CN113894778B - Dexterous hand servo system and fault detection, control and protection method thereof - Google Patents

Dexterous hand servo system and fault detection, control and protection method thereof Download PDF

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CN113894778B
CN113894778B CN202110815009.8A CN202110815009A CN113894778B CN 113894778 B CN113894778 B CN 113894778B CN 202110815009 A CN202110815009 A CN 202110815009A CN 113894778 B CN113894778 B CN 113894778B
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fault
freedom
module
servo system
parameter
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CN113894778A (en
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李鹏飞
赵青
刘书选
吕博瀚
曾思
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Beijing Research Institute of Precise Mechatronic Controls
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Beijing Research Institute of Precise Mechatronic Controls
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0066—Means or methods for maintaining or repairing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

An FPGA main control unit carries out control and fault protection in the dexterous hand servo system according to a data design algorithm; the parameter detection module is used for detecting the servo state of the dexterous hand; the fault detection module is used for detecting and pre-judging faults of the servo system; the driving control module is used as an action control module of each degree of freedom, and the number of driving units of the driving control module is increased according to the difference of the degrees of freedom of the dexterous hand; the protection control module controls and processes each fault according to the detection data provided by the fault detection module, protects the whole system and improves the reliability and safety performance of the servo system; the motor assembly performs corresponding actions according to the motion instructions of the drive control module and the protection control module, so that the dexterous robot hand is ensured to be controlled and protected as required; the data storage module stores various detection parameters and detection states of the servo system, and various control methods and protection methods of the main control unit.

Description

Dexterous hand servo system and fault detection, control and protection method thereof
Technical Field
The design relates to the field of dexterous hand servo systems and fault detection and control protection, in particular to a dexterous hand servo system and a fault detection and control protection method thereof.
Background
With the rapid development of the robot technology, the application field of the robot technology is increasingly expanded. Among them, the execution part of the robot has a very close role to the working environment, and the dexterous hand is used as an end effector, which affects the intellectualization of the robot and the improvement of the working level, so that the humanoid dexterous hand with a plurality of joints has become one of the research hotspots in the robot field. The servo motor is an engine for controlling mechanical elements to operate in a servo system, and is an indirect speed change device of a supplementary motor. The speed and position accuracy can be controlled very accurately, and the voltage signal can be converted into torque and rotating speed to drive a controlled object. A servo control system for a dexterous hand of a robot belongs to a high-precision and complex control system, and particularly needs position and some grasping actions on precision control, so that the servo system needs to have more perfect performance indexes, and can be matched with the dexterous hand of the robot to finish various complex actions or even human-simulated actions by adding acquisition signals of some sensors. The dexterous hand system belongs to multi-freedom multi-cooperative control, the requirements of the synchronism and the real-time performance of communication between control drivers in the servo system are higher and higher, and meanwhile, the fault detection and the control protection of the servo system become main trends due to the fact that the freedom degree is higher and higher. The dexterous hand servo system is a multi-degree-of-freedom combined control system, is complex in structure and control and more complex in detection and protection control method, once a certain fault occurs in the dexterous hand, the control fails due to the fact that the dexterous hand is not controlled and protected in real time, tasks cannot be completed normally, and therefore the robot cannot move normally and is unstable.
The traditional servo system is only controlled and detected one by one, can not detect multiple degrees of freedom, and is controlled and protected, meanwhile, the detection means is single, the detection program is complex, reliable and convenient detection means are not provided, the detection result is a known afterfeel, the judgment is not carried out in advance, the fault can not be diagnosed in advance, and the fault can not be prevented, so that the system is abnormal in action when the fault occurs. Meanwhile, the detection and protection of faults such as formulation, limit, communication, control and the like of a dexterous hand do not have a good scheme.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, the fault detection and control protection method for the dexterous hand servo system is provided, the fault can be detected in advance before the faults such as robot dexterous hand limit and braking occur, the source of the fault is positioned at the same time, the fault is controlled and reset, the fault can be detected in real time at the motion or working stage of the dexterous hand, the reliability of each shaft is guaranteed, the complexity of fault detection is reduced, the safety of dexterous hand control is improved, meanwhile, the dexterous hand servo system has the capacity of multi-freedom-degree integrated control, the parameters of a plurality of motors can be detected quickly and reliably, adjustment is made, the real-time operability of the dexterous hand is improved, and the control performance of the dexterous hand is improved. The stable operation of the servo control drive of the system and the stable operation of the dexterous robot hand are ensured.
