CN116015152A - Motor driver for improving measurement accuracy and mechanical arm thereof - Google Patents
Motor driver for improving measurement accuracy and mechanical arm thereof Download PDFInfo
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- CN116015152A CN116015152A CN202210915190.4A CN202210915190A CN116015152A CN 116015152 A CN116015152 A CN 116015152A CN 202210915190 A CN202210915190 A CN 202210915190A CN 116015152 A CN116015152 A CN 116015152A
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Abstract
A motor driver for improving the accuracy of measurement and a mechanical arm thereof are disclosed, wherein the motor driver measures a motor current to generate a current sensing signal, and corrects the current sensing signal according to a first temperature, a first current offset, a second temperature and a second current offset so as to improve the performance of the motor.
Description
Technical Field
The present invention relates to a motor driver and a mechanical arm thereof, and more particularly to a motor driver and a mechanical arm thereof for improving accuracy of measuring motor current and reducing torque ripple of a motor to reduce vibration of the motor and the mechanical arm.
Background
In general, a motor is controlled by a motor driver to control its motor current and rotation speed, however, the motor driver is susceptible to temperature, so that values or signals generated by operation between circuits are offset, and thus the motor driver can misjudge values of motor current obtained from motor detection, and the motor performance is worse and worse after long-term operation, such as serious vibration phenomenon.
In view of the above, the present invention provides a motor driver, which can detect and dynamically compensate the motor current in time after improving the accuracy of measuring the motor current, thereby precisely controlling the motor current to reduce the torque ripple of the motor and drive the vibration of the motor to be reduced.
Disclosure of Invention
The invention aims to provide a motor driver and a mechanical arm thereof for improving the measurement accuracy, and the motor driver can timely detect and dynamically compensate the motor current after improving the accuracy of measuring the motor current, thereby accurately controlling the motor current and reducing the vibration of the motor and the mechanical arm.
In order to achieve the above-mentioned object, the motor driver of the present invention measures a motor current to generate a current sensing signal, and corrects the current sensing signal according to a first temperature, a first current offset, a second temperature and a second current offset.
Or the motor driver measures the motor current at a first temperature and has the first current offset, and measures the motor current at a second temperature and has the second current offset, and a correction line is established according to the first temperature, the first current offset, the second temperature and the second current offset to obtain a correction value of the current sensing signal so as to correct the current sensing signal.
Or before executing the task, the motor driver measures the motor current at a first temperature and has the first current offset, and measures the motor current at a second temperature and has the second current offset, and establishes a compensation operation formula according to the first temperature, the first current offset, the second temperature and the second current offset. Thus, the motor driver measures the motor current at a third temperature to obtain a current sensing signal when executing the task, and calculates a correction value according to the third temperature and the compensation operation formula, and corrects the current sensing signal according to the correction value.
Drawings
FIG. 1 is a circuit diagram of an embodiment of a motor driver for correcting temperature effects according to the present invention.
FIG. 2 is a circuit diagram of an embodiment of the current control module for correcting temperature effects according to the present invention.
FIG. 3 is a flow chart of an embodiment of the invention for estimating the effect of temperature on a motor drive.
FIG. 4 is a schematic diagram of an embodiment of a calibration line of the current control module of the present invention.
FIG. 5 is a flow chart of an embodiment of the invention for online temperature influence correction of a robot.
