CN116922401B - Control method for improving joint peak speed, robot and electronic equipment - Google Patents
Control method for improving joint peak speed, robot and electronic equipment Download PDFInfo
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- CN116922401B CN116922401B CN202311197678.9A CN202311197678A CN116922401B CN 116922401 B CN116922401 B CN 116922401B CN 202311197678 A CN202311197678 A CN 202311197678A CN 116922401 B CN116922401 B CN 116922401B
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- 238000000034 method Methods 0.000 title claims abstract description 41
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- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 6
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Classifications
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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
-
- 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
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The application discloses a control method for improving joint peak speed, a robot and electronic equipment, wherein the control method for improving joint peak speed comprises the following steps: step S1: establishing a dynamic model of the flexible joint; step S2: constructing a joint angular velocity optimization equation containing constraint conditions; step S3: solving a joint angular velocity optimization equation containing constraint conditions to obtain an optimal value of motor output torque, and converting to obtain a motor current preset target value under a dq coordinate system; step S4: and controlling the current tracking of the motor to approach a preset target value, judging whether the voltage exceeds a set upper limit, if not, continuing to track to approach the preset target value, otherwise, entering a weak magnetic mode for adjustment.
Description
Technical Field
The present application relates to the field of robots, and more particularly, to a control method for improving a peak joint velocity, a robot, and an electronic device.
Background
In recent years, tandem elastic drives (Serial Elastic Actuator, SEA) have found increasing use in service robots, collaborative robots, exoskeleton robots, and humanoid robots. The mechanical flexible component is connected in series with the power output end, so that the flexibility of interaction with the environment can be improved, and the impact is effectively relieved. The flexible component has the energy storage characteristic, and can release energy at proper time, so that the peak speed of the joint can be increased, and burst movement can be generated. However, there are still few academic studies on how to use this characteristic, and there is a lack of effective technical solutions.
At present, only a few papers propose a method based on optimal control, and the motor speed control input is obtained by solving the flexible joint speed optimization problem, but the method is insufficient in that: 1. the characteristics of the motor are not considered, and particularly the problem that the rotation speed cannot be continuously increased due to the increase of back electromotive force under the high-speed working condition is solved; 2. the limitation of the rotation angle of the joint is not considered; 3. the motor speed control input is used as an optimization variable, and the actual effect is greatly influenced by the closed-loop control characteristic of the motor speed.
Therefore, it is necessary to provide a control method that can achieve the following effects: 1. the energy storage characteristic of the flexible joint is utilized to improve the peak joint speed; 2. constraint of motor performance and joint movement is considered; 3. the response speed is improved by directly controlling the motor torque.
Disclosure of Invention
In order to solve the above problems, the present application provides a control method for improving the peak velocity of a joint, which is applied to a robot, and at least comprises the following steps: step S1: establishing a dynamic model of the flexible joint; step S2: constructing a joint angular velocity optimization equation containing constraint conditions; step S3: solving a joint angular velocity optimization equation containing constraint conditions to obtain an optimal value of motor output torque, and converting to obtain a motor current preset target value under a dq coordinate system; step S4: and controlling the current tracking of the motor to approach a preset target value, judging whether the voltage exceeds a set upper limit, if not, continuing to track to approach the preset target value, otherwise, entering a weak magnetic mode for adjustment.
The application also provides a robot, which adopts the control method to improve the peak joint speed.
The application also provides a storage medium storing a computer program which, when executed, performs the control method for improving the peak joint velocity.
Compared with the prior art, the application has the beneficial effects that: according to the speed optimal control method based on constraint, a dynamic model of a flexible joint is established, constraint conditions of joint angles are increased in the joint speed optimization problem, motor torque is used as an optimization variable, an optimal value of the motor torque is solved, the maximum joint speed is achieved, and the motor current preset target value is obtained through further conversion. Then, the vector control method is utilized to track torque input to control the motor current to track and approach to a preset target value, and meanwhile, the control method of the weak magnetic mode is combined to maintain torque output at high rotating speed, so that the peak speed of the joint is further improved.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a control method for increasing peak joint velocity according to an embodiment of the application;
FIG. 2 is a graph of a simulated joint velocity waveform according to one embodiment of the present application;
FIG. 3 is a waveform diagram of an optimal joint torque solution (optimal motor output torque value) according to an embodiment of the present application;
fig. 4 is a waveform diagram of joint angle (angular displacement) according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first" and "second" and the like in the description and the claims of the present application and the above drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a control method for improving a peak joint velocity according to an embodiment of the present application, where the embodiment is applicable to a scene of peak joint velocity improvement control. The method is applied to robots that are multi-articulated robots including, but not limited to, tandem multi-articulated robots, such as: industrial robots, collaborative robots, etc., may be implemented in hardware and/or software, or may be configured in electronic devices.