The technical scheme of the invention is as follows: a servo system for dexterous hands comprises a data storage module, an FPGA main control unit, a parameter detection module, a driving control module, a fault detection module, a protection control module, a data storage module and a motor assembly;
the FPGA main control unit receives data sent by the parameter detection module and the fault detection module, and performs control and fault protection in the dexterous hand servo system according to a data design algorithm;
the parameter detection module is used for detecting the servo state of the dexterous hand, providing reliable parameter self-adjusting data for the FPGA main control unit and ensuring the parameter accuracy of each degree of freedom of the dexterous hand servo system;
the fault detection module is used for detecting and pre-judging faults of the servo system, including electric faults, limiting faults and braking faults, providing fault processing data for the FPGA main control unit and ensuring the accuracy of the fault processing of the servo system;
the driving control module is used as an action control module of each degree of freedom, and the number of driving units of the driving control module is increased according to the difference of the degrees of freedom of the dexterous hand;
the protection control module controls and processes each fault according to the detection data provided by the fault detection module, protects the whole system and improves the reliability and safety performance of the servo system;
the motor assembly performs corresponding actions according to the motion instructions of the drive control module and the protection control module, so that the dexterous robot hand is ensured to be controlled and protected as required;
the data storage module stores various detection parameters and detection states of the servo system, and various control methods and protection methods of the main control unit.
The FPGA main control unit receives data of the parameter detection module and the fault detection module, designs a parameter self-adjusting and multi-path cooperative control method, a control method of a limit processing mode and a fault detection method according to the data returned by the monitoring module, and performs control and fault protection in a dexterous hand servo system.
The parameter self-adjustment and multi-path cooperative control method comprises the following specific processes:
11) collecting information such as frequency, voltage, speed, position, current, torque and the like in the parameter detection module, and making data support for parameter adjustment and cooperative control;
12) substituting the acquired data into a formula (2), calculating the rotational inertia of each degree of freedom, and judging whether the rotational inertia meets the requirement, wherein the requirement means that the inertia keeps stable in a certain unit; if yes, go to step 13), if not, go to step 14);
Figure BDA0003169848150000031
wherein J is rotational inertia, P is a frequency value, T is a moment value, v is a speed value, and U is a voltage value;
13) calculating the motion trail of each degree of freedom, selecting the values of the position loop proportion gain KPP, the speed loop proportion gain KVP and the speed loop integral time constant TVI with the maximum integral value of 10lnVo/Vi as system parameter values, and controlling the motor to move; wherein Vo represents the initial value of the speed; i is a positive integer;
14) analyzing the frequency characteristic and the parameter characteristic of each degree of freedom, finding out unstable frequency values, eliminating the unstable frequency values, adjusting the self control parameters of each motor, and adjusting the PID of each control driving system until the motion inertia is met, thereby reducing the vibration of the robot.
The fault detection method comprises the following steps:
21) before or during movement, sending debugging signals to respective degree-of-freedom control driving systems, receiving feedback signals of a fault detection module, judging the state of each control driving system according to received fault information, and positioning faults;
22) when the received signal is a communication problem or a certain power supply problem, the judgment is continuously carried out for three times, if the three times of communication are failed, the machine is stopped for inspection, and if the three times of communication are not failed, the machine continues to work. If the received signal is a limit fault prompt, a limit processing mode is carried out;
23) and judging whether the limit fault is solved, if so, continuing working, and if not, stopping checking.