[ symbolic description ]
10. Motor driver
30. Position control module
31. First arithmetic circuit
32. Position controller
40. Speed control module
41. Second arithmetic circuit
42. Speed controller
50. Current control module
51. Current operation circuit
52. Current controller
53. Temperature sensor
54. Current sensing circuit
541. Current sensor
55. Digital-to-analog conversion circuit
56. Microprocessor
60. Motor with a motor housing
70. Speed calculator
80. Encoder with a plurality of sensors
a motor current
ADC1 digital-to-analog conversion circuit
ADC2 digital-to-analog conversion circuit
ADC3 digital-to-analog conversion circuit
b motor current
c motor current
cmd current command
Cp correction value
GND ground voltage
L56 correction straight line
O1 offset
O2 offset
Ref V1 reference voltage
Ref V2 reference voltage
Ref V3 reference voltage
V31 first operation signal
V32 position control signal
V41 second operation signal
V42 speed control signal
V51 current operation signal
V52 motor control voltage
V55 analog signal
V56 feedback signal
V70 motor position signal
V80 motor speed signal
Va_T current sense signal
Va_T1 current sense signal
Va_T2 current sense signal
Va_T3 current sense signal
vb_T current sense signal
Vc_T current sense signal
T temperature information
T1 temperature information
T2 temperature information
T3 temperature information
Detailed Description
In order to achieve the above objects, the technical means and effects thereof adopted by the present invention are as follows, and the present invention is now illustrated by way of example with reference to the accompanying drawings.
Please refer to fig. 1, which is a circuit diagram illustrating an embodiment of the motor driver for correcting temperature effects according to the present invention. As shown, the motor driver 10 controls the motor 60 to operate and measures a motor current a to generate a current sensing signal va_t, however, the motor driver 10 is not actually driven by the motor current a due to the temperature influence. Therefore, at different temperatures, for example, a first temperature and a second temperature, the motor driver 10 has a first current offset and a second current offset, and the motor driver 10 of the present invention corrects the current sensing signal va_t by using the first temperature, the second temperature, the first current offset and the second current offset to obtain a correct motor current a, thereby improving the measurement accuracy, and being capable of precisely controlling the motor current a to reduce the vibration phenomenon of the motor. This is the case. The motor driver 10 of the present invention can also reduce vibration during operation of the robot arm when applied to the robot arm.
The motor driver 10 includes a position control module 30, a speed control module 40 and a current control module 50, wherein the motor driver 10 receives a current command cmd, and the position control module 30, the speed control module 40 and the current control module 50 control the operation of the motor 60 according to the current command cmd. The current control module 50 generates a motor control voltage V52 to control the operation of the motor 60 according to the current command cmd, and the current control module 50 includes a current controller 52, a current sensing circuit 54 and a microprocessor 56. Thus, the current controller 52 outputs the motor control voltage V52 according to the current command cmd at the first temperature to control the motor 60 to operate to generate the motor current a, and outputs the motor control voltage V52 according to the current command cmd at the second temperature to control the motor 60 to operate to generate the motor current a. It is assumed that the motor current a generated by the operation of the motor 60 is in accordance with the control of the current command cmd, and no significant deviation occurs.
The current sensing circuit 54 measures the motor current a at a first temperature to generate a current sensing signal va_t1 at the first temperature (fig. 3), and measures the motor current a at a second temperature to generate a current sensing signal va_t2 at the second temperature (fig. 3). The microprocessor 56 calculates the current command cmd and the current sensing signal va_t1 at the first temperature to generate a first current offset; and calculating the current command cmd and the current sensing signal Va_T2 at the second temperature to generate a second current offset. Thus, the microprocessor 56 calculates the first current offset and the second current offset according to the current command cmd and the current sensing signals va_t measured at different temperatures. In addition, in the embodiment, a temperature sensor 53 is used to measure the first temperature and the second temperature to generate a first temperature information (fig. 3) and a second temperature information (fig. 3), so the microprocessor 56 stores the first current offset and the second current offset at different temperatures, and stores the first temperature information T1 and the second temperature information T2 at different temperatures.
