CN114448318A - Safety control method and system for motor - Google Patents
Safety control method and system for motor Download PDFInfo
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- CN114448318A CN114448318A CN202210154909.7A CN202210154909A CN114448318A CN 114448318 A CN114448318 A CN 114448318A CN 202210154909 A CN202210154909 A CN 202210154909A CN 114448318 A CN114448318 A CN 114448318A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- 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
- H02P27/08—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 with pulse width modulation
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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Abstract
The embodiment of the invention discloses a safety control method and a system of a motor, wherein the motor is applied to a robot joint and is controlled by a driver to work, and the method comprises the following steps: acquiring working information of a robot joint and driver working information; determining working parameters and working parameter estimated values of the robot joints according to the working information and the driver working information; generating a first driving voltage signal according to the working parameter and an external reference instruction, and generating a second driving voltage signal according to the working parameter estimation value and the external reference instruction; when the robot joint is normal, outputting a first driving voltage signal to the motor; or, when the robot joint is in failure, outputting a second driving voltage signal to the motor. The technical scheme provided by the embodiment of the invention aims to solve the technical problems of poor reliability and safety of the existing motor control method of the robot joint.
Description
Technical Field
The embodiment of the invention relates to the technical field of robot control, in particular to a safety control method and system for a motor.
Background
The robot has wider and wider application field, and the motor in the robot joint is used for driving the joint to move due to the perfect safety control function of the robot. In the development of motor control systems or motor control applications, the functional safety of products is becoming more important in recent years.
Currently, in a motor control method based on a sensing signal, if a sensor fault (missing code, singular point, hardware damage, cable damage) occurs, a situation may occur in which a feedback signal is greatly changed, a sensor output is 0, or the sensor is unavailable. Therefore, the production efficiency is reduced due to the fact that the motor cannot work continuously, safety accidents and the like are caused due to the fact that the motor slides, and the difficulty in troubleshooting is high. Therefore, the existing motor control method for the robot joint has poor reliability and safety, and the use experience of the robot is greatly reduced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and a system for safely controlling a motor, so as to solve the technical problem that the existing method for controlling a motor of a robot joint has poor reliability and safety.
In a first aspect, an embodiment of the present invention provides a safety control method for a motor, including a driver electrically connected to the motor, where the motor is applied in a robot joint, the method including:
acquiring working information of the robot joint and driver working information;
determining working parameters and working parameter estimation values of the robot joint according to the working information and the driver working information;
generating a first driving voltage signal according to the working parameter and an external reference instruction, and generating a second driving voltage signal according to the working parameter estimation value and the external reference instruction;
when the robot joint is normal, outputting the first driving voltage signal to the motor; or when the robot joint is in fault, outputting the second driving voltage signal to the motor.
In a second aspect, an embodiment of the present invention provides a safety control system for a motor, including a driver electrically connected to the motor, where the motor is applied to a robot joint; the driver is configured to perform the method of the first aspect, the driver comprising:
the data acquisition module is used for acquiring the working information of the robot joint and the driver working information;
the parameter determining module is used for determining working parameters and working parameter estimated values of the robot joint according to the working information and the driver working information;
the driving signal generation module is used for generating a first driving voltage signal according to the working parameter and an external reference instruction and generating a second driving voltage signal according to the working parameter estimation value and the external reference instruction;
the output selection module is used for outputting the first driving voltage signal to the motor when the robot joint is normal; or when the robot joint is in fault, outputting the second driving voltage signal to the motor.