The specific process of the control method of the limit processing mode is as follows:
31) when a limit fault is detected, entering a limit processing mode, and collecting motion position parameters of each degree of freedom;
32) and determining the current safe motion parameter range according to the current position parameters of the degrees of freedom, wherein each degree of freedom corresponds to one safe motion parameter range one by one.
33) And judging according to the current position parameter and the safe movement range, continuing to move when the requirement is met, and controlling the degree of freedom to brake and stop when the requirement is not met.
The safe motion parameter range is determined by coupling the actual track and the preset track of the motion of each degree of freedom, namely, each degree of freedom influences the safe motion parameter range of other degrees of freedom, and the safe motion parameter range is updated in real time.
The coupling-determined trajectory is formulated as
S i ＝e Si1 *α i *∑log(a i -a i0 )
Wherein S i Locus determined for coupling of ith degree of freedom, Si1 is a predetermined locus for ith degree of freedom, alpha i Is the ith degree of freedom coefficient of curvature, a i Is the ith degree of freedom angle value, a i0 Is the initial angle value of the ith degree of freedom.
The driving control module is used as an action control module of each degree of freedom, the number of the driving units of the driving control module is increased according to the difference of the degrees of freedom of the dexterous hand, and the driving control module runs under the action of the same main control.
The FPGA main control unit receives detection data provided by the fault detection module, designs a corresponding algorithm instruction, and sends the algorithm instruction to the control protection module, and the control protection module decomposes the algorithm instruction, processes the algorithm instruction into an executable action command, controls the motor assembly, controls and processes each fault, and protects the whole system.
The motor component comprises a motor, a brake and a limit switch; the motor is used for the motion of whole servo, and the stopper is used for the hardware braking of motor, and limit switch is used for the spacing of motion, according to the motion instruction of drive control module and protection control module, carries out corresponding action, guarantees that the dexterous hand of robot can control and protect as required.
The parameter detection module comprises a frequency detection unit, a voltage detection unit, a current detection unit, a speed detection unit, a torque detection unit and a position detection unit; the device comprises a frequency detection unit, a voltage detection unit, a current detection unit, a speed detection unit, a moment detection unit and a position detection unit, wherein the frequency detection unit is used for detecting the frequency of movement of each degree of freedom of the dexterous hand; the detected information is transmitted to the FPGA main control unit, reliable parameter self-adjusting data are provided for the FPGA main control unit, and the parameter accuracy of each degree of freedom of the dexterous hand servo system is guaranteed.
The fault detection module comprises a brake fault detection unit, a power supply fault detection unit, a communication fault detection unit and a limiting fault detection unit, wherein the brake fault detection unit is used for detecting the action of a brake of the motor assembly and detecting the state of the brake in real time, the power supply fault detection unit is used for detecting whether the voltage and current values of each power supply unit of the whole system are normal or not, and the communication fault detection unit is used for detecting whether the communication between each degree of freedom of the dexterous hand servo system is normal or not.
The data storage module consists of a fast storage chip, has the functions of bidirectional transmission and detection, can detect and store data and is used for storing each detection parameter and detection state in the servo system.
A method for carrying out fault detection and control protection by using the system comprises the following steps:
(1) before and during the movement, the system detects the faults of each motor, and per unit is carried out on data: the post-per-unit data formula is expressed by a general formula as follows:
Figure BDA0003169848150000051
wherein F is a per unit value of a fault, P represents a power supply fault, C represents a communication fault, l is a limit fault, and b represents a braking fault;
(2) before operation, fault location and elimination are carried out according to a formula (1), when F is between 0.1 and 0.95, no fault is considered, a step (3) is carried out, and when F is not in the range, the fault is considered to exist, the fault is located, and the fault is eliminated;
(3) when the motor has no fault, the motor is started to operate, and the parameter values of each degree of freedom during operation are collected. If the system requirements are met, the movement is continued, and if the system requirements are not met, the parameter adjustment is carried out.
