downwards at a constant speed, the pulse width vector modulation module (10) can adjust and output new six-path modulation PWM, change the steering of the motor and generate braking torque by reversing;
the three-phase voltage inverter (11) generates final driving current and inputs the final driving current into the BLDC module (12) without the physical brake;
the BLDC module (12) without the physical brake drives the speed reducer and the wheel module (13) to move in a corresponding rotating speed direction, so that the wall-climbing robot completes various movements on the wall surface;
the three-phase current acquisition module (14) acquires corresponding three-phase current iA、iBAnd iCInputting the data into an analog-to-digital conversion and calculation module (15);
the analog-to-digital conversion and calculation module (15) is used for measuring three-phase current iA、iBAnd iCThe actual q-axis current value obtained through calculation is input into a second subtracter (4);
the photoelectric encoder module (16) measures the actual rotation angle of the BLDC module (12) without a physical brake
Figure BDA0003165699580000102
The input is input into an open/closed loop control switching module (3), a feedforward compensation quantity estimation module (7), a pulse width vector modulation module (10) and a rotating speed estimation module (17);
the rotating speed estimation module (17) is used for estimating the actual rotating angle of the BLDC module (12) according to the input physical-free brake
Figure BDA0003165699580000103
Calculating to obtain real-time rotating speed
Figure BDA0003165699580000104
And input to a first subtractor (1).
The single-motor driving circuit for the non-physical brake wall-climbing robot is shown in figure 2, and comprises an airborne 36V lithium battery power supply (21), a control circuit (22), a comparison circuit (23), a reference voltage 24V (24), a switching tube (25), a freewheeling diode (26), an inductor (27), a capacitor (28) and a three-phase voltage inverter (11);
the 36V lithium battery power supply (21) is input into the voltage reduction loop, the control circuit (22) is used for controlling the on-off of the switch (25) to cut off/connect the 36V lithium battery power supply (21), the comparison circuit (23) generates a control signal of the switch according to the comparison between the reference voltage 24V (24) and the input voltage, and when the input voltage is lower than 24V, the input of the 36V lithium battery power supply (21) is cut off. When the switch tube (25) is conducted, the energy storage inductor (27) is charged, and the current provided by the 36V lithium battery power supply (21) is used for charging the capacitor (28). The capacitor (28) maintains the output voltage, and when the freewheeling diode (26) does not work, the working frequency of the switching tube (25) is very high, so that the inductor (27) and the capacitor (28) can form an LC filter circuit. When the switching tube (25) is turned off, the energy storage inductor (27) discharges through the freewheeling diode (26). The inductor (27) charges the capacitor (28) when its own voltage is higher than the capacitor (28). The capacitor (28) maintains the output voltage, and the output voltage gradually decreases as the charge amount of the capacitor (28) itself decreases. The three-phase voltage inverter (11) modulates and outputs three-phase current i of the driving motor according to the PWM signal and the input current signal input by the pulse width vector modulation module (10)A、iBAnd iC。
The implementation method of the open/closed loop control switching module (3) is shown in fig. 3, and comprises the following steps:
the first step is as follows: according to the input maximum torque TmaxCalculating to obtain a threshold current Imax；
The second step is that: calculating the real-time power P and the phase current I of the BLDC module (12) without the physical brake;
the third step: according to real-time power P, phase current I and maximum load power PmaxThreshold current ImaxComparing, and judging a further working mode;
state 1: normal starting stage of robot (real-time power P is less than or equal to P)maxReal-time phase current I is less than or equal to ImaxThe number of running turns of the motor is less than or equal to 10), the speed open-loop control mode is entered, and the open/closed-loop control switching module (3) outputs the set q-axis open-loop small current
Figure BDA0003165699580000111
After the operation is stable(real-time power P is less than or equal to PmaxReal-time phase current I is less than or equal to ImaxThe number of running turns of the motor is more than 10), the speed closed-loop control mode is entered, and the open/closed-loop control switching module (3) outputs the calculated q-axis closed-loop current
Figure BDA0003165699580000121
State 2: abnormal Start phase (not satisfying real time Power P ≦ PmaxAnd the real-time phase current I is less than or equal to ImaxWhen the real-time power P is less than or equal to P), further judging the situationmaxAnd phase current I > ImaxWhen the system is in an overcurrent mode, the system automatically sends a latch command to stop alarming, and when the real-time power P is larger than PmaxAnd phase current I is less than or equal to ImaxThen entering a locked-rotor running mode, if the locked-rotor time t is less than tmaxRe-estimating the real-time power P and phase current I of the BLDC module (12) without the physical brake, if the locked rotor time t is more than or equal to tmaxAnd then stopping the machine to alarm.