In the embodiment of the invention, whether the robot joint has a fault or not can be determined according to whether the work information is obviously abnormal or not by acquiring the work information of the robot joint and the work information of the driver. Determining working parameters of the robot joint according to the working information and the driver working information, and generating a first driving voltage signal according to the working parameters and an external reference instruction; and determining a working parameter estimated value through a control algorithm according to the working information and the driver working information, and generating a second driving voltage signal according to the working parameter estimated value and an external reference instruction, so that redundant control channels are arranged, different control loop operations can be performed according to the obtained working parameters respectively, and corresponding driving voltage signals are obtained. When the robot joint is normal, outputting a first driving voltage signal to the motor; or when the robot joint fails, the second driving voltage signal is output to the motor, so that whether the robot joint fails or not, the motor in the joint can be ensured to reliably and stably operate, safety accidents caused by shutdown or sliding of the motor at an unsafe position are avoided, the reliability and safety of the robot joint are improved, good user experience is obtained, and the product competitiveness is improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a schematic diagram of a safety control structure of a motor according to an embodiment of the present invention;
fig. 2 is a flowchart of a safety control method for a motor according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot joint according to an embodiment of the present invention;
fig. 4 is a flowchart of another safety control method for an electric motor according to an embodiment of the present invention;
fig. 5 is a flowchart of a safety control method for an electric motor according to another embodiment of the present invention;
fig. 6 is a flowchart of another safety control method for an electric motor according to an embodiment of the present invention;
fig. 7 is a flowchart of a safety control method for an electric motor according to another embodiment of the present invention;
fig. 8 is a flowchart of a safety control method for an electric motor according to another embodiment of the present invention;
fig. 9 is a schematic structural diagram of a safety control system of a motor according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a safety control system of another motor according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a safety control system of a further motor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be fully described by the detailed description with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, not all embodiments, and all other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without inventive efforts fall within the scope of the present invention.
Fig. 1 is a schematic diagram illustrating a safety control structure of a motor according to an embodiment of the present invention, and fig. 2 is a flowchart illustrating a safety control method of a motor according to an embodiment of the present invention, and with reference to fig. 1 and fig. 2, a motor 11 is applied to a robot joint 10 and controlled by a driver 20 to operate, where the method includes:
s201, acquiring work information of the robot joint and drive work information.
It can be understood that fig. 3 is a schematic structural diagram of a robot joint according to an embodiment of the present invention, as shown in fig. 3, the robot joint is not only provided with the motor 11, but also provided with the speed reducer 12, the connecting rod 13 and the load 14, and the rotation of the motor 11 sequentially drives the speed reducer 12 and the connecting rod 13 to rotate, so as to drive the load 14 to work. The high-speed shaft incremental encoder (INC) is installed on one side of the high-speed shaft of the speed reducer 12, the INC is used for collecting rotation angle information of a motor shaft, the low-speed shaft absolute encoder (ABS) is installed on one side of the low-speed shaft of the speed reducer 12, and the ABS is used for collecting rotation angle information of a connecting rod.
Specifically, voltage and current sensors and the like are correspondingly arranged in the robot joint, so that the working information comprises rotation angle information, three-phase current information, three-phase voltage information of the motor, rotation angle information of the connecting rod and the like. The driver working information includes driver bus voltage and the like, which are not specially limited in the embodiment of the invention, and can be adaptively set according to the requirement of an actual control model algorithm.
S202, determining the working parameters and the working parameter estimation values of the robot joints according to the working information and the driver working information.
The working parameters refer to parameters obtained by coordinate change or standard formula conversion of working information and driver working information, for example, motor position parameters and speed parameters can be obtained by directly converting the rotation angle information of the motor. It should be noted that the standard formula herein refers to a standard physical conversion formula, and one operating parameter may also be obtained from a plurality of operating information through the standard physical conversion formula.
The estimated value of the working parameter refers to an estimated value obtained by estimating the working information and the driver working information through a control algorithm model, and ideally, the working parameter representing the same physical quantity meaning is the same as the estimated value of the working parameter when the joint is not in fault and stably runs. In contrast, the estimated values of the working parameters are estimated through a control algorithm model, and the working parameters are obtained by converting the working information directly acquired by the sensors. Illustratively, the rotation angle information of the motor shaft is acquired through the INC, the position parameter and the speed parameter of the motor can be obtained through direct conversion, and in addition, the estimated value and the estimated value of the position parameter and the speed parameter of the motor can also be obtained through estimation of three-phase voltage, three-phase current and bus voltage of a driver through a control algorithm model.
S203, generating a first driving voltage signal according to the working parameters and an external reference instruction; and generating a second driving voltage signal according to the working parameter estimation value and the external reference instruction.
