CN113556070A - Robot joint servo motor compliance control method - Google Patents

Robot joint servo motor compliance control method Download PDF

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CN113556070A
CN113556070A CN202110785776.9A CN202110785776A CN113556070A CN 113556070 A CN113556070 A CN 113556070A CN 202110785776 A CN202110785776 A CN 202110785776A CN 113556070 A CN113556070 A CN 113556070A
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torque
motor
time
moment
load torque
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CN113556070B (en
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潘月斗
张亚涛
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University of Science and Technology Beijing USTB
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University of Science and Technology Beijing USTB
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Abstract

The invention provides a robot joint servo motor compliance control method, and belongs to the field of robot joint control. The method comprises the following steps: establishing a permanent magnet synchronous motor mathematical model which accords with the robot joint compliance control standard; determining a balance relation between the angular momentum of a motor rotor and torque impulse according to the established mathematical model of the permanent magnet synchronous motor; if the load torque at the tail end of the robot joint is suddenly changed, judging whether the load torque variation exceeds a preset threshold value; and if the current value exceeds a preset threshold value, determining the moment of vector conversion of the inverter according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relation between the angular momentum and the torque impulse of the motor rotor. By adopting the invention, the dynamic adjustment time of the robot joint servo control system when the load torque at the tail end of the robot joint suddenly changes can be obviously reduced.

Description

Robot joint servo motor compliance control method
Technical Field
The invention relates to the field of robot joint control, in particular to a robot joint servo motor compliance control method.
Background
An articulated robot, also called an articulated arm robot or an articulated robot arm, is one of the most common forms of industrial robots in the industrial field today, and is suitable for mechanical automation operations in many industrial fields. For example, the joint robot is driven by a motor and realizes high-precision control of the robot joint by using a high-precision permanent magnet synchronous motor vector control system during the work of automatic assembly, paint spraying, carrying, welding and the like.
A Permanent Magnet Synchronous Motor (PMSM) has the advantages of small size, small inertia, high response speed, high efficiency and the like. The high-precision robot joint mostly adopts a method of controlling a permanent magnet synchronous motor and a vector (comprising motor voltage, current and the like), however, when the system acts on certain rigid changes or sudden changes of load stress, the system is slow in adjusting time, and overshoot can be generated.
Disclosure of Invention
The embodiment of the invention provides a robot joint servo motor compliance control method, which can obviously reduce the dynamic adjustment time of a robot joint servo control system when the load torque at the tail end of a robot joint suddenly changes.
The embodiment of the invention provides a robot joint servo motor compliance control method, which comprises the following steps:
s101, establishing a permanent magnet synchronous motor mathematical model which accords with the robot joint compliance control standard;
s102, determining a balance relation between the angular momentum of a motor rotor and torque impulse according to the established mathematical model of the permanent magnet synchronous motor;
s103, if the load torque at the tail end of the robot joint is suddenly changed, judging whether the load torque variation exceeds a preset threshold value;
and S104, if the current value exceeds the preset threshold value, determining the moment of vector conversion of the inverter according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relation between the angular momentum and the torque impulse of the motor rotor.
Further, the established mathematical model of the permanent magnet synchronous motor comprises: the method comprises the following steps that three permanent magnet synchronous motor d-axis and q-axis voltage equations, a flux linkage equation, a permanent magnet synchronous motor electromagnetic torque equation and a motor kinematics equation are obtained; wherein the content of the first and second substances,
the d-axis and q-axis voltage equations of the three permanent magnet synchronous motors are as follows:
Figure BDA0003158698510000021
the flux linkage equation is:
Figure BDA0003158698510000022
the electromagnetic torque equation of the permanent magnet synchronous motor is as follows:
Figure BDA0003158698510000023
the motor kinematic equation is as follows:
Figure BDA0003158698510000024
wherein, Ud、UqRespectively represent d-axis voltage, q-axis voltage, RsRepresenting stator equivalent resistance, p being a differential operator, ωtRepresenting the angular velocity of the motor at time t, id、iqRespectively represent d-axis current, q-axis current, Ld、LqRespectively representing d-axis and q-axis stator equivalent inductances, #fIs the rotor total flux linkage vector psid、ψqRespectively d-axis and q-axis components of a motor stator flux linkage, J represents the rotational inertia of a motor rotor, and TeRepresenting electromagnetic torque, TLRepresenting the load torque, B0Denotes the coefficient of friction, pnThe number of pole pairs of the motor is shown.
