CN1361456A - Harmonic drive unit controlling method based on sensor and special embodiment - Google Patents
Harmonic drive unit controlling method based on sensor and special embodiment Download PDFInfo
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- CN1361456A CN1361456A CN 00136027 CN00136027A CN1361456A CN 1361456 A CN1361456 A CN 1361456A CN 00136027 CN00136027 CN 00136027 CN 00136027 A CN00136027 A CN 00136027A CN 1361456 A CN1361456 A CN 1361456A
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Abstract
The harmonic drive unit controlling method based on sensor includes whether monitoring real-time output moment of the harmonic drive unit needs to contact with outer environment by the work condition judging logic, starting locus tracking control with motor encoder feedback and output acceleration feedback control of practical measured information when in free moving space; and starting harmonic reducer output moment feedback control in other case. The special embodiment has moment sensor installed between harmonic reducer and load, additional linkage installed in the output end of the harmonic reducer and with two acceleration sensors for measuring the rotation acceleration of the driver. It has simple structure, no transmission error, high rigidity and powerful reverse drive capacity.
Description
The present invention relates to electromechanical driving system and control method thereof, specifically is a kind of sensor-based harmonic wave driver element control method and special-purpose implement device.
Compare with other speed reduction unit, harmonic speed reducer is little with its weight, compact conformation, almost do not have advantages such as backlash and high transmission efficiency, is particularly suitable for the needs in fields such as industrial robot, self-reacting device equipment, aviation/space flight.Yet, harmonic speed reducer also have harmonic vibration, periodically driving error, output ripple, be difficult to weakness such as reverse driving.These deficiencies can cause the tracking performance variation of its load, particularly at high-speed motion with only have under the situation of motor side sensor all the more so.Conclusion is got up, and the subject matter of harmonic speed reducer has following three aspects:
(1) there is driving error.Generally, after the large velocity ratio deceleration, this error itself is also not obvious; But it can cause harmonic speed reducer output vibration; The dominant frequency of vibration is the twice that the harmonic speed reducer input shaft rotates (servomotor rotation) angular frequency, that is: vibration frequency depends on the desired trajectory of harmonic wave driver element.If this vibration frequency enters the resonance frequency band of harmonic wave driver element, will cause more serious harmonic resonance.
(2) transmission rigidity is poor.The compliant member of harmonic speed reducer reduces the resonance frequency band of whole harmonic wave driver element.Low frequency resonance is the main factor that influences control system stability, and it is restricting the raising of ride gain, has also just limited the inhibiting effect to disturbing moment, finally causes the control accuracy of system to descend.The maximum input speed of strict restriction harmonic speed reducer enters resonance frequency band to avoid the output vibration simultaneously.
(3) but reverse driving force is poor.Big retarding ratio and interior friction cause the reverse drivability of harmonic wave drive system very poor, and this will cause following problem: (a) be difficult to harmonic wave driver element enforcement power is controlled; (b) being difficult to structure sells-the hand teaching system; (c) constitute a threat to for fragile parts and operator, be difficult to construct safe man-computer cooperation system.
Be noted that simultaneously and be difficult to above-mentioned these dynamicss of mathematical model accurate description; Therefore, may be compensated these factors based on model hardly.
In order to overcome the problems referred to above of harmonic wave drive system, but the invention provides a kind of do not have transmission mistake, transmission rigidity and reverse driving force strong, sensor-based harmonic wave driver element control method and special-purpose implement device, it is a kind of harmonic wave driver element robust control method based on actual measurement acceleration and moment information, with the integrating device of corresponding harmonic wave driving and moment, acceleration transducer, to realize and to verify this method.
