KR20150093039A - Driving Method and Driving Apparatus using Disturbance Observer and Friction Model - Google Patents

Abstract

The present invention relates to a method for driving an object using a disturbance observer and a friction model, comprising the following steps: measuring an input torque for each driving speed of a driving apparatus and acquiring a static friction parameter about static friction acting at the time of driving the driving apparatus; measuring a reach position according to a reference input torque about the driving apparatus, acquiring an estimation reach position by using the acquired static friction parameter and the reference input torque, and then acquiring a dynamic friction parameter about dynamic friction acting on the driving apparatus by using the acquired estimation reach position and the measured reach position; setting a drive torque to move an object to a target position according to an estimation friction value derived from the static friction parameter and the dynamic friction parameter; and confirming, by a disturbance observer, an error about the object moving according to the set drive torque, and correcting the drive torque according to the confirmed error, and an apparatus for driving an object. According to the present invention, it is possible to reduce an influence according to measurement noise, it is possible to thereby improve the accuracy of an operation that moves the object to the target position, and it is possible to improve the precision of an operation that controls the object.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an object observer and a frictional model,

The present invention relates to a driving apparatus and a driving method for driving an object such as an industrial robot or the like.

BACKGROUND ART Industrial robots, medical robots, coating robots, transfer equipment (hereinafter, referred to as "objects") include a driving device for generating a driving force. The drive unit includes a drive source such as a motor and a power transmission unit that connects the drive source and the components of the object.

In such a drive system, friction is a typical disturbance factor that deteriorates the performance of an object requiring precise control, and is a factor that degrades the precision of the operation control of the object in accordance with the drive force provided by the drive.

For example, in the case of an industrial robot for transferring a substrate for manufacturing a liquid crystal display (LCD) or the like, the driving device moves an arm for transferring a substrate from a first position to a second position The arm can not reach the second position precisely due to the friction acting on the power transmitting portion or the like. Accordingly, there is a problem that the substrate supported by the arm collides with other structures or the like, resulting in a loss.

Therefore, it is urgently required to develop a driving device capable of reducing the degree of deterioration in precision of the operation control of the object due to friction acting on the driving device.

The object of the present invention is to provide an object driving method and an object driving apparatus using a disturbance observer, a friction model, and the like, which can improve the precision of motion control of an object.

In order to solve the above-described problems, the present invention can include the following configuration.

A method of driving an object using a disturbance observer and a friction model according to the present invention includes the steps of measuring an input torque for each driving speed of a driving device to obtain a static friction parameter related to static friction acting upon driving the driving device; Wherein the control unit measures an arrival position in accordance with a reference input torque for the drive unit, acquires an estimated arrival position using the obtained static friction parameter and the reference input torque, Obtaining dynamic friction parameters relating to dynamic friction acting on said drive system; Setting a drive torque for moving an object to a target position according to the estimated friction value derived from the static friction parameter and the dynamic friction parameter; And a disturbance observer checking the error of the moving object according to the set driving torque and correcting the driving torque according to the determined error.

An object driving apparatus using a disturbance observer and a friction model according to the present invention includes a driving unit for moving an object; A friction estimating unit for providing an estimated friction value obtained from a static friction parameter relating to static friction acting upon driving the driving unit and a dynamic friction parameter relating to dynamic friction acting on the driving unit; A controller configured to set a drive torque for moving the object to a target position according to an estimated friction value provided from the friction estimating unit and to control the drive unit according to the set drive torque; And a disturbance observer for checking the error of the moving object according to the set drive torque and for providing the determined error to the controller such that the drive torque is reset according to the determined error.

According to the present invention, the following effects can be obtained.

The present invention can reduce the influence of the measurement noise, thereby improving the accuracy of the operation of moving the object to the target position and improving the precision of the operation control of the object.

1 is a schematic block diagram of an object driving apparatus using a disturbance observer and a friction model according to the present invention
2 is a schematic flowchart of a method of driving an object using a disturbance observer and a friction model according to the present invention
3 is a schematic block diagram of a friction model used in a method of driving an object using a disturbance observer and a friction model according to the present invention
4 is a schematic flowchart of a process for obtaining static friction parameters in a method of driving an object using a disturbance observer and a friction model according to the present invention
5 is a schematic flowchart of a process of acquiring dynamic friction parameters in an object driving method using a disturbance observer and a friction model according to the present invention

It should be noted that, in the specification of the present invention, the same reference numerals as in the drawings denote the same elements, but they are numbered as much as possible even if they are shown in different drawings.

Meanwhile, the meaning of the terms described in the present specification should be understood as follows.

The word " first, "" second," and the like, used to distinguish one element from another, are to be understood to include plural representations unless the context clearly dictates otherwise. The scope of the right should not be limited by these terms.

It should be understood that the terms "comprises" or "having" does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

It should be understood that the term "at least one" includes all possible combinations from one or more related items. For example, the meaning of "at least one of the first item, the second item and the third item" means not only the first item, the second item or the third item, but also the second item and the second item among the first item, Means any combination of items that can be presented from more than one.