Further, the equilibrium relationship between the angular momentum of the rotor of the motor and the torque impulse is expressed as:
Figure BDA0003158698510000025
wherein, ω ist′Representing the angular velocity of the motor at time t';
neglect of friction systemNumber B0And obtaining the balance relation between the angular momentum and the torque impulse of the motor rotor as follows:
Figure BDA0003158698510000026
further, the load torque jump comprises: a sudden increase in load torque and a sudden decrease in load torque; wherein the content of the first and second substances,
when the load torque suddenly increases, the angular momentum and the torque impulse of the motor rotor in the rising process of the electromagnetic torque meet the following conditions:
Figure BDA0003158698510000027
when the load torque suddenly increases, the angular momentum and the torque impulse of the motor rotor in the electromagnetic torque decreasing process meet the following conditions:
Figure BDA0003158698510000031
wherein S is1For sudden increase in load, t0To t1The area enclosed by the moment electromagnetic torque and the load torque; s2For sudden increase in load, t1To t3The area enclosed by the moment electromagnetic torque and the load torque; omegat0、ωt1、ωt3Respectively at t for the motor0、t1、t3Angular velocity of the moment.
Further, when the load torque is suddenly reduced, the angular momentum and the torque impulse of the motor rotor in the electromagnetic torque reduction process meet the following conditions:
Figure BDA0003158698510000032
when the load torque is suddenly reduced, the angular momentum and the torque impulse of the motor rotor meet the following conditions in the electromagnetic torque rising process:
Figure BDA0003158698510000033
wherein S is1When the load suddenly decreases, t0To t1The area enclosed by the moment electromagnetic torque and the load torque; s2When the load suddenly decreases, t1To t3The area enclosed by the moment electromagnetic torque and the load torque; omegat0、ωt1、ωt3Respectively at t for the motor0、t1、t3Angular velocity of the moment.
Further, if the value exceeds a preset threshold value, determining the moment of inverter vector transformation according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relation between the angular momentum and the torque impulse of the motor rotor comprises:
if the load torque is at t0When sudden increase occurs at the moment and the sudden increase amount exceeds a set threshold value, at t0Controlling the inverter to transmit the forward vector until t2At a time with a slope of k1When the electromagnetic torque is equal to the load torque, the time is recorded as t1Time of day according to the formula of angular momentum Lt＝JωtTo obtain t1、t2、t3Angular momentum at time is Lt1、Lt2、Lt3And calculating t according to the mathematical model of the permanent magnet synchronous motor1To t3Impulse of electromagnetic torque and load torque at time
Figure BDA0003158698510000034
According to the obtained Lt1、Lt2、Lt3And I, calculating the moment t of electromagnetic torque reduction by using a mathematical model of the permanent magnet synchronous motor and a balance relation between the angular momentum and the torque impulse of a motor rotor2And t3Wherein at t2At the moment, the inverter is controlled to send a backward vector until t3At the time of day with a slope k2Until the electromagnetic torque again equals the abruptly changed load torque, which is denoted by t3At the moment when the motor speed is stable againAnd then the step returns to continue the execution of the step S103.
Further, the slope k1Expressed as:
Figure BDA0003158698510000035
wherein k is1Representing an electromagnetic torque rising slope; t ise0、Tet1Respectively represent t0Time t1The electromagnetic torque at a time; t is t1For the moment when the electromagnetic torque equals the load torque during the increase of the electromagnetic torque, t1Is determined by the following formula:
Figure BDA0003158698510000041
wherein iqtRepresenting the current of the q-axis at time t when the electromagnetic torque increases, iqt0、iqt1Respectively represent t0Time t1Q-axis current at time;
slope k2Expressed as:
Figure BDA0003158698510000042
wherein k is2Representing an electromagnetic torque down slope; t ise2、Tet3Respectively represent t2Time t3The electromagnetic torque at a time; t is t3The moment when the electromagnetic torque is equal to the suddenly changed load torque again in the process of reducing the electromagnetic torque; t is t2、t3Is determined by the following formula:
Figure BDA0003158698510000043
wherein, i'qtRepresenting the current of the q-axis at time t when the electromagnetic torque decreases, due to t2Is the bending point of electromagnetic torque variation, so'qt2＝iqt2，i′qt2、i′qt3Respectively represent t2Time t3Q-axis current at time, iqt2Represents t2Q-axis current at time, TLt3Represents t3The moment load torque.
