JPH08328663A - Drive controller for robot - Google Patents

Abstract

PURPOSE: To suppress fluctuation in a torque exerted to a slip ring by filtering a small fluctuation component of a torque command signal outputted to a slave servo motor with a filter so as to smooth the signal. CONSTITUTION: A filter 34 to eliminate a small fluctuation component of a torque command signal is provided to a torque command extract circuit 33 to provide a torque command outputted from a speed control circuit section 22 of a master side drive control system 12 to a current control circuit section 23 to current control circuit sections 31,,32 provided to slave side drive control systems 13, 14 in the case that a slip ring 1 is driven by a master servo motor 2 and two slave servo motors 3, 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device for a robot device.

[0002]

2. Description of the Related Art A robot device for handling a heavy object, for example, an automatic segment assembly device used in a shield construction method, holds a heavy object segment and guides it to a predetermined position. There is a demand for this, and a servomotor is used as such a positioning drive unit.

By the way, a plurality of servomotors are usually used in the above-described segment automatic assembly apparatus, and a single turning ring can be turned by the plurality of servomotors. A drive control method called a method is adopted.

In this drive control system, one servo motor is used as a master (main), a position command or a speed command from the controller is given to the driver of this master servo motor, and the remaining servos that become slaves (slave) are provided. The motor is not driven by the torque command type driver, and the drive command uses the torque value of the master servo motor as it is, so that the same torque as the torque generated by the master servo motor is generated.・ It is designed to generate a high torque by using a servo motor.

[0005]

According to the master / slave drive control system described above, there is no problem at high speed rotation, that is, when the load is acting in only one direction, but at low speed rotation and self-position When moving while holding, it reverses in a cycle in which the load direction is low.

Therefore, when the rotational force of each servo motor is transmitted to the swivel ring through the gear mechanism, and when the driving direction changes in a low cycle, backlash in the gear mechanism causes slave servo servo. There is a time delay before the motor torque acts on the swing ring,
The torque generated on the master / servo motor side is changed.

Therefore, in the slave servo motor driven by the torque value of the master servo motor,
When the torque fluctuation occurs and the frequency generated by the torque fluctuation matches or approaches the natural frequency of the slewing ring, there is a problem that the vibration is promoted by the resonance phenomenon and the control becomes impossible.

Therefore, an object of the present invention is to provide a drive control device for a robot apparatus which can solve the above problems.

[0009]

In order to solve the above problems, a drive control device for a robot apparatus according to the present invention drives a driven body with a plurality of servomotors, and one of the servomotors is driven by the servomotor. In a robot device that does not serve as a master and uses the remaining servo motors as slaves, the torque command output from the speed control circuit unit to the current control circuit unit in the master servo motor drive control system is used as the remaining slave servo motors. In the signal extraction circuit that inputs to the current control circuit section provided in the drive control system of
A filter for removing small fluctuations in the torque command signal is provided.

[0010]

According to the above configuration, the torque command output from the speed control circuit unit in the master servo motor drive control system to the current control circuit unit is converted into the current supplied to the remaining slave servo motor drive control system. Since the signal extraction circuit that is input to the control circuit unit is provided with the filter that removes small fluctuations in the torque command signal, fluctuations in the torque acting on the driven body can be suppressed.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a drive control device for a robot apparatus according to the present invention will be described below with reference to FIGS.

In the present embodiment, a drive control device that is applied to an erector device of a segment assembling device as a robot device and rotates a revolving ring in this erector device will be described.

That is, in FIG. 1, reference numeral 1 is a turning ring (driven body) for holding a segment which is a heavy object and rotating it to a predetermined position for positioning, and a plurality of, for example, three servo motors 2 to 3. 4 is driven by one of them, and one servo motor 2 is a master (main)
And the remaining two servomotors 3 and 4 are used as slaves (slave).

Next, the drive control unit 11 of each of the servomotors 2 to 4 will be described. The drive control unit 11 includes a master-side drive control system 12 that controls the drive of the master / servo motor 2 and a slave-side drive control system 13 and 1 that controls the drive of the slave servo motors 3 and 4, respectively.
And 4.