Specifically, after working parameters are determined according to the working information and the driver working information, the working parameters and corresponding external reference instructions are controlled and adjusted, so that the working parameters always follow the external reference instructions, and a first driving voltage signal capable of driving the motor to work is generated. Meanwhile, the working parameter estimated value is determined according to the working information and the driver working information, the working parameter estimated value is controlled and adjusted according to the corresponding external reference instruction, the working parameter estimated value is made to always follow the external reference instruction, and a second driving voltage signal capable of driving the motor to work is generated.
It should be noted that, the external reference commands corresponding to different operating parameters are different, and in an actual motor control algorithm, the external reference commands are usually configured by a plurality of control loops, such as a speed control loop, a torque control loop, and the like, so that the plurality of operating parameters are respectively controlled to follow the corresponding external reference commands, so as to ensure stable operation of the motor. In addition, under different operation conditions of the robot joint, the corresponding external reference command is also different, and this embodiment is not particularly limited thereto. Can be set according to actual working conditions.
S204, when the robot joint is normal, outputting a first driving voltage signal to the motor; or, when the robot joint is in failure, outputting a second driving voltage signal to the motor.
The first driving voltage signal and the second driving voltage signal are pulse modulation signals (PWM) capable of driving the motor to move, the first driving voltage signal and the second driving voltage signal cannot be simultaneously output to the motor, and when the robot joint is normal, the first driving voltage signal is controlled to be output to the motor; or, when the robot joint breaks down, the second driving voltage signal is controlled to be output to the motor, so that whether the robot joint breaks down or not can be guaranteed to always guarantee the stable operation of the motor, and safety accidents are avoided.
Specifically, in the motor operation process, when the robot joint is normal, the driver acquires the working information of the robot joint and the driver working information in real time, then directly obtains corresponding working parameters required by control according to the working information and the driver working information, generates a first driving voltage signal through closed-loop following control of the working parameters and an external reference instruction, drives the motor to stably operate through the first driving voltage signal, does not need a complex control algorithm, and prolongs the service life of the driver. When the robot joint has a fault, especially when a sensor in the joint has a fault, for example, an encoder has a fault (code loss, singular point, hardware damage and cable damage), the driver cannot acquire accurate rotation angle information, at the moment, a corresponding working parameter estimated value can be estimated through a control algorithm model according to other working information and the driver working information, then the working parameter estimated value and an external reference instruction are subjected to estimation control to obtain a second driving voltage signal, the motor is driven to stably operate through the second driving voltage signal, the motor is ensured to still keep reliable, safe and stable operation when the joint has a fault, and the motor is prevented from being stopped at an unsafe position or sliding to generate a safety accident.
In this embodiment, whether the robot joint has a fault or not can be determined according to whether the work information is obviously abnormal or not by acquiring the work information of the robot joint and the work information of the driver. Determining working parameters of the robot joint according to the working information and the driver working information, and generating a first driving voltage signal according to the working parameters and an external reference instruction; and determining a working parameter estimated value through a control algorithm according to the working information and the driver working information, and generating a second driving voltage signal according to the working parameter estimated value and an external reference instruction, so that redundant control channels are arranged, different control loop operations can be performed according to the obtained working parameters respectively, and corresponding driving voltage signals are obtained. When the robot joint is normal, outputting a first driving voltage signal to the motor; or when the robot joint fails, the second driving voltage signal is output to the motor, so that whether the robot joint fails or not, the motor in the joint can be ensured to reliably and stably operate, safety accidents caused by shutdown or sliding of the motor at an unsafe position are avoided, the reliability and safety of the robot joint are improved, good user experience is obtained, and the product competitiveness is improved.
Optionally, the working parameters include a motor position parameter, a motor speed parameter, and a torque current parameter; the operating parameter estimates include a motor position parameter estimate, a motor speed parameter estimate, and a torque current parameter estimate.