Further, the determining the moment of vector transformation of the inverter according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relationship between the angular momentum and the torque impulse of the motor rotor comprises:
if the load torque is at t0A sudden decrease occurs at a time, and the amount of the sudden decrease exceeds a set threshold value at t0Controlling the inverter to send a backward vector until t2At a time with a slope of k3When the electromagnetic torque is equal to the load torque, the time is recorded as t1Time of day according to the formula of angular momentum Lt＝JωtTo obtain t1、t2、t3Angular momentum at time is Lt1、Lt2、Lt3And calculating t according to the mathematical model of the permanent magnet synchronous motor1To t3Impulse of electromagnetic torque and load torque at time
Figure BDA0003158698510000044
According to the obtained Lt1、Lt2、Lt3And I, calculating the moment t of the increase of the electromagnetic torque by using a mathematical model of the permanent magnet synchronous motor and a balance relation between the angular momentum and the torque impulse of a motor rotor2And t3Wherein at t2At the moment, the inverter is controlled to transmit a forward vector until t3At the time of day with a slope k4Until the electromagnetic torque again equals the abruptly changed load torque, which is denoted by t3At this point, the motor speed is stabilized again, and the process returns to S103.
Further, the method further comprises:
if the load torque is at t0And if the variation of the moment does not exceed a preset threshold value, the robot joint servo control system adopts vector control.
Further, the method further comprises:
before sudden change of load torque, the robot joint servo control system adopts vector control.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in the embodiment of the invention, a permanent magnet synchronous motor mathematical model which accords with the robot joint compliance control standard is established; determining a balance relation between the angular momentum of a motor rotor and torque impulse according to the established mathematical model of the permanent magnet synchronous motor; if the load torque at the tail end of the robot joint is suddenly changed, judging whether the load torque variation exceeds a preset threshold value; and if the current value exceeds a preset threshold value, determining the moment of vector conversion of the inverter according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relation between the angular momentum and the torque impulse of the motor rotor. Therefore, the moment of inverter vector transformation is determined according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relation between the angular momentum and the torque impulse of the motor rotor, the dynamic regulation time of the robot joint servo control system when the load torque at the tail end of the robot joint suddenly changes can be obviously shortened, the system can be recovered to be stable in the shortest time, the dynamic regulation performance of the system, the control precision and the anti-interference capability of the robot joint are obviously improved, and the problem of overshoot of the permanent magnet synchronous motor vector control system when the load torque changes greatly is solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a robot joint servo motor compliance control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a process of changing a rotational speed and a torque of a motor when a load torque suddenly increases according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a process of changing the rotation speed and the torque of the motor when the load torque suddenly decreases according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a method for controlling compliance of a robot joint servo motor, where the method includes:
s101, establishing a permanent magnet synchronous motor mathematical model which accords with the robot joint compliance control standard;
s102, determining a balance relation between the angular momentum of a motor rotor and torque impulse according to the established mathematical model of the permanent magnet synchronous motor;
s103, if the load torque at the tail end of the robot joint is suddenly changed, judging whether the load torque variation exceeds a preset threshold value;
and S104, if the current value exceeds the preset threshold value, determining the moment of vector conversion of the inverter according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relation between the angular momentum and the torque impulse of the motor rotor.