The implementation method of the feedforward compensation quantity estimation module (8) is shown in FIG. 3, and comprises the following steps:
the first step is as follows: obtaining the maximum load power P of the BLDC module (12) without the physical brake according to the formulas (1) and (2)maxAnd a maximum torque TmaxInput into an open/closed loop control switching module (3);
Figure BDA0003165699580000122
Figure BDA0003165699580000123
where n is the real-time speed of the BLDC module (12) without physical brake, m0The total weight of the robot is g, the gravity acceleration is g, and r is the outer radius of a wheel;
the second step is that: calculating a feedforward coefficient KθAccording to the real-time rotation angle of the BLDC module (12) without the physical brake measured by the photoelectric encoder module (16)
Figure BDA0003165699580000124
Substituting the formula (3) to calculate and obtain a pre-feedback coefficient KθWhen the robot is ready to move downwards, turn around or is self-stabilized, feedforward compensation is carried out, otherwise, feedforward compensation is not carried out;
Figure BDA0003165699580000125
the third step: according to the Daronbel imaginary power principle, a force balance equation when the robot moves linearly in any posture (as shown in figure 4) is established;
Figure BDA0003165699580000131
in the formula N1、N2、N3、N4Reaction forces of the wall surfaces to the wheels 1, 2, 3, 4, respectively, Fp1The tightening force generated by the negative pressure, FfyoFor driving friction of wall-climbing robots, Ff3The friction force of the wall to the sealing skirt is adopted, G is the gravity borne by the robot, and-Ma is imaginary inertia force;
the negative pressure adsorption force of the obtained action satisfies the formula (5);
Figure BDA0003165699580000132
in the formula of1、μ2The friction coefficients of the left driving gear train and the right driving gear train are constant;
substituting geometric dimension parameters H (height of gravity center from wall surface), L (length of robot) and B (width) of the robot into formula (5) respectively to obtain the minimum negative pressure adsorption force meeting the conditions as follows:
Figure BDA0003165699580000133
the fourth step: substituting the mathematical model (shown in fig. 5 and formula (7)) of the negative pressure-rotation speed measured by the test into formula (8) in combination with the mechanical analysis result;
Fp1(x)＝p1n2+p2n+p3 (7)
Figure BDA0003165699580000134
in the formula p1、p2、p3Respectively different constant coefficients;
solving to obtain a rotating speed n;
Figure BDA0003165699580000135
combining the previously obtained feedforward coefficient KθSubstituting into formula (10) to obtain the prefix up+；
Figure BDA0003165699580000141
In the formula KfIs the proportionality coefficient between the rotation speed and the space vector voltage amplitude.
Space voltage vector magnitude UrefThe method for realizing anti-saturation is shown in fig. 3, and comprises the following steps:
the first step is as follows: defining the integral saturation depth deltau＝(Uref-umax)/umaxX 100%, setting a threshold constant beta;
the second step: calculating the compensation coefficient when 0 is less than deltau＝(Uref-umax)/umaxWhen the x is more than or equal to 100 percent and beta is larger than or equal to the saturation depth, namely the saturation depth is within a threshold value, a traditional inverse calculation tracking compensation algorithm is adopted to provide negative feedback compensation (K) for the current inner loop integratorc×(δu- β)) to a saturation depth δuIs reduced to 0;
when deltau＝(Uref-umax)/umaxX 100% > beta, space voltage vector amplitude UrefIn a deep saturation stateAt this time, the compensation coefficient K should be adjustedcTo make the saturation depth deltauDecrease to a threshold constant β, then Uref＝(1+β)×umaxThere is the following relationship;
Figure BDA0003165699580000142
the compensation coefficient K can be obtainedc；
Figure BDA0003165699580000143
In the formula KpIs a constant coefficient;
due to the integration time constant TiMinimum, KpTiδu-Tiumax(1+β)＜＜KpδuTherefore, the above formula can be simplified as follows:
Figure BDA0003165699580000144
the third step: determining the final output UrefCompensation coefficient KcThe regulation rule of (1) is:
Figure BDA0003165699580000151
determining a spatial voltage vector magnitude UrefFinal output after anti-integral saturation compensation;
Figure BDA0003165699580000152
finally, it is also noted that the above-mentioned lists merely illustrate a few specific embodiments of the invention. It is obvious that the invention is not limited to the above embodiments, but that many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.