As shown in fig. 1, an embodiment of the present application provides a control method for increasing a peak velocity of a joint, including the following steps:
step S1: establishing a dynamic model of the flexible joint;
step S2: constructing joint angular velocity optimization containing constraint conditions;
step S3: solving a joint angular velocity optimization equation containing constraint conditions to obtain an optimal value of motor output torque, and converting to obtain a motor current preset target value under a dq coordinate system;
step S4: and controlling the current tracking of the motor to approach a preset target value, judging whether the voltage exceeds a set upper limit, if not, continuing to track to approach the preset target value, otherwise, entering a weak magnetic mode for adjustment.
In the method of optimizing control of the flexible joint, the characteristics of the motor itself are often not sufficiently considered. Particularly in the high speed section, the required torque may not be maintained due to the increase of the back emf, thereby limiting the possibility of further increasing the rotational speed. On the other hand, the method based on the field weakening control is widely used in the servo control, but the energy storage property of the flexible element is not fully utilized. The application combines the two methods, can effectively overcome the respective defects and furthest improve the joint speed.
In the design optimal control, the application takes the joint target position as one of constraint conditions so as to give consideration to the simultaneous lifting speed of the position control. And meanwhile, the limitation of the maximum rotating speed and the maximum torque of the motor is also considered, so that the safety of equipment is ensured. Furthermore, by combining joint speed optimization and field weakening control, the energy storage characteristic of the flexible element can be fully utilized, and the joint speed can be effectively improved.
In a specific embodiment, the step S1 of establishing a dynamic model of the flexible joint means establishing a dynamic model including a motor rotor, a speed reducer and a connecting rod, where the dynamic model is:
in the formula (i),angular acceleration, respectively denoted as motor rotor, speed reducer and connecting rod, ">Angular velocities respectively expressed as motor rotor, speed reducer and connecting rod, q m ,q g ,q l Represented by angular displacements of motor rotor, speed reducer and connecting rod, J m ,J g ,J l The moment of inertia, d, respectively expressed as motor rotor, speed reducer and connecting rod m ,d g ,d l The friction coefficients respectively expressed as the output ends of the motor, the speed reducer and the connecting rod, d mg ,d gl Respectively expressed as equivalent damping between a motor end and a speed reducer input end and between a speed reducer output end and a connecting rod end, K g ,K l Stiffness coefficients, τ, expressed as speed reducer and compliant element, respectively m Expressed as motor output torque, τ ext Expressed as the external moment experienced by the connecting rod. All of the above physical quantities have been converted to the connecting rod side by the reduction ratio.
In a specific embodiment, the step S2 of constructing the joint angular velocity optimization equation with constraint conditions means that the motor output torque is adjusted so that the angular velocity of the connecting rod reaches the maximum while the connecting rod reaches the target position at the moment T, and the motor output torque does not exceed the maximum bearing capacity.
In a specific embodiment, the constraint conditions in the joint angular velocity optimization equation including the constraint conditions in the step S2 are:
wherein q is l (T)＝q lend ，/>
In the formula (i),denoted as maximizing the speed of the connecting rod at time T +.>q l (T) is expressed as the angular displacement of the connecting rod at time T, ">Expressed as the target position to which the link needs to be moved at time T, -/-, is shown>Expressed as the maximum output torque of the motor.
Fig. 2 is a waveform diagram of joint velocity obtained by simulation in the embodiment of the application, and as shown in fig. 2, the maximum joint velocity obtained by simulation by the control method provided by the application is larger than the joint maximum velocity obtained by calculation of the rated rotation speed of the motor, so that the joint peak velocity is obviously improved.
FIG. 3 is a waveform diagram of an embodiment of the present application for solving a joint angular velocity optimization equation including constraint conditions to obtain a joint torque optimal solution (motor output torque optimal value), as shown in FIG. 3, when the joint torque optimal solution satisfies the corresponding constraint barsThe part is
FIG. 4 is a waveform diagram of a joint angle (angular displacement) obtained by solving a joint angular velocity optimization equation including constraint conditions according to an embodiment of the present application, as shown in FIG. 4, in which the joint angle satisfies the corresponding constraint conditions
That is, the joint angular velocity optimization target including the constraint condition is constructed to adjust the motor output torque such that the velocity of the link at the time T is maximized and the constraint condition of the motor output torque is satisfied while reaching the target position.
In a specific embodiment, the motor output torque optimum value in the step S3 means that the speed of the connecting rod at the time T is maximizedThe corresponding motor outputs torque.