The robot joint servo motor compliance control method provided by the embodiment of the invention comprises the steps of establishing a permanent magnet synchronous motor mathematical model which accords with a robot joint compliance control standard; determining a balance relation between the angular momentum of a motor rotor and torque impulse according to the established mathematical model of the permanent magnet synchronous motor; if the load torque at the tail end of the robot joint is suddenly changed, judging whether the load torque variation exceeds a preset threshold value; and if the current value exceeds a preset threshold value, determining the moment of vector conversion of the inverter according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relation between the angular momentum and the torque impulse of the motor rotor. Therefore, the moment of inverter vector transformation is determined according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relation between the angular momentum and the torque impulse of the motor rotor, the dynamic regulation time of the robot joint servo control system when the load torque at the tail end of the robot joint suddenly changes can be obviously shortened, the system can be recovered to be stable in the shortest time, the dynamic regulation performance of the system, the control precision and the anti-interference capability of the robot joint are obviously improved, and the problem of overshoot of the permanent magnet synchronous motor vector control system when the load torque changes greatly is solved.
Under the condition that the rotating speed of the robot joint servo motor is stable, when the load torque at the tail end of the robot joint suddenly changes, the robot joint servo motor compliance control method based on the angular momentum and torque impulse balance provided by the embodiment can be used for realizing the robot joint compliance control.
In a specific embodiment of the foregoing method for controlling compliance of a robot joint servo motor, the established mathematical model of the permanent magnet synchronous motor further includes: the method comprises the following steps that three permanent magnet synchronous motor d-axis and q-axis voltage equations, a flux linkage equation, a permanent magnet synchronous motor electromagnetic torque equation and a motor kinematics equation are obtained; wherein the content of the first and second substances,
the d-axis and q-axis voltage equations of the three permanent magnet synchronous motors are as follows:
Figure BDA0003158698510000071
the flux linkage equation is:
Figure BDA0003158698510000072
the electromagnetic torque equation of the permanent magnet synchronous motor is as follows:
Figure BDA0003158698510000073
the motor kinematic equation is as follows:
Figure BDA0003158698510000074
wherein, Ud、UqRespectively represent d-axis voltage, q-axis voltage, RsRepresenting stator equivalent resistance, p being a differential operator, ωtWhen represents tAngular velocity of the motor id、iqRespectively represent d-axis current, q-axis current, Ld、LqRespectively representing d-axis and q-axis stator equivalent inductances, #fIs the rotor total flux linkage vector psid、ψqRespectively d-axis and q-axis components of a motor stator flux linkage, J represents the rotational inertia of a motor rotor, and TeRepresenting electromagnetic torque, TLRepresenting the load torque, B0Denotes the coefficient of friction, pnThe number of pole pairs of the motor is shown.
In this embodiment, for a surface-mount permanent magnet synchronous motor, Ld＝LqL, wherein Ld、LqThe equivalent inductances of the d-axis stator and the q-axis stator are respectively shown, and L represents the equivalent inductances of the d-axis stator and the q-axis stator.
In the embodiment, a dynamic regulation control method for a robot joint servo control system when load torque suddenly changes is provided according to a motor kinetic equation on the basis of a permanent magnet synchronous motor mathematical model; the dynamic regulation control method is established under the condition that the rotating speed of the servo motor of the robot joint is stable, and the load moment at the tail end of the robot joint changes suddenly. By adopting the invention, the dynamic adjustment time when the load moment at the tail end of the robot joint suddenly changes can be obviously prolonged.
In a specific embodiment of the foregoing robot joint servo motor compliance control method, further, a balance relationship between an angular momentum of a motor rotor and a torque impulse is expressed as:
Figure BDA0003158698510000075
wherein, ω ist′Representing the angular velocity of the motor at time t';
neglecting the coefficient of friction B0And obtaining the balance relation between the angular momentum and the torque impulse of the motor rotor as follows:
Figure BDA0003158698510000081
in the present embodiment, the torque impulse is an impulse between the electromagnetic torque and the load torque.