Claims (4)

1. The utility model provides a no physical brake wall climbing actuating system for robot which characterized in that: the device comprises a first subtracter (1), a speed outer loop integrator (2), an open/closed loop control switching module (3), a second subtracter (4), a current inner loop integrator (5), a nine-axis IMU sensor (6), a feedforward compensation quantity estimation module (7), a first adder (8), a third subtracter (9), a pulse width vector modulation module (10), a three-phase voltage inverter (11), a non-physical brake BLDC module (12), a speed reducer and wheel module (13), a three-phase current acquisition module (14), an analog-to-digital conversion and calculation module (15), a photoelectric encoder module (16) and a rotating speed estimation module (17);
the main control system sets the target rotating speed
Figure FDA0003597737710000011
Input into a first subtracter (1);
the first subtracter (1) calculates and obtains a target rotating speed
Figure FDA0003597737710000012
And actual rotational speed
Figure FDA0003597737710000013
The difference value delta omega of (a) is input into a speed outer loop integrator (2);
the speed outer loop integrator (2) performs proportional integral calculation according to the difference value delta omega to obtain closed loop q-axis current
Figure FDA0003597737710000014
Input into an open/closed loop control switching module (3);
the open/close loop control switching module (3) calculates the maximum torque T of the BLDC module (12) without physical brake at presentmaxObtaining a threshold current ImaxAccording to the set open-loop q-axis current
Figure FDA0003597737710000015
Closed loop q-axis current
Figure FDA0003597737710000016
Physical brake-free BLDC module (12) real-time power and phase current and actual turn angle
Figure FDA0003597737710000017
Calculating to obtain a set value of the q-axis current
Figure FDA0003597737710000018
And input into a second subtractor (4);
a second subtracter (4) calculates a set q-axis current value
Figure FDA0003597737710000019
And the actual current value iqDifference value Δ i ofqInputting the current into a current inner loop integrator (5);
the current inner loop integrator (5) is used for integrating the current according to the difference value delta iqProportional integral calculation is carried out to obtain a given space voltage vector amplitude u of a control target0Input into a first adder (8);
the nine-axis IMU sensor (6) is used for measuring and calculating a robot running included angle theta and inputting the robot running included angle theta into the feedforward compensation quantity estimation module (7);
the feedforward compensation quantity estimation module (7) calculates the preposed quantity u to be compensated according to the input running included angle theta and the robot size and weight informationp+Inputting the maximum load power P into a first adder (8) and calculating the maximum load power P of the BLDC module (12) without physical brake at presentmaxAnd a maximum torque TmaxInput into an open/closed loop control switching module (3);
the first adder (8) adds the prefix u to be compensatedp+Sum voltage vector magnitude u0Summing to obtain the amplitude U of the output space voltage vectorrefInputting the signal into a third subtracter (9);
the third subtracter (9) is used for carrying out vector amplitude U according to the input space voltagerefCalculating the sum maximum amplitude umaxThe ratio of the difference is input to an improved anti-saturator for adjusting and outputting the final space voltage vectorMagnitude of the quantity UrefTo a pulse width vector modulation module (10);
the pulse width vector modulation module (10) is used for modulating the vector amplitude U according to the input space voltagerefAnd actual rotation angle of BLDC module (12) without physical brake
Figure FDA0003597737710000021
Six paths of modulation PWM are obtained through calculation and are input into a three-phase voltage inverter (11), when an electric brake cannot support self-stabilization of the robot or move downwards at a constant speed, a pulse width vector modulation module (10) can adjust and output new six paths of modulation PWM, the steering of a motor is changed, and braking torque is generated through reversal;
the three-phase voltage inverter (11) generates final driving current and inputs the final driving current into the BLDC module (12) without the physical brake;
the BLDC module (12) without the physical brake drives the speed reducer and the wheel module (13) to move in a corresponding rotating speed direction, so that the wall-climbing robot completes various movements on the wall surface;
the three-phase current acquisition module (14) acquires corresponding three-phase current iA、iBAnd iCInputting the data into an analog-to-digital conversion and calculation module (15);
the analog-to-digital conversion and calculation module (15) measures three-phase current iA、iBAnd iCThe actual q-axis current value obtained through calculation is input into a second subtracter (4);
the photoelectric encoder module (16) measures the actual rotation angle of the BLDC module (12) without a physical brake
Figure FDA0003597737710000022
The input is input into an open/closed loop control switching module (3), a feedforward compensation quantity estimation module (7), a pulse width vector modulation module (10) and a rotating speed estimation module (17);
the rotating speed estimation module (17) is used for estimating the actual rotating angle of the BLDC module (12) according to the input physical-free brake
Figure FDA0003597737710000031
Calculating to obtain real-time rotating speed
Figure FDA0003597737710000032
And input to a first subtractor (1).