Specifically, in the motor control, stable operation parameters of the motor are mainly embodied in the motor position, the motor speed and the torque current, and the stable operation of the motor can be ensured by controlling the motor position parameter, the motor speed parameter and the torque current parameter to accurately follow corresponding external reference instructions respectively. Similarly, the working parameter estimated value comprises a motor position parameter estimated value, a motor speed parameter estimated value and a torque current parameter estimated value, and the stable operation of the motor can be ensured by controlling the motor position parameter estimated value, the motor speed parameter estimated value and the torque current parameter estimated value to accurately follow corresponding external reference instructions respectively.
Optionally, fig. 4 is a flowchart of another safety control method for a motor according to an embodiment of the present invention, as shown in fig. 4, on the basis of fig. 2, in step S204, when a robot joint is normal, a first driving voltage signal is output to the motor; or when the robot joint is in fault, outputting a second driving voltage signal to the motor, and specifically comprising the following steps:
s2041, fault diagnosis is carried out according to the working parameters and the working parameter estimation values.
Specifically, mutual verification can be performed by utilizing the working parameters and the working parameter estimation, and when the robot joint breaks down, the problem of the fault can be quickly and accurately positioned according to the comparison between the working parameters and the working parameter estimation, so that the troubleshooting difficulty can be reduced, and the maintenance time of the product can be shortened.
It should be noted that fault diagnosis is performed according to the operating parameters and the estimated values of the operating parameters, and the fault diagnosis of the sensor in the faulty joint, the INC fault diagnosis, the ABS fault diagnosis, the software and hardware fault diagnosis of the driver itself, and the diagnosis of other various functions are not limited in this embodiment of the present invention. Through various functional diagnoses, the problem can be accurately positioned when the robot joint has faults, and a processing suggestion is given.
S2042, determining whether the robot joint is normal or faulty according to the fault diagnosis result, and generating a first control signal.
Specifically, the fault diagnosis result includes whether software and hardware of the driver are faulty or not and whether a joint of the robot is faulty or not, which is not particularly limited in this embodiment. When the robot joint is determined to be normal or in fault, the first control signals are generated, and the corresponding first control signals are different. For example, when the robot joint is normal, the first control signal is at a high level, and when the robot joint is broken, the first control signal is at a low level.
S2043, outputting the first driving voltage signal or the second driving voltage signal to the motor according to the first control signal.
Specifically, first control signals generated in a normal state or a fault state of the robot joint are different, and output of a first driving voltage signal and output of a second driving voltage signal are switched through conversion of the first control signals. And safety accidents are avoided.
In the embodiment, the problems can be accurately positioned when the robot joint fails by acquiring the working parameters and the estimated values of the working parameters and performing fault diagnosis according to the working parameters and the estimated values of the working parameters, so that the troubleshooting difficulty is reduced and the product maintenance time is shortened. The robot joint is determined to be normal or faulty according to the fault diagnosis result, a first control signal is generated, and the first driving voltage signal or the second driving voltage signal is controlled to be output to the motor through switching of the first control signal, so that the reliable and stable operation of the motor is ensured, and the use experience of the robot is improved.
Optionally, when the first control signal is a high level signal, a first driving voltage signal is output to the motor; when the first control signal is a low level signal, a second driving voltage signal is output to the motor.
Specifically, the first control signal is used for switching output of the first driving voltage signal and the second driving voltage signal, when the first control signal is a high level signal, the first driving voltage signal is output to the motor to indicate that the robot joint is in a normal state, and conversely, when the first control signal is a low level signal, the second driving voltage signal is output to the motor to indicate that the robot joint is in a fault state. Through the rapid change of the high-low level of the first control signal, the output of the driving signal can be rapidly switched, the stable operation of the motor is ensured, the occurrence of safety accidents is avoided, and the reliability and the safety of the robot are improved.
Optionally, fig. 5 is a flowchart of another safety control method for a motor according to an embodiment of the present invention, and shown in fig. 2 and 5, the working information includes rotation angle information, three-phase voltage information, and three-phase current information of the motor; the driver operating information includes driver bus voltage information; in steps S202 to S203 of fig. 2, the determining of the operation parameters of the robot joint based on the operation information and the driver operation information includes: determining working parameters of the robot joint according to the rotation angle information, the three-phase voltage information, the three-phase current information and the driver bus voltage information of the motor; generating a first drive voltage signal according to the operating parameter and an external reference command, comprising: the working parameters and the external reference instruction are subjected to difference to obtain a first difference value; and generating a first driving voltage signal according to the first difference value. Therefore, the control method specifically comprises the following steps:
and S501, acquiring the work information of the robot joint and the drive work information.