In an embodiment of the compliance control method for the robot joint servo motor, further, the sudden change of the load torque includes: a sudden increase in load torque and a sudden decrease in load torque; wherein the content of the first and second substances,
fig. 2 is a schematic diagram of a process of changing the rotation speed and the torque of the motor during sudden load increase, and when the load torque increases suddenly, the angular momentum and the torque impulse of the motor rotor during the rising process of the electromagnetic torque satisfy:
Figure BDA0003158698510000082
when the load torque suddenly increases, the angular momentum and the torque impulse of the motor rotor in the electromagnetic torque decreasing process meet the following conditions:
Figure BDA0003158698510000083
wherein S is1For sudden increase in load, t0To t1The area enclosed by the moment electromagnetic torque and the load torque; s2For sudden increase in load, t1To t3The area enclosed by the moment electromagnetic torque and the load torque; omegat0、ωt1、ωt2、ωt3Respectively at t for the motor0、t1、t2、t3The angular velocity at the moment is shown in fig. 2.
In a specific embodiment of the foregoing method for controlling compliance of a robot joint servo motor, further, fig. 3 is a schematic diagram of a process of changing a rotating speed and a torque of a motor during a sudden decrease of a load, where an angular momentum and a torque impulse of a motor rotor during a decreasing process of an electromagnetic torque during the sudden decrease of the load meet:
Figure BDA0003158698510000084
when the load torque is suddenly reduced, the angular momentum and the torque impulse of the motor rotor meet the following conditions in the electromagnetic torque rising process:
Figure BDA0003158698510000085
wherein S is1When the load suddenly decreases, t0To t1The area enclosed by the moment electromagnetic torque and the load torque; s2When the load suddenly decreases, t1To t3The area enclosed by the moment electromagnetic torque and the load torque; omegat0、ωt1、ωt2、ωt3Respectively at t for the motor0、t1、t2、t3The angular velocity at the moment is shown in fig. 3.
In this embodiment, assume that the robot joint end load torque TLAt t0Is suddenly changed into TL', then at t0Before the moment, the robot joint servo system is a vector control system and adopts vector control.
In this embodiment, at t0Time of day, load torque TLMutation to TL' thereafter, the load torque is judged to be at t0Variation quantity DeltaT of timeL(△TL＝TL′-TL) And if the load torque does not exceed the preset threshold, the change of the load torque of the motor is small, the influence on the rotating speed of the motor is small, and the robot joint servo control system still adopts vector control. If the value exceeds the preset threshold value, the robot joint compliance control is realized according to S104.
In this embodiment, the preset threshold is a load torque steady-state change threshold.
In an embodiment of the compliance control method for the robot joint servo motor, further, if the compliance control time exceeds a preset threshold, determining a time of inverter vector conversion according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relationship between the angular momentum and the torque impulse of the motor rotor includes:
if the load torque is at t0Sudden increase occurs at a moment and the quantity of the sudden increase is Delta TLIn excess of the set threshold value(s),then at t0Controlling the inverter to transmit the forward vector until t2At a time with a slope of k1The speed of the motor is linearly increased by the electromagnetic torque, the rotating speed of the motor is always reduced in the process that the electromagnetic torque is smaller than the load torque, when the electromagnetic torque is equal to the load torque, the rotating speed of the motor is reduced to the lowest value, and the time is recorded as t1Time of day according to the formula of angular momentum Lt＝JωtTo obtain t1、t2、t3Angular momentum at time is Lt1、Lt2、Lt3And calculating t according to the mathematical model of the permanent magnet synchronous motor1To t3Impulse of electromagnetic torque and load torque at time
Figure BDA0003158698510000091
According to the obtained Lt1、Lt2、Lt3And I, calculating the moment t of electromagnetic torque reduction by using a mathematical model of the permanent magnet synchronous motor and a balance relation between the angular momentum and the torque impulse of a motor rotor2And t3At t2At the moment, the inverter is controlled to send a backward vector until t3At the time of day with a slope k2Until the electromagnetic torque again equals the abruptly changed load torque, which is denoted by t3At this point, the motor speed is stabilized again, and the process returns to S103.
In this embodiment, the following is obtained according to the established mathematical model of the permanent magnet synchronous motor:
Figure BDA0003158698510000092
wherein u isd、uqRespectively represent d-axis voltage, q-axis voltage, RsRepresenting stator equivalent resistance, ωtRepresenting the angular velocity of the motor at time t, id、iqD-axis current and q-axis current, L d-axis stator equivalent inductance and q-axis stator equivalent inductance, psifIs the rotor total flux linkage vector.