Technical scheme of the present invention is: by the Trajectory Tracking Control based on the motor encoder feedback, output Accelerator Feedback control based on real measured data, output torque feedback control strategy and condition of work decision logic four parts based on real measured data are formed, the output torque of condition of work decision logic real time monitoring harmonic wave driver element wherein, judge whether to contact: if be in free movement space with external environment condition, then in the start-up control method based on the Trajectory Tracking Control of motor encoder feedback with based on the output Accelerator Feedback control of real measured data, the motor side Trajectory Tracking Control of routine is combined with the Accelerator Feedback control of outgoing side, utilize Accelerator Feedback control to overcome the harmonic resonance and the output vibration of harmonic wave driver element, suppress the influence of outer disturbance simultaneously, the motor side Trajectory Tracking Control is used for guaranteeing following the tracks of; If load contacts with external environment, the condition of work decision logic will start harmonic speed reducer output torque FEEDBACK CONTROL, suppress the influence of harmonic speed reducer internal friction and rotor inertia, strengthen the compliance of the reverse driving of harmonic wave driver element, the damage of avoiding excessive impulsive force simultaneously and may causing workpiece, operator etc.;
Special-purpose implement device of the present invention, form by motor, connecting shaft knot, harmonic speed reducer, on the wherein said motor scrambler is housed, be installed on the support, its output shaft is coupled with harmonic speed reducer by the connecting shaft knot, also comprise torque sensor, additional connecting rod and acceleration transducer, one torque sensor is installed between harmonic speed reducer and load, at the output terminal of harmonic speed reducer one additional connecting rod is installed, additional connecting rod is provided with the acceleration transducer that two measurement drive unit rotation accelerations are used.
The principle of work of control method of the present invention is as follows:
Control method structure of the present invention as shown in Figure 1, this is a kind of Noncontinuous control method based on incident, it determines the control behavior according to the actual operating conditions of the harmonic wave driver element of harmonic speed reducer.The design basis of this control method be harmonic speed reducer under different conditions of work, the problem of its existence is different.Under free space track following situation, tracking accuracy is crucial, and its control behavior is devoted to suppress resonance and output vibration, keeps the characteristic of harmonic speed reducer " disturbance isolator " simultaneously; Under contacted transient and force tracking situation, the compliance that improves the reverse driving of harmonic wave driver element is crucial, and its control behavior then is devoted to suppress the internal friction of harmonic speed reducer and overcome the rotor inertia that is exaggerated.
The present invention has following advantage:
1. there is not driving error.The present invention combines the motor side Trajectory Tracking Control of routine with the Accelerator Feedback control of outgoing side, utilize Accelerator Feedback control to overcome the harmonic resonance and the output vibration of harmonic wave driver element, suppress the influence of outer disturbance simultaneously, the motor side Trajectory Tracking Control is used for guaranteeing following the tracks of.Accelerator Feedback control shows the inhibition situation of harmonic wave driver element output ripple and harmonic resonance, when input speed has excited tangible harmonic resonance during for 18rpm, Accelerator Feedback to the inhibition effect of resonance greater than 50%.
2. transmission rigidity is strong.The present invention can suppress the influence of harmonic speed reducer internal friction and rotor inertia, strengthens the compliance of the reverse driving of harmonic wave driver element, the damage of avoiding excessive impulsive force simultaneously and may causing workpiece, operator etc.
3. but reverse driving force is strong.The output torque FEEDBACK CONTROL shows that to the enhancing effect of the reverse drivability of harmonic wave driver element the compliance of the reverse driving of harmonic wave driver element is good more, but the output torque FEEDBACK CONTROL is enhanced about more than once the reverse driving force of harmonic wave driver element.
4. the present invention compares with the control method that is widely adopted at present, and the method that we propose has obtained tangible improvement on control performance.Simultaneously, the present invention is simple in structure, and the simple subtraction by two linear acceleration transducers also multiply by a constant, just can eliminate the influence of acceleration of gravity, realizes the measurement of angular acceleration.In addition, the present invention is easy to Project Realization.
Fig. 1 is a control method structural drawing of the present invention.
Fig. 2 is the special-purpose implement device of control method of the present invention.
To the tracking effect of three kinds of friction speeds, the harmonic speed reducer input speed is 12rpm to Fig. 3-1 during for the Trajectory Tracking Control of motor encoder feedback.
Fig. 3-2 is the tracking effect during based on the Trajectory Tracking Control of motor encoder feedback and output Accelerator Feedback, and the harmonic speed reducer input speed is 12rpm.
To the tracking effect of three kinds of friction speeds, the harmonic speed reducer input speed is 18rpm during the Trajectory Tracking Control of Fig. 3-3 motor encoder feedback.
The tracking effect of Fig. 3-4 during based on the Trajectory Tracking Control of motor encoder feedback and output Accelerator Feedback, the harmonic speed reducer input speed is 18rpm.