Therefore, the motor driver 10 measures the motor current a with a first current offset at the first temperature and measures the motor current a with a second current offset at the second temperature, and establishes a compensation operation formula according to the first temperature, the first current offset, the second temperature and the second current offset, so as to obtain a correction value Cp of the current sensing signal Va_T according to the compensation operation formula. In other words, the microprocessor 56 establishes a compensation operation formula using the stored first current offset, second current offset, first temperature information T1 and second temperature information T2 to calculate the correction value Cp of the current sensing signal va_t. Thus, the correction value Cp is used to increase the accuracy of the measured motor current a, and the corrected current sensing signal va_t can make the motor driver 10 timely detect and dynamically compensate the motor current a, thereby accurately controlling the motor current a and reducing the vibration of the motor 60 and the robot arm.
Referring to fig. 1 again, the current control module 50 of the motor driver 10 includes a digital-to-analog conversion circuit 55 coupled to the current sensing circuit 54 to convert the current sensing signal va_t into an analog signal V55. The microprocessor 56 is coupled to the digital-to-analog conversion circuit 55 for receiving the analog signal V55 to generate a feedback signal V56. A current operation circuit 51 receives the feedback signal V56 and a speed control signal V42 to generate a current operation signal V51. Thus, the current controller 52 generates the motor control voltage V52 according to the current operation signal V51, and can adjust the motor current a according to the feedback signal V56 (the current sensing signal va_t) with high accuracy. In addition, feedback loops are provided between the motor 60 and the current operation circuit 51, and signals therebetween can be calculated as feedback signals.
The motor driver 10 includes an encoder 70 and a speed calculator 80. The encoder 70 detects a motor rotational position of the motor 60 to generate a motor position signal V70, and the speed calculator 80 is coupled to the encoder 70 to generate a motor speed signal V80 according to the motor position signal V70. The position control module 30 includes a first operation circuit 31 and a position controller 32, the first operation circuit 31 receives the current command cmd and the motor position signal V70 to generate a first operation signal V31, and the position controller 32 generates a position control signal V32 according to the first operation signal V31. The speed control module 40 includes a second computing circuit 41 and a speed controller 42, the second computing circuit 41 receives the position control signal V32 and the motor speed signal V80 to generate a second computing signal V41, and the speed controller 40 generates the speed control signal V42 according to the second computing signal V41.
Therefore, the motor driver 10 establishes a compensation operation formula according to the first temperature, the first current offset, the second temperature and the second current offset before driving the task, and the motor driver 10 measures the motor current a at a third temperature to obtain the current sensing signal va_t3 when driving the task, and calculates another correction value Cp according to the third temperature and the compensation operation formula, and corrects the current sensing signal va_t3 according to the correction value Cp. Wherein the first temperature is different from the second temperature, but it is not limited whether the third temperature is the same as the first temperature and the second temperature. In addition, if the motor driver 10 has the current sensing signal va_t1 measured at the corrected first temperature before shipment, the motor driver 10 has no first current offset, that is, the first current offset is 0.
Please refer to fig. 2, which is a circuit diagram illustrating an embodiment of the current control module for correcting temperature effects according to the present invention. As shown, the motor driver 10 is provided with a plurality of current sensing circuits 54 due to detecting a plurality of motor currents a, b, c, and the current sensing circuits 54 respectively include a current sensor 541 and a plurality of impedance elements for respectively detecting the motor currents a, b, c, and then respectively generating current sensing signals va_ T, vb _ T, vc _t to the ADC circuit 55. Furthermore, the current sensors 541 of the current sensing circuits 54 are respectively coupled to the reference voltages Ref V1, rer V2, and Rer V3 for operation, and the three reference voltages Ref V1, rer V2, and Rer V3 shown in fig. 2 may be the same or different from each other, which is a design option. Therefore, in the embodiment of fig. 2, a plurality of ADC circuits 55, such as ADC1, ADC2, ADC3, are included, and three current sensing circuits 54 are respectively coupled from top to bottom in fig. 2. The ADC1 circuit, the ADC2 circuit and the ADC3 circuit are all design options, and the implementation of the present invention is not limited, and they may be provided in the microprocessor 56, or may be provided outside the microprocessor 56 as in the embodiment of fig. 1.