Further, it can be obtained from the above formula:
Figure BDA0003158698510000093
wherein the content of the first and second substances,
Figure BDA0003158698510000094
for the second derivative function and the first derivative function of the q-axis current over time t,
Figure BDA0003158698510000095
representing a first derivative function of the q-axis voltage over time t.
This expression applies both when the electromagnetic torque rises and falls.
Based on the above expression, t1The time of day can be obtained by the following equation:
Figure BDA0003158698510000101
according to the obtained t1Time of day, and thus the electromagnetic torque rising slope
Figure BDA0003158698510000102
Wherein k is1Representing an electromagnetic torque rising slope; t ise0、Tet1Respectively represent t0Time t1The electromagnetic torque at a time; t is t1For the moment in time during which the electromagnetic torque is equal to the load torque during the increase of the electromagnetic torque, iqtRepresenting the current of the q-axis at time t when the electromagnetic torque increases, iqt0、iqt1Respectively represent t0Time t1Q-axis current at time;
electromagnetic torque down time t2、t3Can be obtained by the following equation:
Figure BDA0003158698510000103
according to the obtained t2、t3At a moment, electromagnetism can be obtainedSlope of torque reduction
Figure BDA0003158698510000104
Wherein k is2Representing an electromagnetic torque down slope; t ise2、Tet3Respectively represent t2Time t3The electromagnetic torque at a time; t is t3The moment when the electromagnetic torque is equal to the suddenly changed load torque again in the process of reducing the electromagnetic torque; i'qtRepresenting the current of the q-axis at time t when the electromagnetic torque decreases, due to t2Is the bending point of electromagnetic torque variation, so'qt2＝iqt2，i′qt2、iq′t3Respectively represent t2Time t3Q-axis current at time, iqt2Represents t2Q-axis current at time, TLt3Represents t3The load torque at that time; t isLt3Represents t3The moment load torque. In this embodiment, the time when the electromagnetic torque needs to be increased and decreased and the rising and falling slopes of the electromagnetic torque are determined according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relationship between the angular momentum and the torque impulse of the motor rotor.
In a specific embodiment of the foregoing method for controlling compliance of a robot joint servo motor, further, the determining a moment of inverter vector transformation according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relationship between the angular momentum and the torque impulse of the motor rotor includes:
if the load torque is at t0A sudden decrease occurs at a moment and the quantity of the sudden decrease DeltaTLExceeds a set threshold value at t0Controlling the inverter to send a backward vector until t2At a time with a slope of k3The speed of the motor is linearly reduced by the electromagnetic torque, the rotating speed of the motor is increased all the time when the electromagnetic torque is larger than the load torque, and when the electromagnetic torque is equal to the load torque, the rotating speed of the motor is increased to the maximum value, and the time is recorded as t1Time of day according to the formula of angular momentum Lt＝JωtTo obtain t1、t2、t3Angular momentum at time is Lt1、Lt2、Lt3And according toMathematical model of a magnetic synchronous machine, calculating t1To t3Impulse of electromagnetic torque and load torque at time
Figure BDA0003158698510000111
According to the obtained Lt1、Lt2、Lt3And I, calculating the moment t of the increase of the electromagnetic torque by using a mathematical model of the permanent magnet synchronous motor and a balance relation between the angular momentum and the torque impulse of a motor rotor2And t3Wherein at t2At the moment, the inverter is controlled to transmit a forward vector until t3At the time of day with a slope k4Until the electromagnetic torque again equals the abruptly changed load torque, which is denoted by t3At this point, the motor speed is stabilized again, and the process returns to S103.