The working information comprises rotation angle information, three-phase voltage information and three-phase current information of the motor; the drive operational information includes drive bus voltage information.
S502, determining working parameters of the robot joint according to the rotation angle information, the three-phase voltage information and the three-phase current information of the motor and the bus voltage information of the driver.
S503, subtracting the working parameter from the external reference instruction to obtain a first difference value.
And S504, generating a first driving voltage signal according to the first difference value.
And S505, determining the estimated value of the working parameter of the robot joint according to the working information and the driver working information.
And S506, generating a second driving voltage signal according to the working parameter estimation value and an external reference instruction.
S507, outputting a first driving voltage signal to the motor when the robot joint is normal; or, when the robot joint is in failure, outputting a second driving voltage signal to the motor.
It is understood that steps S505 to S506 may be executed before step S502, or may be executed simultaneously with steps S502 to S504, which is not limited in this embodiment of the present invention.
In this embodiment, according to the rotation angle information, the three-phase voltage information, the three-phase current information, and the driver bus voltage information of the motor, the working parameters required for control, such as a motor position parameter, a speed parameter, a torque current parameter, and the like, can be directly obtained through coordinate transformation and standard formula transformation. And then, respectively subtracting the working parameters from the corresponding external reference instructions to obtain corresponding first difference values, and performing regulation control on the first difference values through proportional-integral-derivative (PID), PWM (pulse-width modulation) and the like to generate a first driving voltage signal, so that the motor rotates according to the pulse width of the received driving voltage signal, and further the work of the robot joint is realized.
It should be noted that the closed-loop feedback control strategy performed by the operating parameter and the external reference command in this embodiment is not limited to PID adjustment, and may also be other existing control strategies, which are not specifically limited in this embodiment.
Optionally, fig. 6 is a flowchart of another safety control method for a motor according to an embodiment of the present invention, and as shown in fig. 2 and fig. 6, the working information includes three-phase voltage information and three-phase current information of the motor; the driver operating information comprises driver bus voltage information; in steps S202 to S203 of fig. 2, determining an estimated value of an operating parameter of a robot joint based on the operation information and the driver operation information includes: estimating to obtain the estimated value of the working parameters of the robot joint according to the three-phase voltage information and the three-phase current information of the motor and the bus voltage information of the driver; generating a second drive voltage signal based on the estimated operating parameter and an external reference command, comprising: the estimated value of the working parameter is subtracted from an external reference instruction to obtain a second difference value; and generating a second driving voltage signal according to the second difference value. Therefore, the control method specifically comprises the following steps:
s601, acquiring work information of the robot joint and drive work information.
The working information comprises three-phase voltage information and three-phase current information of the motor; the drive operational information includes drive bus voltage information.
And S602, estimating to obtain the estimated value of the working parameters of the robot joint according to the three-phase voltage information and the three-phase current information of the motor and the bus voltage information of the driver.
And S603, subtracting the working parameter estimation value and the external reference instruction to obtain a second difference value.
And S604, generating a second driving voltage signal according to the second difference.
And S605, determining the working parameters of the robot joint according to the working information and the driver working information.
And S606, generating a first driving voltage signal according to the working parameter and the external reference instruction.
S607, when the robot joint is normal, outputting a first driving voltage signal to the motor; or, when the robot joint is in failure, outputting a second driving voltage signal to the motor.
It is understood that steps S605 to S606 may be executed before step S602, or may be executed simultaneously with steps S602 to S604, which is not limited in this embodiment of the present invention.
