CN202433735U - Mechanical friction detection and compensation control device - Google Patents
Mechanical friction detection and compensation control device Download PDFInfo
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- CN202433735U CN202433735U CN201120561588XU CN201120561588U CN202433735U CN 202433735 U CN202433735 U CN 202433735U CN 201120561588X U CN201120561588X U CN 201120561588XU CN 201120561588 U CN201120561588 U CN 201120561588U CN 202433735 U CN202433735 U CN 202433735U
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Abstract
A mechanical friction detection and compensation control device comprises the following parts: a detection sensor (1), two D/A (Digital-Analog) conversion devices (2), a friction compensation controller (3), an upper computer (4) and an actuator (5), wherein the detection sensor (1) is connected with the friction compensation controller (3) through one of the two D/A conversion devices (2), and the actuator (5) is connected with the friction compensation controller (3) through the other D/A conversion device (2); and the friction compensation controller (3) is connected with the upper computer (4). The mechanical friction detection and compensation control device is particularly suitable for such technical application background that the friction force of a mechanical system in operation is not easy to determine and even affects the controlling precision. The control device provided by the utility model has the advantages of novel technical concept, simple system constitution and excellent technical effect and can bring predictable substantial economic values and social values.
Description
Technical field
The utility model relates to friction and detects and compensate control apparatus design and applied technical field, and a kind of mechanical friction detection and compensate control apparatus are provided especially.
Background technology
In the prior art, " friction " be a kind of complicacy, nonlinear, have probabilistic spontaneous phenomenon.The existence of friction has reduced the performance of system, and particularly to some system, like mechanical arm, numerically-controlled machine, turntable and coordinate measuring machine, friction has constituted serious obstacle to the raising of these system performances.In order to overcome the harm that friction brings to mechanical system, people have proposed some compensation methodes from the control angle in engineering reality.Generally speaking; Be divided into following two big types: if known friction model just can in control system, apply a control action, makes it to offset each instantaneous friction force; So just can eliminate the influence of friction to system performance, Here it is based on the compensation of friction model.The compensation that does not rely on model mainly is based on high-gain PD controller compensation method.Compensation based on friction model is that people provide a kind of approximate mathematical model to the physical process that rubs, through its parameter of frictional experiment data identification.This compensation technique subject matter based on friction model is: 1) since the inherent mechanism of friction also explore with research in; The multiple friction model that people propose does not form unified description form, is difficult in practical application confirm that which kind of friction model is more suitable; 2) existing friction model is a kind of approximate description to true friction process, so when control compensation, be difficult to guarantee control accuracy; 3) existing these friction models are difficult to carry out the stability analysis of control system from see more complicated in form.In addition, the subject matter that does not rely on the high-gain PD compensation of model is to reduce the influence and robustness and the less stable that rub to a certain extent.
People expect to obtain a kind of technique effect favorable mechanical friction and detect and compensate control apparatus.
The utility model content
The purpose of the utility model provides better mechanical friction detection of a kind of technique effect and compensate control apparatus.
A kind of mechanical friction detection of the utility model and compensate control apparatus is characterized in that: it specifically is made up of following several parts: detecting sensor 1, D/A conversion equipment 2, friciton compensation controller 3, host computer 4, actuator 5; Wherein: D/A conversion equipment 2 has two places; Detecting sensor 1 is connected with friciton compensation controller 3 through one of them D/A conversion equipment 2; Actuator 5 is connected with friciton compensation controller 3 through another D/A conversion equipment 2, and friciton compensation controller 3 is connected with host computer 4.
Said mechanical friction detection of the utility model and compensate control apparatus, the preferred requirement thes contents are as follows: host computer 4 specifically includes following three big component parts: signal filtering module 8; Differential position module 6, self-adaptation adjusting module 7; Wherein: differential position module 6 is connected with self-adaptation adjusting module 7 with signal filtering module 8 respectively;
The concrete technology path brief account of the utility model in practical application is following:
1. the positional information that the detecting sensor of using through position probing 1 detects on the actuator 5, as shown in Figure 1; For example:, at first detect the rotation position information of mechanical arm waist joint if actuator 5 is a mechanical arm.
2. will go up that detected positional information passes in the host computer 4 through friciton compensation controller 3 in the step, signal filtering module 8 location information that host computer is 4 li are carried out Filtering Processing.
3. the positional information that obtains after the filtering is handled through differential position module 6, obtains velocity information.
4. position-based information is carried out follow-up works such as friction force initial estimation with the velocity information of obtaining.
5. use self-adaptation adjusting module 7 friction force to be carried out the self-adaptation adjustment based on the performance requirement of system.
The gordian technique main points of the utility model in practical application are:
1. obtain rate signal according to position sensor signal through difference; 2. according to position and velocity information estimated friction power size; 3. based on friction force size setting controller; 4. the self-adaptation of friction force adjustment.