In a specific embodiment, the preset target value of the motor current in the dq coordinate system is obtained by conversion in the step S3, and the conversion formula is as follows:
in the formula, i q,ref A current target value, i, expressed as the q-axis direction d,ref Expressed as a target value of current in the d-axis direction, κ is a scaling factor,the torque optimum value is output for the motor.
The application converts the obtained optimal motor torque value into a current target value in the dq coordinate system so as to control the current in the control system.
In a specific embodiment, the step S4 controlsThe motor current tracking approach to the preset target value is controlled by adopting a vector control method to control i d And i q Follow i d,ref And i q,ref I.e. by controlling the d-axis current and the q-axis current of the motor to approach the preset target values, respectively. The vector control method is a method for controlling the motor, and realizes accurate control of the motor by controlling the direction and the magnitude of a current vector of the motor.
In a specific embodiment, in the step S4, it is determined whether the voltage exceeds the set upper limit, and the determination formula is as follows:
U d ＝Ri d -ω me L q i q (5)
U q ＝Ri q +ω me (L d i d +λ PM ) (6)
in the formula, U d 、i d Respectively expressed as voltage and current in d-axis direction, U q 、i q Expressed as voltage, current in q-axis direction, u max Expressed as upper motor voltage limit, ω me Represented as electrical angular velocity of motor, L d 、L q DC/AC inductance respectively expressed as d-axis and q-axis direction motor, R expressed as coil winding, lambda PM Expressed as the flux linkage constant.
In a specific embodiment, the step S4 is to control the motor current tracking to approach the preset target value, and when the voltage exceeds the set upper limit, the i is adjusted according to the following formula d,ref ,i q,ref Entering a weak magnetic mode:
in the formula, delta U Is the difference between the current voltage and the upper voltage limit, beta is the electrical angle of the current vector leading q-axis, k P ,k I >0 is a controller parameter, i max Is the upper limit of motor current.
It should be noted that, the above formulas (4) - (10) are all based on the electromagnetic equations of the non-salient pole permanent magnet synchronous motor, and the mathematical expressions of the salient pole permanent magnet synchronous motor are different, but the principles are the same.
In a specific embodiment, in the step S4, the motor current tracking is controlled to approach the preset target value, and when the voltage exceeds the set upper limit, the method enters the field weakening mode to adjust the preset target value of the motor current, and the motor current tracking is controlled to approach the preset target value again.
In the application, a dynamic model is established based on a flexible joint at the joint level, and the joint speed optimal control containing constraint conditions is established to obtain the motor output torque optimal value; at the servo level, the motor torque is tracked based on a vector control method, the motor current is controlled to track and approach to a preset target value, the speed regulation range of the motor is further enlarged through weak magnetic control, and the joint peak value speed is improved.
Correspondingly, the embodiment of the application also provides a robot, which adopts the control method to improve the joint peak value speed.
Correspondingly, an embodiment of the present application also provides a storage medium storing a computer program which, when executed, performs a control method of increasing the peak joint velocity as described above.
In the present embodiment, the storage medium may include, but is not limited to, any type of disk (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROMs (Read-Only memories), RAMs (Random Access Memory, random access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic or optical cards, and other various media capable of storing program codes.
It will be appreciated by those skilled in the art that the steps of the application described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.
It should be noted that, other contents of the control method for improving the peak joint velocity disclosed in the present application can be referred to the prior art, and will not be described herein.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the application, which is set forth in the following claims.
Claims (7)
1. The control method for improving the peak joint speed is applied to a robot and is characterized by at least comprising the following steps:
step S1: establishing a dynamic model of the flexible joint;
step S2: constructing a joint angular velocity optimization equation containing constraint conditions;
step S3: solving a joint angular velocity optimization equation containing constraint conditions to obtain an optimal value of motor output torque, and converting to obtain a motor current preset target value under a dq coordinate system;
step S4: controlling the current tracking of the motor to approach a preset target value, judging whether the voltage exceeds a set upper limit, if not, continuing to track to approach the preset target value, otherwise, entering a weak magnetic mode for adjustment;
in the step S1, establishing a dynamic model of the flexible joint refers to establishing a dynamic model including a motor rotor, a speed reducer and a connecting rod, where the dynamic model is as follows:
in the formula (i),angular acceleration, respectively denoted as motor rotor, speed reducer and connecting rod, ">Angular velocities respectively expressed as motor rotor, speed reducer and connecting rod, q m ,q g ,q l Represented by angular displacements of motor rotor, speed reducer and connecting rod, J m ,J g ,J l The moment of inertia, d, respectively expressed as motor rotor, speed reducer and connecting rod m ,d g ,d l The friction coefficients respectively expressed as the output ends of the motor, the speed reducer and the connecting rod, d mg ,d gl Respectively expressed as equivalent damping between a motor end and a speed reducer input end and between a speed reducer output end and a connecting rod end, K g ,K l Stiffness coefficients, τ, expressed as speed reducer and compliant element, respectively m Expressed as motor output torque, τ ext Expressed as an external moment to which the connecting rod is subjected;
in the step S2, a joint angular velocity optimization equation containing constraint conditions is constructed, namely, the angular velocity of the connecting rod reaches the maximum when the connecting rod reaches the target position at the moment T by adjusting the output torque of the motor, and the output torque of the motor does not exceed the maximum bearing capacity of the connecting rod;
the motor output torque optimum value in step S3 is a value corresponding to the maximum speed of the connecting rod at time T.