In this embodiment, the estimated values of the working parameters required for control, such as the estimated value of the motor position parameter, the estimated value of the speed parameter, the estimated value of the torque current parameter, and the like, are obtained through the algorithm model estimation according to the three-phase voltage information, the three-phase current information, and the voltage information of the driver bus bar point. And then, respectively carrying out subtraction on the working parameter estimated value and the corresponding external reference instruction to obtain a corresponding second difference value, carrying out regulation control on the second difference value through a control algorithm model, and calculating and outputting a second driving voltage signal, so that the motor rotates according to the pulse width of the received driving voltage signal, and further the controlled motion of the robot joint is realized.
Optionally, fig. 7 is a flowchart of another safety control method for a motor according to an embodiment of the present invention, and as shown in fig. 7, after acquiring the work information of the robot joint and the drive work information in step S201 in fig. 2, the method further includes: and receiving an external reference instruction sent by the upper computer and sending fault information of the robot joint. The method specifically comprises the following steps:
and S701, acquiring the work information of the robot joint and the drive work information.
And S702, receiving an external reference instruction sent by the upper computer and sending fault information of the robot joint to the upper computer.
Specifically, the upper computer is usually in communication connection with the driver, corresponding instructions can be issued according to the actual working conditions of the robot joint, the driver is adjusted and controlled according to received external reference instructions sent by the upper computer to drive the joint to move, so that the external reference instructions are tracked by feedback positions or speeds, and the reliability and stability of the robot joint are guaranteed.
In addition, the driver can also send the work information and the fault information and the like acquired to the upper computer and display the work information and the fault information and the like through the upper computer, so that an operator can observe and control the robot, the safety of the work of the robot joint is guaranteed, and the use experience of the robot is improved.
And S703, determining the working parameters and the working parameter estimation values of the robot joints according to the working information and the driver working information.
S704, generating a first driving voltage signal according to the working parameters and an external reference instruction; and generating a second driving voltage signal according to the working parameter estimation value and the external reference instruction.
S705, outputting a first driving voltage signal to the motor when the robot joint is normal; or, when the robot joint is in failure, outputting a second driving voltage signal to the motor.
In the embodiment, the driver obtains the working parameters and the estimated values of the working parameters according to the working information and the driver working information by obtaining the working information of the robot joint, the working information of the driver and an external reference instruction sent by an upper computer; when the robot joint is normal, the first driving voltage signal is obtained by adjusting and controlling the working parameters and the external reference instruction, so that the motor is driven to stably operate. Once the robot joint breaks down, the motor does not receive the first driving voltage signal, at the moment, the second driving voltage signal is obtained by adjusting and controlling the working parameter estimated value and an external reference instruction and is output to the motor, so that the motor is driven to stably operate, and safety accidents are avoided.
Optionally, fig. 8 is a flowchart of a further safety control method for a motor according to an embodiment of the present invention, and as shown in fig. 8, the safety control method further includes:
s801, carrying out fault diagnosis on the driver and giving a processing suggestion.
Specifically, the driver can perform fault diagnosis on the software and hardware of the driver according to the acquired working information and the driver working information, and according to working parameters and working parameter estimation values and the like acquired by the working information and the driver working information, and give corresponding processing suggestions. For example, according to whether the operating parameter obtained by the drive is zero or not, it may be determined whether the drive interface is faulty or not, and a processing notice of checking the drive interface lines or the like may be given.
S802, optimizing the driver according to the processing opinion.
Specifically, the driver performs optimization according to the processing suggestion, including adjustment of a control algorithm model, optimization of control parameters, control output and the like, so that it is ensured that the motor can be driven to stably work by the second driving voltage signal obtained by performing feedback control based on the working parameter estimation value, and the safety is improved.
It can be understood that the fault diagnosis result determined by the driver through fault diagnosis and the processing suggestion given for the fault can be sent to equipment such as an upper computer for displaying and reminding or can be reminded through a fault alarm device of the driver.