Furthermore, the temperature sensor 53 may be optionally disposed in the current control module 50 to measure the ambient temperature, such as the first temperature, the second temperature and the third temperature, and the ambient temperature may include the temperature generated by the operation of the motor driver 10 itself plus the ambient overall temperature. The temperature sensor 53 measures the ambient temperature to generate temperature information T, wherein the temperature information of the first temperature is T1 (fig. 3), the temperature information of the second temperature is T2 (fig. 3), and the temperature information of the third temperature is T3 (fig. 5). Moreover, these current sense signals va_ T, vb _ T, vc _t may also be affected by temperature variations and may not represent the correct motor currents a, b, c. Thus, the microprocessor 56 establishes a compensation algorithm based on the stored information, and generates respective correction values Cp to correct the current sensing signals va_ T, vb _ T, vc _t, thereby generating respective feedback signals V56.
Referring to fig. 3, a flow chart of an embodiment of the invention for estimating the effect of temperature on the motor driver is shown. As shown, the current offset that is affected by temperature before the motor driver 10 drives the task is estimated, and the motor driver 10 may be applied to a robot arm, in other words, the current offset that is affected by temperature before the robot arm performs the task (e.g., welding, picking and placing a workpiece, or other cooperative task) is estimated. Immediately upon activation of the motor driver 10 (or robot), the ambient temperature should be low or room temperature, i.e., step S11 is initiated, and a low (chamber) temperature (e.g., first temperature) offset estimation procedure is performed. In step S12, a controller is coupled to the motor driver 10 and outputs a current command cmd to the motor driver 10 to control the motor 60. In step S13, the current sensing circuit of the motor driver 10 measures the motor current a, and generates the current sensing signal va_t1 at low (room) temperature. The motor 60 has three phases of motor currents a, b, c, however, the exemplary embodiment is generally described with reference to a motor current a. In step S14, the motor driver 10 (or the microprocessor 56) calculates a current offset (e.g., a first current offset) o1=cmd—va_t1 of the low (room) temperature current sense signal va_t1. In step S15, the temperature sensor 53 measures the temperature of the environment to generate temperature information T1, i.e., temperature information T1 of the first temperature. In step S16, the motor driver 10 (or the microprocessor 56) stores the estimated current offset O1 at the low (room) temperature and the measured temperature information T1.
Furthermore, the temperature of the motor driver 10 (or the robot arm) gradually increases after a period of time, i.e. the second temperature. In step S21, the high temperature offset estimation process is started. In step S22, the controller also outputs a current command cmd to the motor driver 10 to control the operation of the motor 60, however, whether the current command cmd at the second temperature is identical to the current command cmd at the first temperature is not limited. In step S23, the current sensing circuit 54 measures the motor current a to generate the current sensing signal va_t2 at a high temperature (e.g., the second temperature). In step S24, the microprocessor 56 calculates a current offset (e.g., a second current offset) o2=cmd—va_t2 of the current sensing signal va_t2 at high temperature. In step S25, the temperature sensor 53 measures the temperature of the environment to generate temperature information T2, i.e., temperature information T2 of the second temperature. In step S26, the microprocessor 56 stores the estimated current offset O2 at high temperature and the measured temperature information T2.
Fig. 4 is a schematic diagram of an embodiment of a calibration line of the current control module of the present invention. The information stored in the motor driver 10 can establish a compensation operation formula, and draw a first intersection point (O1, T1) and a second intersection point (O2, T2) to establish a correction line L56, and correct the current sensing signal va_t according to the correction line L56. However, when the mechanical arm is calibrated before leaving the factory, there is no first current offset O1, so the first intersection point can be changed to (0, T1), while the second intersection point is unchanged, but the slope of the calibration line L55 is different. The X-axis is temperature information T related to temperature, and the Y-axis is current offset, so the Y-axis shows a compensation value required for the current sensing signal va_t, which may also be referred to as a correction value Cp. In other words, after storing the related information of the correction line L55, the robot starts to perform the task, i.e. at a third temperature that is the same or different from the first temperature or the second temperature, the current offset (Y-axis) can be detected according to the third temperature (X-axis) by using the query method, so as to correct the current sensing signal va_t. Therefore, the mechanical arm can select to calculate the correction value Cp without the compensation operation formula during operation, and the accuracy of measuring the motor current a can be improved. The operation of the compensation operation is not limited to the microprocessor 56, and other operations (e.g., controller) having the same operation capability may be performed.