Compared with the prior art, the invention has the advantages that:
(1) the invention adopts a smart hand servo system and a fault detection and control protection method thereof, which can detect faults in advance before the occurrence of faults such as limiting, braking and the like of a smart hand of a robot, simultaneously locate the source of the faults, control and reset the faults, and also can detect the faults in real time at the motion or working stage of the smart hand, ensure the reliability of each shaft, reduce the complexity of fault detection and improve the control safety of the smart hand. The stable operation of the servo control drive of the system and the stable operation of the dexterous robot are ensured.
(2) The invention adopts a servo system for the dexterous hand and a fault detection and control protection method thereof, wherein a multi-path driving coordination control algorithm is added in an FPGA main control unit, so that the reliability of the servo system for the dexterous hand is improved, the real-time operability of the dexterous hand is improved, and the stable work of the dexterous hand is facilitated;
(3) the invention adopts a servo system for a dexterous hand and a fault detection and control protection method thereof, wherein an automatic parameter adjustment control algorithm of a multi-degree-of-freedom motor of the dexterous hand is added in an FPGA main control unit; the convenience of parameter adjustment of the servo system is ensured, the parameter debugging time is reduced, and the intelligence and the reliability of the servo system are improved;
(4) the invention adopts a dexterous hand servo system and a fault detection and control protection method thereof, wherein a fault detection method of the dexterous hand servo system is added in an FPGA main control unit; the complexity of fault detection of the servo system is reduced, the parameter debugging time is shortened, the reliability and stability of the servo system are improved, and the safety of dexterity is improved;
(5) the invention adopts a servo system for the dexterous hand and a fault detection and control protection method thereof, adds a brake detection and control method, adopts a software and hardware redundancy design technology, and realizes mutual redundancy of software brake and hardware brake, thereby improving the safety of the dexterous hand and ensuring the reliability of brake;
(6) the invention adopts the servo system for the dexterous hand and the fault detection and control protection method thereof, increases the limit detection and control release, ensures that the dexterous hand works in an effective stroke range, improves the limit performance of the dexterous hand, protects the integral structure of the dexterous hand and increases the reliability of dexterous control.
Drawings
FIG. 1 is a schematic diagram of a servo system.
FIG. 2 is a schematic diagram of a parameter detection module.
Fig. 3 is a schematic diagram of a fault detection module.
Fig. 4 is a flow chart of the servo system.
FIG. 5 is a flow chart of a method for parameter self-tuning and cooperative control.
Fig. 6 is a fault detection flow chart.
Fig. 7 is a flowchart of a limit processing mode.
Detailed Description
A servo system for dexterous hands and a fault detection and control protection method thereof are shown in a schematic diagram of a servo system composition in figure 1 and comprise a data storage module, an FPGA (field programmable gate array) main control unit, a parameter detection module, a drive control module, a fault detection module, a protection control module and a motor assembly. The schematic diagram is characterized in that the control information flow of the schematic diagram is that the FPGA main control unit calls data of the parameter detection module and the fault detection module, stores the data into the data storage module, sends control protection and drive control commands to the protection control module and the drive control module, the drive control module controls the motion of the motor, and the protection control module can remove faults and protect the motor.
The FPGA main control unit is mainly used for receiving data of a parameter detection module and a fault detection module, and controlling and protecting the smart hand servo system according to the data and a design algorithm.
The parameter detection module is mainly used for detecting servo states of the dexterous hand, such as voltage, current, position and other information, providing reliable parameter self-adjusting data for the FPGA main control unit, and ensuring the parameter accuracy of each degree of freedom of a dexterous hand servo system.
The fault detection module is mainly used for detecting and pre-judging faults of the servo system, such as power supply faults, limiting faults, braking faults and the like, provides fault processing data for the FPGA main control unit, and ensures the accuracy of the fault processing of the servo system.