In this embodiment, the load torque surge can be solved according to t1、t2、t3The method of (1) is used for solving the time when the electromagnetic torque falls and rises when the load torque suddenly decreases, and further obtaining the slope k3And k4。
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. A robot joint servo motor compliance control method is characterized by comprising the following steps:
s101, establishing a permanent magnet synchronous motor mathematical model which accords with the robot joint compliance control standard;
s102, determining a balance relation between the angular momentum of a motor rotor and torque impulse according to the established mathematical model of the permanent magnet synchronous motor;
s103, if the load torque at the tail end of the robot joint is suddenly changed, judging whether the load torque variation exceeds a preset threshold value;
and S104, if the current value exceeds the preset threshold value, determining the moment of vector conversion of the inverter according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relation between the angular momentum and the torque impulse of the motor rotor.
2. The robot joint servo motor compliance control method of claim 1, wherein the established permanent magnet synchronous motor mathematical model comprises: the method comprises the following steps that three permanent magnet synchronous motor d-axis and q-axis voltage equations, a flux linkage equation, a permanent magnet synchronous motor electromagnetic torque equation and a motor kinematics equation are obtained; wherein the content of the first and second substances,
the d-axis and q-axis voltage equations of the three permanent magnet synchronous motors are as follows:
Figure FDA0003158698500000011
the flux linkage equation is:
Figure FDA0003158698500000012
the electromagnetic torque equation of the permanent magnet synchronous motor is as follows:
Figure FDA0003158698500000013
the motor kinematic equation is as follows:
Figure FDA0003158698500000014
wherein, Ud、UqRespectively represent d-axis voltage, q-axis voltage, RsRepresenting stator equivalent resistance, p being a differential operator, ωtRepresenting the angular velocity of the motor at time t, id、iqRespectively represent d-axis current, q-axis current, Ld、LqRespectively representing d-axis and q-axis stator equivalent inductances, #fIs the rotor total flux linkage vector psid、ψqAre the d-axis and q-axis components of the motor stator flux linkage respectively,j denotes the moment of inertia of the rotor of the machine, TeRepresenting electromagnetic torque, TLRepresenting the load torque, B0Denotes the coefficient of friction, pnThe number of pole pairs of the motor is shown.
3. The compliance control method for the servo motor of the robot joint according to claim 2, wherein the balance relationship between the angular momentum of the motor rotor and the torque impulse is represented as:
Figure FDA0003158698500000021
wherein, ω ist′Representing the angular velocity of the motor at time t';
neglecting the coefficient of friction B0And obtaining the balance relation between the angular momentum and the torque impulse of the motor rotor as follows:
Figure FDA0003158698500000022
4. the robot joint servo motor compliance control method of claim 3, wherein the sudden change in load torque comprises: a sudden increase in load torque and a sudden decrease in load torque; wherein the content of the first and second substances,
when the load torque suddenly increases, the angular momentum and the torque impulse of the motor rotor in the rising process of the electromagnetic torque meet the following conditions:
Figure FDA0003158698500000023
when the load torque suddenly increases, the angular momentum and the torque impulse of the motor rotor in the electromagnetic torque decreasing process meet the following conditions:
Figure FDA0003158698500000024
wherein S is1For sudden increase in load, t0To t1The area enclosed by the moment electromagnetic torque and the load torque; s2For sudden increase in load, t1To t3The area enclosed by the moment electromagnetic torque and the load torque; omegat0、ωt1、ωt3Respectively at t for the motor0、t1、t3Angular velocity of the moment.
5. The compliance control method for the servo motor of the robot joint according to claim 4, wherein when the load torque suddenly decreases, the angular momentum and the torque impulse of the motor rotor in the electromagnetic torque decreasing process satisfy:
Figure FDA0003158698500000025
when the load torque is suddenly reduced, the angular momentum and the torque impulse of the motor rotor meet the following conditions in the electromagnetic torque rising process:
Figure FDA0003158698500000031
wherein S is1When the load suddenly decreases, t0To t1The area enclosed by the moment electromagnetic torque and the load torque; s2When the load suddenly decreases, t1To t3The area enclosed by the moment electromagnetic torque and the load torque; omegat0、ωt1、ωt3Respectively at t for the motor0、t1、t3Angular velocity of the moment.