Please refer to fig. 5, which is a flowchart illustrating an embodiment of the robot arm for online temperature influence correction according to the present invention. As shown, the embodiment of fig. 5 may be employed to compensate the operation formula to obtain the correction value Cp, in addition to the embodiment of fig. 4 that inquires the correction value Cp at different temperatures according to the correction line L56. In step S31, the on-line calibration process is started, i.e. the robot (motor driver 10) is also performing calibration simultaneously. The compensation operation formula may be established and stored as described above, or the related information may be read when needed, i.e. the low (room) temperature current offset O1 and the temperature information T1, and the high temperature current offset O2 and the temperature information T2, as in step S32. In step S33, a compensation operation formula of the in-robot current sensing module 50 is established according to the previously read information, which is y= ((O2-O1)/(T2-T1)) + ((O1T 2-O2T 1)/(T2-T1)). In step S34, the temperature sensor 53 in the robot measures the ambient temperature to generate the temperature information T3 related to the third temperature. In step S35, the temperature information T3 is taken into the compensation operation formula as
Cp= ((O2-O1)/(T2-T1)). T3+ ((O1T 2-O2T 1)/(T2-T1)), and the correction value Cp is obtained. In step S36, the current sensing module 50 measures the motor current a to generate the current sensing signal va_t3, and the current sensing signal is measured at the third temperature, so it is labeled va_t3. In step S37, the current sensing signal va_t3 at the third temperature, i.e. the current sensing signal va_t3 minus the temperature-affected current offset (e.g. the correction value Cp) is va=va_t3-Cp, to obtain the actual motor current a, i.e. to reduce the effect of the ambient temperature. In addition, the embodiment of fig. 5 is to first establish the compensation operation formula and then measure the temperature information T3 of the environment, but the implementation may be modified to first measure the temperature information T3 of the environment and then establish the compensation operation formula, which is an adjustable choice of the embodiment.
In summary, the motor driver of the present invention measures a motor current to generate a current sensing signal, and corrects the current sensing signal according to a first temperature, a first current offset, a second temperature and a second current offset.
Or the motor driver measures the motor current at a first temperature and has the first current offset, and measures the motor current at a second temperature and has the second current offset, and a correction line is established according to the first temperature, the first current offset, the second temperature and the second current offset to obtain a correction value of the current sensing signal so as to correct the current sensing signal.
Or before executing the task, the motor driver measures the motor current at a first temperature and has the first current offset, and measures the motor current at a second temperature and has the second current offset, and establishes a compensation operation formula according to the first temperature, the first current offset, the second temperature and the second current offset. Thus, the motor driver measures the motor current at a third temperature to obtain a current sensing signal when executing the task, and calculates a correction value according to the third temperature and the compensation operation formula, and corrects the current sensing signal according to the correction value.
The two embodiments can detect and dynamically compensate the motor current in time, and accurately control the motor current to reduce the vibration of the motor. Moreover, the vibration phenomenon of the arm can be reduced when the device is applied to the mechanical arm.
The above-mentioned embodiments are only for convenience of explanation, the scope of the invention is not limited to the embodiments, and any modification made in the present invention will fall within the scope of the claims of the present invention without departing from the spirit of the invention.