The brake failure is a failure that when the system is in an abnormal state, the software or hardware brake is in a problem and the brake processing cannot be performed. The design carries out dual redundant braking of software braking and hardware braking, and ensures the reliability of braking. The software braking means that the brake is controlled to act through programming to ensure the opening and closing of the brake, and the hardware braking means that when the system is abnormally or suddenly powered off, three-phase windings of each degree of freedom are connected together to form a large braking torque to ensure that the system cannot have problems.
The limit fault means that each degree of freedom in the system moves beyond a given safety range of the system. Causing a limit aberration to the system.
The driving control module is mainly used as an action control module of each degree of freedom, and the driving control module is driven to increase the number of driving units according to the difference of the degrees of freedom of the dexterous hand;
the protection control module is mainly used for controlling and processing each fault by the FPGA main control unit according to the detection data provided by the fault detection module, so that the whole system is protected, and the reliability and the safety performance of the servo system are improved;
the motor assembly mainly performs corresponding actions according to the motion instructions of the drive control module and the protection control module, so that the dexterous hand of the robot can be controlled and protected as required;
the data storage module is mainly used for storing various detection parameters and detection states of the servo system, and storing various control methods and protection methods of the main control unit.
The FPGA main control unit is a core unit of the servo system, and mainly receives data of the parameter detection module and the fault detection module through the FPGA, and a multi-channel cooperative control method, a parameter self-adjusting method and a fault detection protection method are designed according to the data returned by the monitoring module to carry out control and fault protection in the dexterous hand servo system. The reliability of the dexterous hand servo system is improved, the real-time operability of the dexterous hand is improved, and the stable work of the dexterous hand is facilitated; the parameter debugging time is reduced, and the intelligence and the reliability of the servo system are improved; the safety of the dexterous hand is improved;
the driving control module is mainly used as an action control module of each degree of freedom, the number of driving units of the driving control module is increased according to different degrees of freedom of a dexterous hand, and the plurality of driving units are under the same main control action, so that the multi-degree-of-freedom cooperative control is facilitated, and the consistency of a servo system is improved;
the protection control module is mainly used for controlling and processing each fault by the FPGA main control unit according to the detection data provided by the fault detection module, so that the whole system is protected, and the reliability and the safety performance of the servo system are improved;
the motor assembly mainly comprises a motor, a brake, a limit switch and the like, corresponding actions are carried out mainly according to the motion instructions of the drive control module and the protection control module, the robot dexterous hand can be controlled and protected as required, and the reliability and the stability of the motion of the motor are improved.
The parameter detection module is shown in a schematic diagram of the parameter detection module in fig. 2, and mainly comprises a frequency detection unit, a voltage detection unit, a current detection unit, a speed detection unit, a torque detection unit and a position detection unit, and is mainly used for detecting servo states of the dexterous hand, such as voltage, current, position and other information, providing reliable parameter self-adjustment data for the FPGA main control unit, and ensuring the parameter accuracy of each degree of freedom of the dexterous hand servo system. The convenience of parameter adjustment of the servo system is ensured, the parameter debugging time is reduced, and the intelligence and the reliability of the servo system are improved;
the fault detection module is shown as a schematic diagram of the fault detection module in fig. 3, and mainly comprises a brake fault detection unit, a power supply fault detection unit, a communication fault detection unit and a limit fault detection unit, and is mainly used for detecting and pre-judging faults of the servo system, such as power supply faults, limit faults, brake faults and the like, so that fault processing data is provided for the FPGA main control unit, the accuracy of the fault processing of the servo system is ensured, the flexible hand can work within an effective stroke range, the limit performance of the flexible hand is improved, the overall structure of the flexible hand is protected, and the reliability of flexible control is improved;
the data storage module is mainly used for storing various detection parameters and detection states of the servo system, and storing various control methods and protection methods of the main control unit.
The working flow of the servo system is shown in fig. 4.