Fig. 4-1 causes the relation curve of speed and applied moment for turning off the driving power of motor, opening under the situation of band-type brake.
Fig. 4-2 is for starting the output torque FEEDBACK CONTROL relation curve that causes speed and applied moment afterwards.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Control method as shown in Figure 1 is made up of four parts: (a) Trajectory Tracking Control of feeding back based on motor encoder, (b) control based on the output Accelerator Feedback of real measured data, (c) based on the output torque feedback control strategy of real measured data, (d) condition of work decision logic.Wherein:
D: load-side expectation angular acceleration; θ
d: motor side expectation angular acceleration; τ
d: the desired output moment of harmonic wave driver element; τ
n: external disturbance moment; r
d: the condition judgment reference; G
a(s): the Accelerator Feedback control strategy; G
p(s): based on the tracking Control strategy of scrambler; G
r(s): the moment feedback control strategy;
The output torque of condition of work decision logic real time monitoring harmonic wave driver element judges whether to contact with external environment condition:
If be in free movement space, (a)+(b) in the start-up control method then, the motor side Trajectory Tracking Control of routine is combined with the Accelerator Feedback control of outgoing side, utilize Accelerator Feedback control to overcome the harmonic resonance and the output vibration of harmonic wave driver element, suppress the influence of outer disturbance simultaneously, the motor side Trajectory Tracking Control is used for guaranteeing following the tracks of.
If load contacts with external environment (workpiece, operator etc.), the condition of work decision logic will start harmonic speed reducer output torque FEEDBACK CONTROL, its objective is the influence that suppresses harmonic speed reducer internal friction and rotor inertia, strengthen the compliance of the reverse driving of harmonic wave driver element, the damage of avoiding excessive impulsive force simultaneously and may causing workpiece, operator etc.
As shown in Figure 2, the special-purpose implement device of described control method is made up of motor 3, connecting shaft knot 4, harmonic speed reducer 5, on the wherein said motor 3 scrambler 2 is housed, be installed on the support 1, its output shaft is coupled with harmonic speed reducer 5 by connecting shaft knot 4, it is characterized in that: also comprise torque sensor 6, additional connecting rod 7 and acceleration transducer 81,82, a torque sensor 6 is installed, between harmonic speed reducer 5 and load in order to the output torque of direct measurement harmonic wave driver element; At the output terminal of harmonic speed reducer 5 an additional connecting rod 7 is installed, on the additional connecting rod 7 two servo type linear acceleration transducers 81,82 is installed, in order to measure the output angle acceleration of harmonic wave driver element, its principle of work is:
In the formula, Out
1, Out
2Be respectively the output of linear acceleration transducer 81,82, l
1, l
2Be respectively the distance of acceleration transducer 81,82 to axis of spindle, g is an acceleration of gravity,
D is the output angle acceleration of harmonic speed reducer 5.
Following formula shows, the simple subtraction by two linear acceleration transducers also multiply by a constant, just can eliminate the influence of acceleration of gravity, realizes the measurement of angular acceleration.
Control method shown in Figure 1 has been carried out experimental study on this device, and the experimental result that obtains is compared with the experimental result that only adopts conventional control method that obtains on identical platform, and obtained performance improvement is very obvious.
Embodiment 1
Present embodiment is the inhibition situation of Accelerator Feedback control to harmonic wave driver element output ripple and harmonic resonance:
Shown in Fig. 3-1,3-2,3-3,3-4, its experimental result comprises four width of cloth figure, when wherein Fig. 3-1,3-3 two width of cloth are the Trajectory Tracking Control that only exists based on motor encoder feedback to the tracking effect of three kinds of friction speeds, Fig. 3-2,3-4 two width of cloth are the tracking effects when existing based on the Trajectory Tracking Control of motor encoder feedback and output Accelerator Feedback simultaneously, and both compare and can give prominence to the validity of described control method; Corresponding harmonic speed reducer 5 input speeds of Fig. 3-1,3-3 and Fig. 3-2,3-4 are respectively two kinds of situations of 12rpm, 18rpm; Every images is made up of three curves, is respectively speed setting value, value of feedback and both is poor.
By experimental result as can be seen, when input speed has excited tangible harmonic resonance during for 18rpm, Accelerator Feedback to the inhibition effect of resonance greater than 50%.