Claims (9)
1. A mechanical arm comprises a motor driver for measuring motor current to generate a current sensing signal, and correcting the current sensing signal according to a first temperature, a first current offset, a second temperature and a second current offset.
2. The robot of claim 1, wherein the motor driver measures the motor current at the first temperature with the first current offset and measures the motor current at the second temperature with the second current offset, establishes a compensation algorithm based on the first temperature, the first current offset, the second temperature, and the second current offset, and obtains a correction value of the current sensing signal based on the compensation algorithm.
3. The robot of claim 1, wherein the motor driver establishes a correction line according to the first temperature, the first current offset, the second temperature, and the second current offset, and corrects the current sensing signal according to the correction line.
4. The robot of claim 1, wherein the motor driver establishes a compensation algorithm based on the first temperature, the first current offset, the second temperature and the second current offset before performing the task, the motor driver measures the motor current at a third temperature to obtain the current sensing signal while performing the task, calculates a correction value based on the third temperature and the compensation algorithm, and corrects the current sensing signal based on the correction value.
5. The robot arm of claim 1, comprising:
a current controller for outputting a motor control voltage according to a current command at the first temperature to control the motor current;
a current sensing circuit for measuring the motor current to generate the current sensing signal at the first temperature; a kind of electronic device with high-pressure air-conditioning system
And a microprocessor for calculating the current command and the current sensing signal to generate the first current offset.
6. The robot of claim 5, wherein the current controller outputs the motor control voltage according to the current command at the second temperature to control the motor current, the current sensing circuit measures the motor current to generate the current sensing signal at the second temperature, and the microprocessor calculates the current command and the current sensing signal to generate the second current offset.
7. The robot arm of claim 6, comprising:
a temperature sensor for measuring the first temperature and the second temperature to generate first temperature information and second temperature information;
the motor driver stores the first temperature information, the second temperature information, the first current offset and the second current offset.
8. The robot arm of claim 7, comprising:
the digital-analog conversion circuit is coupled with the current sensing circuit and converts the current sensing signal into an analog signal;
the microprocessor calculates the first current offset and the second current offset according to the current command and the current sensing signals measured by different temperatures, stores the first temperature information and the second temperature information, and stores the first current offset and the second current offset to generate a correction value for correcting the current sensing signal at a third temperature to generate a feedback signal;
a current operation circuit for receiving the feedback signal and the speed control signal to generate a current operation signal; a kind of electronic device with high-pressure air-conditioning system
The current controller generates the motor control voltage according to the current operation signal to adjust the motor current.
9. The robotic arm of claim 8, comprising:
an encoder for detecting a rotational position of the motor and generating a motor position signal;
a speed calculator coupled to the encoder for generating a motor speed signal according to the motor position signal;
the position control module comprises a first operation circuit and a position controller, wherein the first operation circuit receives the current command and the motor position signal to generate a first operation signal, and the position controller generates a position control signal according to the first operation signal; a kind of electronic device with high-pressure air-conditioning system
The speed control module comprises a second operation circuit and a speed controller, wherein the second operation circuit receives the position control signal and the motor speed signal to generate a second operation signal, and the speed controller generates the speed control signal according to the second operation signal.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW110139412A TW202317336A (en) | 2021-10-21 | 2021-10-21 | Motor driver with improvement accuracy of measurement and robotic arm thereof |
| TW110139412 | 2021-10-21 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116015152A true CN116015152A (en) | 2023-04-25 |
Family
ID=86024316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210915190.4A Pending CN116015152A (en) | 2021-10-21 | 2022-08-01 | Motor driver for improving measurement accuracy and mechanical arm thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN116015152A (en) |
| TW (1) | TW202317336A (en) |
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2021
- 2021-10-21 TW TW110139412A patent/TW202317336A/en unknown
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2022
- 2022-08-01 CN CN202210915190.4A patent/CN116015152A/en active Pending
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| TW202317336A (en) | 2023-05-01 |
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