(1) The system detects the faults of each motor before and during movement, and for convenient calling, data is per unit: the data formula after per unit is expressed by a general formula as follows:
Figure BDA0003169848150000091
wherein F is the per unit value of the fault, P represents the power supply fault, C represents the communication fault, l is the limit fault, b represents the brake fault
(2) Before operation, fault location and elimination are carried out according to a formula (1), when F is between 0.1 and 0.95, no fault is considered, operation in the step 3 is carried out, and when F is not within the range, the fault is considered to exist, the fault is located, and the fault is eliminated.
(3) When the motor has no fault, the motor is started to operate, and the parameter values of each degree of freedom during operation are collected. If the system requirements are met, the movement is continued, and if the system requirements are not met, the parameter adjustment is carried out.
The method for self-tuning parameters and multi-path cooperative control is shown in the flow chart of the method for self-tuning parameters and multi-path cooperative control in fig. 5. The specific process is as follows:
(1) and acquiring information such as frequency, voltage, speed, position, current, torque and the like in the parameter detection module, and performing data support for parameter adjustment and cooperative control.
(2) Substituting the collected data into formula (2), and calculating the moment of inertia of each degree of freedom
Judging whether the rotational inertia meets the requirement, wherein the meeting of the requirement means that the inertia keeps stable in a certain unit, if so, entering the step (3), and if not, entering the step (4)
Figure BDA0003169848150000101
Wherein J is the moment of inertia, P is the frequency value, T is the moment value, v is the speed value, U is the voltage value.
(3) Calculating the motion trail of each degree of freedom, and selecting the values of a position loop proportion gain KPP, a speed loop proportion gain KVP and a speed loop integration time constant TVI with the maximum integral value of 10lnVo/Vi as system parameter values; and controlling the motor to move.
(4) Analyzing the frequency characteristic and the parameter characteristic of each degree of freedom, finding out unstable frequency values, eliminating the unstable frequency values, adjusting the self control parameters of each motor, and adjusting the PID of each control driving system until the motion inertia is met, thereby reducing the vibration of the robot.
The fault detection method is shown in the fault detection flow of fig. 6, and the detection steps are as follows:
(1) before or during movement, debugging signals are sent to respective degree-of-freedom control drive systems, feedback signals of a fault detection module are received, the state of each control drive system is judged according to received fault information, and faults are located
(2) When the received signal is a communication problem or a certain power supply problem, the judgment is continuously carried out for three times, if the three times of communication are failed, the machine is stopped for inspection, and if the three times of communication are not failed, the machine continues to work. And if the received signal is a limiting fault prompt, a limiting processing mode is carried out.
(3) And judging whether the limit fault is solved, if so, continuing working, and if not, stopping checking.
The control method of the limit processing mode is shown in the flow chart of the limit processing mode in fig. 7.
(1) When a limit fault is detected, entering a limit processing mode, and acquiring motion position parameters of each degree of freedom
(2) And determining the current safe motion parameter range according to the current position parameters of the degrees of freedom, wherein each degree of freedom corresponds to one safe motion parameter range one by one.
(3) And judging according to the current position parameters and the safe movement range, continuing to move when the requirements are met, and controlling the freedom degree to brake and stop when the requirements are not met.
The safe motion parameter range is a track determined by coupling the actual track and the preset track of the motion of each degree of freedom, namely, each degree of freedom influences the safe motion parameter ranges of other degrees of freedom, which indicates that the safe motion parameter range is updated in real time. The reliability of limiting protection of the dexterous hand is improved, and the dexterous hand can play a role to the maximum extent.
The trajectory determined by the coupling can be formulated as follows.
S i ＝e Si1 *α i *∑log(a i -a i0 )
Wherein S i Locus determined for coupling of ith degree of freedom, Si1 is a predetermined locus for ith degree of freedom, alpha i Is the ith degree of freedom coefficient of curvature, a i Is the ith degree of freedom angle value, a i0 Is the initial angle value of the ith degree of freedom.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make modifications and variations of the present invention without departing from the spirit and scope of the present invention.