2. The control method according to claim 1, wherein the constraint conditions in the joint angular velocity optimization equation including the constraint conditions constructed in the step S2 are:
wherein->
In the formula (i),denoted as maximizing the speed of the connecting rod at time T +.>q l (T) is expressed as the angular displacement of the connecting rod at time T, ">Expressed as the target position to which the link needs to be moved at time T, -/-, is shown>Expressed as the maximum output torque of the motor.
3. The control method according to claim 1, wherein the motor current preset target value in the dq coordinate system is obtained by conversion in the step S3, and the conversion formula is as follows:
in the formula, i q,ref A current target value, i, expressed as the q-axis direction d,ref Expressed as a target value of current in the d-axis direction, κ is a scaling factor,the torque optimum value is output for the motor.
4. The control method according to claim 1, wherein in the step S4, it is determined whether the voltage exceeds a set upper limit, and the determination formula is as follows:
U d ＝Ri d -ω me L q i q (5)
U q ＝Ri q +ω me (L d i d +λ PM ) (6)
in the formula, U d 、i d Respectively expressed as voltage and current in d-axis direction, U q 、i q Expressed as voltage, current in q-axis direction, u max Expressed as upper motor voltage limit, ω me Represented as electrical angular velocity of motor, L d 、L q DC/AC inductance respectively expressed as d-axis and q-axis direction motor, R expressed as coil winding, lambda PM Expressed as the flux linkage constant.
5. The control method according to claim 1, wherein in the step S4, the motor current tracking is controlled to approach the preset target value, and when the voltage exceeds the set upper limit, the motor current is adjusted to the preset target value by entering the field weakening mode, and the motor current tracking is controlled to approach the preset target value again.
6. A robot employing a control method according to any one of claims 1-5 to increase the peak joint velocity.
7. A storage medium storing a computer program which, when executed, performs the control method of increasing the peak joint velocity according to any one of claims 1 to 5.
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| CN106903692A (en) * | 2017-03-31 | 2017-06-30 | 华南理工大学 | A kind of joint moment method for limiting based on Dynamic Models of Robot Manipulators |
| CN110209048A (en) * | 2019-05-20 | 2019-09-06 | 华南理工大学 | Robot time optimal trajectory planning method, equipment based on kinetic model |
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| WO2021219942A1 (en) * | 2020-04-29 | 2021-11-04 | Konecranes Global Corporation | Lifting apparatus of crane and method of operation thereof |
| CN115741697A (en) * | 2022-11-22 | 2023-03-07 | 泰山学院 | Optimized moment feedback method, system and equipment for mechanical arm joint |
| CN116141337A (en) * | 2023-04-14 | 2023-05-23 | 苏州艾利特机器人有限公司 | Method for designing rigidity of elastic body of flexible joint mechanical arm |
| CN116638544A (en) * | 2023-06-27 | 2023-08-25 | 合肥工业大学 | Joint module cooperative control method based on super local model |
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- 2023-09-18 CN CN202311197678.9A patent/CN116922401B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106903692A (en) * | 2017-03-31 | 2017-06-30 | 华南理工大学 | A kind of joint moment method for limiting based on Dynamic Models of Robot Manipulators |
| CN110209048A (en) * | 2019-05-20 | 2019-09-06 | 华南理工大学 | Robot time optimal trajectory planning method, equipment based on kinetic model |
| WO2021219942A1 (en) * | 2020-04-29 | 2021-11-04 | Konecranes Global Corporation | Lifting apparatus of crane and method of operation thereof |
| CN112571439A (en) * | 2020-12-08 | 2021-03-30 | 谷泽林 | Three-finger joint under-actuated self-adaptive electric drive mechanical gripper |
| CN115741697A (en) * | 2022-11-22 | 2023-03-07 | 泰山学院 | Optimized moment feedback method, system and equipment for mechanical arm joint |
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| CN116638544A (en) * | 2023-06-27 | 2023-08-25 | 合肥工业大学 | Joint module cooperative control method based on super local model |
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