Based on the same inventive concept, an embodiment of the present invention further provides a safety control system of a motor, fig. 9 is a schematic structural diagram of the safety control system of a motor according to the embodiment of the present invention, as shown in fig. 9, the system includes a driver 20 electrically connected to a motor 11, and the motor 11 is applied to a robot joint 10; the driver 20 is configured to perform the method of any of the above embodiments, the driver 20 comprising: the data acquisition module 21 is used for acquiring the working information of the robot joint and the driver working information; the parameter determining module 22 is used for determining the working parameters and the estimated values of the working parameters of the robot joints according to the working information and the driver working information; the driving signal generating module 23 is configured to generate a first driving voltage signal according to the working parameter and the external reference instruction, and generate a second driving voltage signal according to the estimated value of the working parameter and the external reference instruction; the output selection module 24 is used for controlling a first driving voltage signal to be output to the motor when the robot joint is normal; or when the robot joint is in failure, controlling the second driving voltage signal to be output to the motor.
In the embodiment of the present invention, the data obtaining module 21 obtains the work information of the robot joint and the work information of the driver, so that the driver can determine whether the robot joint has a fault according to whether the work information is obviously abnormal. Then the parameter determining module 22 determines working parameters and working parameter estimated values of the robot joints according to the working information and the driver working information, the driving signal generating module 23 generates a first driving voltage signal according to the working parameters and external reference instructions, and generates a second driving voltage signal according to the working parameter estimated values and the external reference instructions, so that redundant control channels are provided, different control loop operations can be performed according to the obtained working parameters respectively, corresponding driving voltage signals are obtained, and the corresponding driving voltage signals are output to the output selecting module 24. When the robot joint is normal, the output selection module 24 outputs a first driving voltage signal to the motor 11; or, when the robot joint has a fault, the output selection module 24 outputs the second driving voltage signal to the motor 11, so that whether the robot joint 10 has a fault or not, the motor in the joint can be ensured to operate reliably and stably, safety accidents caused by the fact that the motor 11 stops or slides at an unsafe position are avoided, the reliability and the safety of the robot joint 10 are improved, good user experience is obtained, and the product competitiveness is improved.
Optionally, fig. 10 is a schematic structural diagram of another safety control system for a motor according to an embodiment of the present invention, and as shown in fig. 10, the driver 20 further includes: the fault diagnosis module 25 is used for carrying out fault diagnosis according to the working parameters and the estimated values of the working parameters; and the scheduling module 26 is configured to determine whether the robot joint is normal or faulty according to the fault diagnosis result, generate a first control signal, and send the first control signal to the output selection module 24, so that the output selection module 24 outputs the first driving voltage signal or the second driving voltage signal to the motor 11 according to the first control signal.
In this embodiment, the fault diagnosis module 25 performs fault diagnosis through the working parameters and the estimated values of the working parameters, and sends the fault diagnosis result to the scheduling module 26, so that the problem can be accurately located when the robot joint fails, the troubleshooting difficulty is reduced, and the product maintenance time is shortened. The dispatching module 26 determines whether the robot joint is normal or faulty according to the fault diagnosis result, generates a first control signal, and outputs a first driving voltage signal or a second driving voltage signal to the motor 11 through switching of the first control signal, so that reliable and stable operation of the motor is ensured, and the use experience of the robot is improved.
Optionally, fig. 11 is a schematic structural diagram of a safety control system of another motor according to an embodiment of the present invention, as shown in fig. 11, the control system further includes an upper computer 30 connected in communication with the driver 20, and a power supply 40 electrically connected to the driver 20, where the upper computer 30 is configured to send an external reference instruction to the driver 20, and simultaneously receive, display or remind the work information, the driver work information, the work parameters, the work parameter estimation values, the diagnosis results, and the processing opinions sent by the driver, so as to ensure safe, reliable, and stable work of the robot joints, avoid safety accidents, and improve the work efficiency of the robot. The upper computer comprises a computer and other terminal equipment, which is not limited in the embodiment of the invention. The power supply 40 is used to provide an operating voltage, including a power voltage (e.g., 48V), for the drive to ensure stable operation of the drive.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments described herein, and that the features of the various embodiments of the invention may be partially or fully coupled or combined with each other and may be coordinated with each other and technically driven in various ways. Numerous variations, rearrangements, combinations, and substitutions will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A safety control method for a motor, wherein the motor is applied to a robot joint and is controlled by a driver to work, the method comprising:
acquiring working information of the robot joint and driver working information;
determining working parameters and working parameter estimation values of the robot joint according to the working information and the driver working information;
generating a first driving voltage signal according to the working parameter and an external reference instruction, and generating a second driving voltage signal according to the working parameter estimation value and the external reference instruction;
when the robot joint is normal, outputting the first driving voltage signal to the motor; or when the robot joint is in fault, outputting the second driving voltage signal to the motor.