6. The compliance control method for the servo motor of the robot joint according to claim 3, wherein if the compliance control method exceeds a preset threshold, the determining the moment of inverter vector transformation according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relation between the angular momentum and the torque impulse of the motor rotor comprises:
if the load torque is at t0When sudden increase occurs at the moment and the sudden increase amount exceeds a set threshold value, at t0Controlling the inverter to transmit the forward vector until t2At a time with a slope of k1When the electromagnetic torque is equal to the load torque, the time is recorded as t1Time of day according to the formula of angular momentum Lt＝JωtTo obtain t1、t2、t3Angular momentum at time is Lt1、Lt2、Lt3And calculating t according to the mathematical model of the permanent magnet synchronous motor1To t3Impulse of electromagnetic torque and load torque at time
Figure FDA0003158698500000032
According to the obtained Lt1、Lt2、Lt3And I, calculating the moment t of electromagnetic torque reduction by using a mathematical model of the permanent magnet synchronous motor and a balance relation between the angular momentum and the torque impulse of a motor rotor2And t3Wherein at t2At the moment, the inverter is controlled to send a backward vector until t3At the time of day with a slope k2Until the electromagnetic torque again equals the abruptly changed load torque, which is denoted by t3At this point, the motor speed is stabilized again, and the process returns to S103.
7. The method of claim 6, wherein the slope k is a linear function of the servo motor1Expressed as:
Figure FDA0003158698500000033
wherein k is1Representing an electromagnetic torque rising slope; t ise0、Tet1Respectively represent t0Time t1The electromagnetic torque at a time; t is t1For the moment when the electromagnetic torque equals the load torque during the increase of the electromagnetic torque, t1Is determined by the following formula:
Figure FDA0003158698500000034
wherein iqtRepresenting the current of the q-axis at time t when the electromagnetic torque increases, iqt0、iqt1Respectively represent t0Time t1Q-axis current at time;
slope k2Expressed as:
Figure FDA0003158698500000041
wherein k is2Representing an electromagnetic torque down slope; t ise2、Tet3Respectively represent t2Time t3The electromagnetic torque at a time; t is t3The moment when the electromagnetic torque is equal to the suddenly changed load torque again in the process of reducing the electromagnetic torque; t is t2、t3Is determined by the following formula:
Figure FDA0003158698500000042
wherein, i'qtRepresenting the current of the q-axis at time t when the electromagnetic torque decreases, due to t2Is the bending point of electromagnetic torque variation, so'qt2＝iqt2，i′qt2、i′qt3Respectively represent t2Time t3Q-axis current at time, iqt2Represents t2Q-axis current at time, TLt3Represents t3The moment load torque.
8. The compliance control method for the servo motor of the robot joint according to claim 3, wherein the determining the moment of inverter vector transformation according to the established mathematical model of the permanent magnet synchronous motor and the determined balance relation between the angular momentum and the torque impulse of the motor rotor comprises:
if the load torque is at t0A sudden decrease occurs at a time, and the amount of the sudden decrease exceeds a set threshold value at t0Controlling the inverter to send a backward vector until t2At a time with a slope of k3When the electromagnetic torque is equal to the load torque, the time is recorded as t1Time of day according to the formula of angular momentum Lt＝JωtTo obtain t1、t2、t3Angular momentum at time is Lt1、Lt2、Lt3And calculating t according to the mathematical model of the permanent magnet synchronous motor1To t3Impulse of electromagnetic torque and load torque at time
Figure FDA0003158698500000043
According to the obtained Lt1、Lt2、Lt3And I, calculating the moment t of the increase of the electromagnetic torque by using a mathematical model of the permanent magnet synchronous motor and a balance relation between the angular momentum and the torque impulse of a motor rotor2And t3Wherein at t2At the moment, the inverter is controlled to transmit a forward vector until t3At the time of day with a slope k4Until the electromagnetic torque again equals the abruptly changed load torque, which is denoted by t3At this point, the motor speed is stabilized again, and the process returns to S103.
9. The method of robot joint servo motor compliance control of claim 1, further comprising:
if the load torque is at t0And if the variation of the moment does not exceed a preset threshold value, the robot joint servo control system adopts vector control.
10. The method of robot joint servo motor compliance control of claim 1, further comprising:
before sudden change of load torque, the robot joint servo control system adopts vector control.
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