Claims (12)

1. A servo system for dexterous hand is characterized in that: the device comprises a data storage module, an FPGA main control unit, a parameter detection module, a drive control module, a fault detection module, a protection control module, a data storage module and a motor assembly;
the FPGA main control unit receives data sent by the parameter detection module and the fault detection module, and performs control and fault protection in the dexterous hand servo system according to a data design algorithm;
the parameter detection module is used for detecting the servo state of the dexterous hand, providing reliable parameter self-adjusting data for the FPGA main control unit and ensuring the parameter accuracy of each degree of freedom of the dexterous hand servo system;
the fault detection module is used for detecting and pre-judging faults of the servo system, including electric faults, limiting faults and braking faults, providing fault processing data for the FPGA main control unit and ensuring the accuracy of the fault processing of the servo system;
the driving control module is used as an action control module of each degree of freedom, and the number of driving units of the driving control module is increased according to the difference of the degrees of freedom of the dexterous hand;
the protection control module controls and processes each fault according to the detection data provided by the fault detection module, protects the whole system and improves the reliability and safety performance of the servo system;
the motor assembly performs corresponding actions according to the motion instructions of the drive control module and the protection control module, so that the dexterous robot hand is ensured to be controlled and protected as required;
the data storage module stores detection parameters and detection states of the servo system, and stores various control methods and protection methods of the main control unit;
the FPGA main control unit receives data of the parameter detection module and the fault detection module, designs a parameter self-adjusting and multi-path cooperative control method, a control method of a limit processing mode and a fault detection method according to the data returned by the detection module, and performs control and fault protection in a dexterous hand servo system;
the parameter self-adjustment and multi-path cooperative control method comprises the following specific processes:
11) acquiring frequency, voltage, speed, position, current and moment information in the parameter detection module, and making data support for parameter adjustment and cooperative control;
12) substituting the acquired data into a formula (2), calculating the rotational inertia of each degree of freedom, and judging whether the rotational inertia meets the requirement, wherein the rotational inertia is kept stable in a certain unit; if yes, go to step 13), if not, go to step 14);
Figure FDA0003708542140000021
wherein J is rotational inertia, P is a frequency value, T is a moment value, v is a speed value, and U is a voltage value;
13) calculating the motion trail of each degree of freedom, and selecting 10lnv 0 /v i The values of the position loop proportional gain KPP, the speed loop proportional gain KVP and the speed loop integral time constant TVI with the maximum integral value are used as system parameter values to control the motor to move; wherein v is 0 Representing an initial value of speed; i is a positive integer;
14) analyzing the frequency characteristic and the parameter characteristic of each degree of freedom, finding out unstable frequency values, eliminating the unstable frequency values, adjusting the self control parameters of each motor, and adjusting the PID of each control driving system until the motion inertia is met, thereby reducing the vibration of the robot.
2. A servo system for a dexterous hand according to claim 1, characterized in that: the fault detection method comprises the following steps:
21) before or during movement, sending debugging signals to respective degree-of-freedom control driving systems, receiving feedback signals of a fault detection module, judging the state of each control driving system according to received fault information, and positioning faults;
22) when the received signal is that communication is in problem or a certain power supply is in problem, continuously judging for three times, if the three times are in failure, stopping checking, and if the three times are not in failure, continuing working; if the received signal is a limit fault prompt, a limit processing mode is carried out;
23) and judging whether the limit fault is solved, if so, continuing working, and if not, stopping checking.
3. A servo system for a dexterous hand according to claim 1, characterized in that: the specific process of the control method of the limit processing mode is as follows:
31) when a limit fault is detected, entering a limit processing mode, and collecting motion position parameters of each degree of freedom;
32) determining a current safe motion parameter range according to the current position parameters of the degrees of freedom, wherein each degree of freedom corresponds to one safe motion parameter range one by one;
33) and judging according to the current position parameter and the safe movement range, continuing to move when the requirement is met, and controlling the degree of freedom to brake and stop when the requirement is not met.