The master side drive control system 12 is a position setting section (not shown) for designating the turning position of the turning ring 1.
A position control circuit unit 21 that inputs a position command from the position control circuit unit 21 and outputs a speed command, and a speed control circuit unit 22 that inputs a speed command from the position control circuit unit 21 and outputs a torque command.
And a current control circuit section 23 for inputting a torque command from the speed control circuit section 22 and outputting a current for driving to the master servomotor 2, and the master servomotor 2
The feedback circuit 24 feeds back the position signal detected by the encoder 2a provided in the position command and the speed command. In addition, when feeding back to the speed command, the position signal is converted into a speed signal by the signal conversion circuit 25.

Further, each slave side drive control system 1
Reference numerals 3 and 14 denote current control circuit units 31 and 32 that output currents for driving to the slave servo motors 3 and 4, and torque commands for the master side drive control system 12 to the current control circuit units 31 and 32. And a torque command extraction circuit (signal extraction circuit) 33 that outputs the torque command to the current control circuit units 31 and 32 as a monitor value,
The torque command extracting circuit 33 is composed of a filter 34 interposed in the middle thereof.

As the filter 34, a time constant filter composed of, for example, a capacitor is used, and as shown in FIG. 1, the torque command signal (voltage signal) having a small variation is used by the filter 34. ) The smoothed torque command signal b is obtained by eliminating the variation of a
Is obtained.

Feedback control is also performed on the current values in the master-side and slave-side drive control systems 12, 13, and 14. Therefore, when the turning ring 1 is turned by the servo motors 2 to 4,
Based on the turning position, that is, the position command, the position control circuit unit 2
The speed command is output at 1, and the torque command is output from the speed control circuit unit 22 to the current control circuit unit 23 to control the rotation drive of the master servomotor 2.

Further, the slave side drive control system 13, 14
The torque command extraction circuit 33 also extracts the torque command in the master side drive control system 12 as a monitor signal, and the torque command is supplied to each current control circuit unit
The data is input to 32, and the rotational drive of the slave servomotors 3 and 4 is controlled. That is, it is controlled so that a predetermined torque is produced.

Then, the master side drive control system 12
When a small fluctuation is included in the torque command signal from the filter 34, the filter 34 is inserted in the torque command extraction circuit 33.
As a result, the fluctuation is removed and the signal becomes smooth as a whole, so the fluctuation of the torque acting on the swivel ring 1 is suppressed, and therefore the resonance of the swivel ring 1 can be prevented.

FIG. 2 shows the waveform of the signal in the torque command signal extraction circuit 33. (A) is filter 3
4 is not provided, and (b) shows the filter 34.
In the case where the filter 34 is interposed,
It can be clearly seen that the fluctuation of the torque command signal is small, that is, smooth.

In the above embodiment, the number of slave servo motors is two, but the number of slave servo motors is not limited to two.
It is applicable.

Further, in the above embodiment, the turning ring has been described as the robot device. However, for example, one joint axis in the handling arm of the robot device is
Even when driven by multiple servo motors,
The drive control device described above can be applied.

[0024]

As described above, according to the configuration of the present invention, the torque command output to the current control circuit unit from the speed control circuit unit in the drive control system of the master servo motor is taken out and the remaining slave servo motors are controlled. Since the signal extraction circuit to be input to the current control circuit unit provided in the drive control system is provided with a filter for removing small fluctuations in the torque command signal, fluctuations in torque acting on the driven body can be suppressed. Therefore, it is possible to prevent the driven body from resonating.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a drive control device in an embodiment of the present invention.

FIG. 2 is a waveform diagram showing a vibrating state of the swivel ring in the embodiment, FIG. 2A shows a case where no filter is provided,
(B) shows the case where a filter is interposed.

[Explanation of symbols]

 1 Slewing Ring 2 Master Servo Motor 3,4 Slave Servo Motor 11 Drive Control Device 12 Master Side Drive Control System 13, 14 Slave Side Drive Control System 21 Position Control Circuit Section 22 Speed Control Circuit Section 23 Current Control Circuit Section 31, 32 current control circuit section 33 torque command extraction circuit 34 filter

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G05B 19/18 G05D 3/00 Q G05D 3/00 13/62 N 13/62 H02P 5/00 K H02P 5/00 5/50 A 5/50 G05B 19/18 C

Claims (1)

[Claims] 1. A master / servomotor in a robot apparatus in which a driven body is driven by a plurality of servomotors, one of which serves as a master and the remaining servomotors serve as slaves. The torque command output from the speed control circuit in the drive control system to the current control circuit is input to the current control circuit provided in the drive control system of the remaining slave servo motors. A drive control device for a robot device, comprising a filter for removing small fluctuations of a signal.