Described mechanical friction detection of the utility model and compensate control apparatus, friction force is not easy to confirm when being particularly suitable for mechanical system motion, even have influence on the technical application background of control accuracy problem.Can detect the size of friction force through this device, thereby further design the replenishment control device.
The utility model provides a kind of new technical thought, system's formation is simple relatively in its overall design, and technique effect is good, has expected comparatively huge economic and social value.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the utility model is done further detailed explanation:
Fig. 1 is mechanical friction detection and compensate control apparatus principle of compositionality synoptic diagram.
Embodiment
A kind of mechanical friction detection and compensate control apparatus, it specifically is made up of following several parts: detecting sensor 1, D/A conversion equipment 2, friciton compensation controller 3, host computer 4, actuator 5; Wherein: D/A conversion equipment 2 has two places; Detecting sensor 1 is connected with friciton compensation controller 3 through one of them D/A conversion equipment 2; Actuator 5 is connected with friciton compensation controller 3 through another D/A conversion equipment 2, and friciton compensation controller 3 is connected with host computer 4.
In said mechanical friction detection of present embodiment and the compensate control apparatus, host computer 4 specifically includes following three big component parts: signal filtering module 8; Differential position module 6, self-adaptation adjusting module 7; Wherein: differential position module 6 is connected with self-adaptation adjusting module 7 with signal filtering module 8 respectively;
The concrete technology path brief account of present embodiment in practical application is following:
1. the positional information that the detecting sensor of using through position probing 1 detects on the actuator 5, as shown in Figure 1; For example:, at first detect the rotation position information of mechanical arm waist joint if actuator 5 is a mechanical arm.
2. will go up that detected positional information passes in the host computer 4 through friciton compensation controller 3 in the step, signal filtering module 8 location information that host computer is 4 li are carried out Filtering Processing.
3. the positional information that obtains after the filtering is handled through differential position module 6, obtains velocity information.
4. position-based information is carried out follow-up works such as friction force initial estimation with the velocity information of obtaining.
5. use self-adaptation adjusting module 7 friction force to be carried out the self-adaptation adjustment based on the performance requirement of system.
The gordian technique main points of present embodiment in practical application are:
1. obtain rate signal according to position sensor signal through difference; 2. according to position and velocity information estimated friction power size; 3. based on friction force size setting controller; 4. the self-adaptation of friction force adjustment.
Described mechanical friction detection of present embodiment and compensate control apparatus, friction force is not easy to confirm when being particularly suitable for mechanical system motion, even have influence on the technical application background of control accuracy problem.Can detect the size of friction force through this device, thereby further design the replenishment control device.
Present embodiment has proposed a kind of new technical thought, and system's formation is simple relatively in its overall design, and technique effect is good, has expected comparatively huge economic and social value.
Claims (2)
1. mechanical friction detection and compensate control apparatus, it is characterized in that: it specifically is made up of following several parts: detecting sensor (1), D/A conversion equipment (2), friciton compensation controller (3), host computer (4), actuator (5); Wherein: D/A conversion equipment (2) has two places; Detecting sensor (1) is connected with friciton compensation controller (3) through one of them D/A conversion equipment (2); Actuator (5) is connected with friciton compensation controller (3) through another D/A conversion equipment (2), and friciton compensation controller (3) is connected with host computer (4).
2. according to said mechanical friction detection of claim 1 and compensate control apparatus, it is characterized in that: host computer (4) specifically includes following three big component parts: signal filtering module (8); Differential position module (6), self-adaptation adjusting module (7); Wherein: differential position module (6) is connected with self-adaptation adjusting module (7) with signal filtering module (8) respectively;
Signal filtering module (8) in the host computer (4) is connected with friciton compensation controller (3); Self-adaptation adjusting module (7) also is connected with actuator (5) simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120561588XU CN202433735U (en) | 2011-12-29 | 2011-12-29 | Mechanical friction detection and compensation control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120561588XU CN202433735U (en) | 2011-12-29 | 2011-12-29 | Mechanical friction detection and compensation control device |
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| Publication Number | Publication Date |
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| CN202433735U true CN202433735U (en) | 2012-09-12 |
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| CN201120561588XU Expired - Fee Related CN202433735U (en) | 2011-12-29 | 2011-12-29 | Mechanical friction detection and compensation control device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114368008A (en) * | 2021-09-08 | 2022-04-19 | 伯朗特机器人股份有限公司 | Joint friction identification method of DELTA type parallel robot |
-
2011
- 2011-12-29 CN CN201120561588XU patent/CN202433735U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114368008A (en) * | 2021-09-08 | 2022-04-19 | 伯朗特机器人股份有限公司 | Joint friction identification method of DELTA type parallel robot |
| CN114368008B (en) * | 2021-09-08 | 2023-11-10 | 伯朗特机器人股份有限公司 | Joint friction identification method for DELTA type parallel robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120912 Termination date: 20121229 |