2. The driving method for the physically braking-free wall-climbing robot using the driving system of claim 1 is characterized in that: the open/closed loop control switching module (3) is realized by the following method;
the first step is as follows: according to the input maximum torque TmaxCalculating to obtain a threshold current Imax；
The second step is that: calculating the real-time power P and the phase current I of the BLDC module (12) without the physical brake;
the third step: according to real-time power P, phase current I and maximum load power PmaxThreshold current ImaxComparing, and judging a further working mode;
state 1: in the normal starting stage of the robot, the robot enters a speed open-loop control mode, and an open/closed-loop control switching module (3) outputs a set q-axis open-loop small current
Figure FDA0003597737710000033
After the operation is stable, the speed closed-loop control mode is entered, and the open/closed-loop control switching module (3) outputs the q-axis closed-loop current obtained by calculation
Figure FDA0003597737710000034
State 2: in the stage of abnormal starting, the situation is further judged, and when the real-time power P is less than or equal to PmaxAnd phase current I > ImaxWhen the system is in an overcurrent mode, the system automatically sends a latch command to stop alarming, and when the real-time power P is larger than PmaxAnd phase current I is less than or equal to ImaxThen entering a locked-rotor running mode, if the locked-rotor time t is less than tmaxRe-estimating the real-time power P and phase current I of the BLDC module (12) without the physical brake, if the locked rotor time t is more than or equal to tmaxAnd then stopping the machine to alarm.
3. The driving method for the robot for climbing wall without physical brake as claimed in claim 2, characterized in that: the feedforward compensation quantity estimation module (7) is realized as follows;
the first step is as follows: obtaining the maximum load power P of the BLDC module (12) without physical brake according to the formulas (1) and (2)maxAnd a maximum torque TmaxInput into an open/closed loop control switching module (3);
Figure FDA0003597737710000041
Figure FDA0003597737710000042
where n is the real-time speed of the BLDC module (12) without physical brake, m0The total weight of the robot is g, the gravity acceleration is g, and r is the outer radius of a wheel;
the second step is that: calculating a feedforward coefficient KθAccording to the real-time rotation angle of the BLDC module (12) without the physical brake measured by the photoelectric encoder module (16)
Figure FDA0003597737710000043
Substituting the formula (3) to calculate and obtain a pre-feedback coefficient KθWhen the robot is ready to move downwards, turn around or is self-stabilized, feedforward compensation is carried out, otherwise, feedforward compensation is not carried out;
Figure FDA0003597737710000044
the third step: according to the Daronbel virtual work principle, a force balance equation is established when the robot moves linearly in any posture;
Figure FDA0003597737710000045
in the formula N1、N2、N3、N4Are respectively asReaction force of wall surface to wheel 1, 2, 3, 4, Fp1The tightening force generated by the negative pressure, FfyoFor driving friction of wall-climbing robots, Ff3The friction force of the wall to the sealing skirt is adopted, G is the gravity borne by the robot, Ma is imaginary inertia force, H is the height of the gravity center of the robot from the wall surface, L is the length of the robot, and B is the width of the robot;
the negative pressure adsorption force of the obtained action satisfies the formula (5);
Figure FDA0003597737710000046
in the formula of1、μ2The friction coefficients of the left driving gear train and the right driving gear train are constant;
substituting the parameters H, L and B into the formula (5) respectively to obtain the minimum negative pressure adsorption force meeting the conditions as follows:
Figure FDA0003597737710000051
the fourth step: substituting the negative pressure-rotating speed mathematical model measured by the test into a formula (8) in combination with a mechanical analysis result;
Fp1(x)＝p1n2+p2n+p3 (7)
Figure FDA0003597737710000052
in the formula p1、p2、p3Respectively different constant coefficients;
solving to obtain a rotating speed n;
Figure FDA0003597737710000053
combining the previously obtained feedforward coefficient KθSubstitution formula(10) Obtaining a lead value up+；
Figure FDA0003597737710000054
In the formula KfIs the proportionality coefficient between the rotation speed and the space vector voltage amplitude.
4. The driving method for the non-physical braking wall-climbing robot according to claim 2, characterized in that: an improved anti-saturator is added in the speed closed-loop control mode;
Figure FDA0003597737710000055
Figure FDA0003597737710000056
in the formula KcTo compensate for the coefficient, δuFor integral saturation, beta is a threshold constant, KpIs a constant coefficient of umaxIs the maximum amplitude, s is an imaginary variable, TiIs an integration time constant;
a third subtracter (9) obtains the integral saturation deltau＝(Uref-umax)/umaxX 100%, by the compensation coefficient K of formula (11)cSubstituting into formula (12) to determine the space voltage vector magnitude UrefThe final output after anti-integral saturation compensation.
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