2. The method according to claim 1, wherein the first driving voltage signal is output to the motor when the robot joint is normal; or when the robot joint is in fault, outputting the second driving voltage signal to the motor, including:
performing fault diagnosis according to the working parameters and the working parameter estimation values;
determining whether the robot joint is normal or failed according to a fault diagnosis result, and generating a first control signal;
and outputting the first driving voltage signal or the second driving voltage signal to the motor according to the first control signal.
3. The safety control method of an electric motor according to claim 2, wherein when the first control signal is a high level signal, the first driving voltage signal is output to the electric motor;
and when the first control signal is a low level signal, outputting the second driving voltage signal to the motor.
4. The safety control method of an electric motor according to claim 1, further comprising:
carrying out fault diagnosis on the driver and giving a processing suggestion;
optimizing the drive itself according to the processing opinion.
5. The safety control method of an electric motor according to claim 1, wherein the operation information includes rotation angle information, three-phase voltage information, and three-phase current information of the electric motor; the driver operating information comprises driver bus voltage information;
determining the working parameters of the robot joint according to the working information and the driver working information, wherein the working parameters comprise:
determining working parameters of the robot joint according to the rotation angle information, the three-phase voltage information, the three-phase current information and the driver bus voltage information of the motor;
generating a first drive voltage signal according to the operating parameter and an external reference command, comprising:
subtracting the working parameter from the external reference instruction to obtain a first difference value;
and generating the first driving voltage signal according to the first difference value.
6. The safety control method of an electric motor according to claim 1, wherein the operation information includes three-phase voltage information and three-phase current information of the electric motor; the driver operating information comprises driver bus voltage information;
determining an estimated value of a working parameter of the robot joint according to the working information and the driver working information, comprising:
estimating to obtain an estimated value of the working parameters of the robot joint according to the three-phase voltage information and the three-phase current information of the motor and the bus voltage information of the driver;
generating a second drive voltage signal based on the estimated operating parameter and the external reference command, comprising:
subtracting the working parameter estimation value from the external reference instruction to obtain a second difference value;
and generating the second driving voltage signal according to the second difference value.
7. The safety control method of an electric motor according to claim 1, wherein the operating parameters include a motor position parameter, a motor speed parameter, and a torque current parameter;
the operating parameter estimates include a motor position parameter estimate, a motor speed parameter estimate, and a torque current parameter estimate.
8. The method of claim 1, further comprising, after acquiring the operation information of the robot joint and the driver operation information:
and receiving an external reference instruction sent by an upper computer and sending the fault information of the robot joint to the upper computer.
9. The safety control system of the motor is characterized by comprising a driver electrically connected with the motor, wherein the motor is applied to a robot joint; the driver for performing the method of claims 1-8, the driver comprising:
the data acquisition module is used for acquiring the working information of the robot joint and the driver working information;
the parameter determining module is used for determining working parameters and working parameter estimated values of the robot joint according to the working information and the driver working information;
the driving signal generation module is used for generating a first driving voltage signal according to the working parameter and an external reference instruction and generating a second driving voltage signal according to the working parameter estimation value and the external reference instruction;
the output selection module is used for outputting the first driving voltage signal to the motor when the robot joint is normal; or when the robot joint is in fault, outputting the second driving voltage signal to the motor.
10. The safety control system of an electric motor according to claim 9, wherein the driver further comprises:
the fault diagnosis module is used for carrying out fault diagnosis according to the working parameters and the working parameter estimation values;
and the scheduling module is used for determining whether the robot joint is normal or faulty according to a fault diagnosis result, generating a first control signal and sending the first control signal to the output selection module so that the output selection module outputs the first driving voltage signal or the second driving voltage signal to the motor according to the first control signal.
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