4. A servo system for a dexterous hand according to claim 3, characterized in that: the safe motion parameter range is determined by coupling the actual track and the preset track of the motion of each degree of freedom, namely, each degree of freedom influences the safe motion parameter range of other degrees of freedom, and the safe motion parameter range is updated in real time.
5. A servo system for a dexterous hand according to claim 4, characterized in that: the coupling-determined trajectory is formulated as
S i ＝e Si1 *α i *∑log(a i -a i0 )
Wherein S i Locus determined for coupling of ith degree of freedom, Si1 is a predetermined locus for ith degree of freedom, alpha i Is the ith degree of freedom coefficient of curvature, a i Is the ith degree of freedom angle value, a i0 Is the initial angle value of the ith degree of freedom.
6. A servo system for a dexterous hand according to claim 1, characterized in that: the driving control module is used as an action control module of each degree of freedom, the number of the driving units of the driving control module is increased according to the difference of the degrees of freedom of the dexterous hand, and the driving control module runs under the action of the same main control.
7. A servo system for a dexterous hand according to claim 1, characterized in that: the FPGA main control unit receives detection data provided by the fault detection module, designs a corresponding algorithm instruction, and sends the algorithm instruction to the control protection module, and the control protection module decomposes the algorithm instruction, processes the algorithm instruction into an executable action command, controls the motor assembly, controls and processes each fault, and protects the whole system.
8. A servo system for a dexterous hand according to claim 1, characterized in that: the motor component comprises a motor, a brake and a limit switch; the motor is used for the motion of whole servo, and the stopper is used for the hardware braking of motor, and limit switch is used for the spacing of motion, according to the motion instruction of drive control module and protection control module, carries out corresponding action, guarantees that the dexterous hand of robot can control and protect as required.
9. A servo system for a dexterous hand according to claim 1, characterized in that: the parameter detection module comprises a frequency detection unit, a voltage detection unit, a current detection unit, a speed detection unit, a torque detection unit and a position detection unit; the device comprises a frequency detection unit, a voltage detection unit, a current detection unit, a speed detection unit, a moment detection unit and a position detection unit, wherein the frequency detection unit is used for detecting the frequency of movement of each degree of freedom of the dexterous hand; the detected information is transmitted to the FPGA main control unit, reliable parameter self-adjusting data are provided for the FPGA main control unit, and the parameter accuracy of each degree of freedom of the dexterous hand servo system is guaranteed.
10. A servo system for a dexterous hand according to claim 1, characterized in that: the fault detection module comprises a brake fault detection unit, a power supply fault detection unit, a communication fault detection unit and a limiting fault detection unit, wherein the brake fault detection unit is used for detecting the action of a brake of the motor assembly and detecting the state of the brake in real time, the power supply fault detection unit is used for detecting whether the voltage and current values of each power supply unit of the whole system are normal or not, and the communication fault detection unit is used for detecting whether the communication between each degree of freedom of the dexterous hand servo system is normal or not.
11. A servo system for a dexterous hand according to claim 1, characterized in that: the data storage module consists of a fast storage chip, has the functions of bidirectional transmission and detection, can detect and store data and is used for storing each detection parameter and detection state in the servo system.
12. A method for fault detection, control protection using the system of any one of the preceding claims, characterized by the steps of:
(1) before and during the movement, the system detects the faults of each motor, and per unit is carried out on data: the post-per-unit data formula is expressed by a general formula as follows:
Figure FDA0003708542140000041
wherein F is a per unit value of a fault, P represents a power supply fault, C represents a communication fault, l is a limit fault, and b represents a braking fault;
(2) before operation, fault location and elimination are carried out according to a formula (1), when F is between 0.1 and 0.95, no fault is considered, a step (3) is carried out, and when F is not in the range, the fault is considered to exist, the fault is located, and the fault is eliminated;
(3) when the motor has no fault, starting operation, and acquiring parameter values of each degree of freedom during operation;
if the system requirements are met, the movement is continued, and if the system requirements are not met, the parameter adjustment is carried out.
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