Embodiment 2
Present embodiment is the enhancing effect of output torque FEEDBACK CONTROL to the reverse drivability of harmonic wave driver element.
Shown in Fig. 4-1,4-2, its experimental result comprises two width of cloth figure, all is the relation curve of the speed that causes with it of applied moment, and this slope of a curve is big more, shows that the compliance of the reverse driving of harmonic wave driver element is good more.Fig. 4-the 1st turning off the driving power of motor, opening under the situation of band-type brake, causes the relation curve of speed and applied moment; Fig. 4-the 2nd starts the output torque FEEDBACK CONTROL relation curve that causes speed and applied moment afterwards.Both compare and show, but the output torque FEEDBACK CONTROL is enhanced about more than once the reverse driving force of harmonic wave driver element.
Claims (2)
1. sensor-based harmonic wave driver element control method, it is characterized in that: by Trajectory Tracking Control based on the motor encoder feedback, output Accelerator Feedback control based on real measured data, output torque feedback control strategy and condition of work decision logic four parts based on real measured data are formed, the output torque of condition of work decision logic real time monitoring harmonic wave driver element wherein, judge whether to contact: if be in free movement space with external environment condition, then in the start-up control method based on the Trajectory Tracking Control of motor encoder feedback with based on the output Accelerator Feedback control of real measured data, the motor side Trajectory Tracking Control of routine is combined with the Accelerator Feedback control of outgoing side, utilize Accelerator Feedback control to overcome the harmonic resonance and the output vibration of harmonic wave driver element, suppress the influence of outer disturbance simultaneously, the motor side Trajectory Tracking Control is used for guaranteeing following the tracks of; If load contacts with external environment, the condition of work decision logic will start harmonic speed reducer output torque FEEDBACK CONTROL, suppress the influence of harmonic speed reducer internal friction and rotor inertia, strengthen the compliance of the reverse driving of harmonic wave driver element, the damage of avoiding excessive impulsive force simultaneously and may causing workpiece, operator etc.
2. special-purpose implement device according to the described sensor-based harmonic wave driver element control method of claim 1, it is characterized in that: by motor (3), connecting shaft knot (4), harmonic speed reducer (5) is formed, scrambler (2) is housed on the wherein said motor (3), be installed on the support (1), its output shaft is coupled by connecting shaft knot (4) and harmonic speed reducer (5), it is characterized in that: also comprise torque sensor (6), additional connecting rod (7) and acceleration transducer (81,82), one torque sensor (6) is installed between harmonic speed reducer (5) and load, at the output terminal of harmonic speed reducer (5) an additional connecting rod (7) is installed, additional connecting rod (7) is provided with the acceleration transducer (81 that two measurement drive unit rotation accelerations are used, 82).
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| CN 00136027 CN1361456A (en) | 2000-12-27 | 2000-12-27 | Harmonic drive unit controlling method based on sensor and special embodiment |
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| CN 00136027 CN1361456A (en) | 2000-12-27 | 2000-12-27 | Harmonic drive unit controlling method based on sensor and special embodiment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101268330B (en) * | 2005-07-26 | 2013-01-09 | Gsi集团公司 | Optical encoder having slanted optical detector elements for harmonic suppression |
| CN102896629A (en) * | 2011-07-26 | 2013-01-30 | 株式会社安川电机 | Robot and method for manufacturing same |
| CN102980764A (en) * | 2012-11-29 | 2013-03-20 | 北京卫星环境工程研究所 | Automatic testing system and testing method of harmonic drive mechanism in space environment |
-
2000
- 2000-12-27 CN CN 00136027 patent/CN1361456A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101268330B (en) * | 2005-07-26 | 2013-01-09 | Gsi集团公司 | Optical encoder having slanted optical detector elements for harmonic suppression |
| CN102896629A (en) * | 2011-07-26 | 2013-01-30 | 株式会社安川电机 | Robot and method for manufacturing same |
| CN102980764A (en) * | 2012-11-29 | 2013-03-20 | 北京卫星环境工程研究所 | Automatic testing system and testing method of harmonic drive mechanism in space environment |
| CN102980764B (en) * | 2012-11-29 | 2015-06-17 | 北京卫星环境工程研究所 | Automatic testing system and testing method of harmonic drive mechanism in space environment |
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