Hereinafter, embodiments of a method of driving an object using a disturbance observer and a friction model according to the present invention will be described in detail with reference to the accompanying drawings.

Referring to FIGS. 1 and 2, the object driving method using the disturbance observer and the friction model according to the present invention is for driving an object 10 such as an industrial robot, a medical robot, a coating robot, and a transfer facility.

The object driving method using the disturbance observer and the friction model according to the present invention is a method in which the driving apparatus 100 sets the driving torque for moving the object 10 to the target position according to the estimated friction value, And corrects the drive torque according to the error measured by the disturbance observer 110 in the process of moving according to the set drive torque. The estimated friction value is an estimated value obtained by acquiring a friction value of the driving apparatus 100 using a friction model for the driving apparatus 100. [ That is, the object driving method using the disturbance observer and the friction model according to the present invention drives the object 10 using the estimated friction value obtained using the friction model and the error measured by the disturbance observer 110 .

Accordingly, the object driving method using the disturbance observer and the friction model according to the present invention can achieve the following operational effects.

First, in the embodiment using only the disturbance observer 110 to compensate for the error in driving the object 10, since the high-gain design is used, the influence of the measurement noise largely affects. Accordingly, in the embodiment using only the disturbance observer 110, noise and vibration are generated in the driving apparatus 100 due to the influence of the measurement noise. Also, the embodiment using only the disturbance observer 110 degrades the accuracy of the operation of moving the object 10 to the target position due to the influence of the measurement noise. That is, according to the embodiment using only the disturbance observer 110, the precision of the operation control of the object 10 is degraded.

Next, the object driving method using the disturbance observer and the friction model according to the present invention is characterized in that after setting the driving torque using the estimated friction value, the disturbance observer (110) The disturbance observer 110 is designed to have a low gain as compared with the embodiment using only the disturbance observer 110. [ Therefore, compared to the embodiment using only the disturbance observer 110, the object driving method using the disturbance observer and the friction model according to the present invention can reduce the influence of the measurement noise, It is possible to improve the accuracy of the operation of moving the target position to the target position. That is, the object driving method using the disturbance observer and the friction model according to the present invention can improve the precision of the operation control of the object 10.

Hereinafter, the structure of the disturbance observer and the object driving method using the friction model according to the present invention will be described in detail with reference to the accompanying drawings.

는 마찰 표면에서 섬모의 변형을 나타내는 내부 상태이며

는 강성, 감쇠 지수, 점성 마찰계수를 각각 나타낸다. 함수

는 스트리벡 효과를 만들며 정지 마찰력

, 쿨롬 마찰력

, Stribeck 속도

로 결정된다.
The friction model considered in the present invention is expressed by the following equation (1). In the equation below

Is an internal state indicating the deformation of the cilia at the friction surface

Represents the stiffness, the attenuation index, and the viscous friction coefficient, respectively. function

Creates the Stryvek effect and the static friction

, Coulomb friction

, Stribeck speed

.

Referring to FIGS. 1 and 2, the object driving method using the disturbance observer and the friction model according to the present invention includes a step (S100) of obtaining static friction parameters, a step (S200) of obtaining dynamic friction parameters, (S300), and a step of correcting the drive torque (S400).

The static friction parameter relates to the static friction acting upon driving the drive system 100. [ Assuming that there are bristles that exhibit a change in friction between the fixture and the movement, the static friction parameter is a function of the friction acting between the fixture and the movement after the cilia is maximally curved as the movement moves .

The dynamic friction parameter relates to the dynamic friction acting on the drive system 100. The dynamic friction refers to the friction acting between the fixture and the movements until the cilia are maximally curved as the movements move from a state in which the cilia is not fully bent.

Referring to FIGS. 1 to 4, the step S100 of obtaining the static friction parameter may be performed by measuring an input torque for each driving speed of the driving apparatus 100 to obtain the static friction parameter. The step (S100) of obtaining the static friction parameter may include calculating a static friction parameter, a Stribeck speed, and a Coulomb speed for the static friction parameter by measuring an input torque provided to the driving device 100 for each driving speed. ) Friction, and a viscous friction coefficient. The step S100 of acquiring the static friction parameter includes a friction model 200 (shown in FIG. 3) configured in the same manner as the driving unit 120 for driving the object 10 in the driving apparatus 100 ≪ / RTI > The friction model 200 includes a drive unit 210 having a drive source, a power transmission system, and the like that are the same as the drive source and the power transmission system provided in the drive unit 120 (shown in FIG. 1) Unit 220 and a disturbance observer 230 for checking an error from the driving unit 210 driven under the control of the control unit 220. [ The control unit 220 may be a PI controller. The disturbance observer 230 may be a PI observer.

The step (S100) of obtaining the static friction parameter may include the following configuration.

First, a target speed and a driving time are set (S110). The target speed means a maximum speed at which the driving device 100 is driven to obtain the static friction parameter. The driving time means a time for driving the driving device 100 for each driving speed. The target speed and the drive time may be preset by the user. The step S110 of setting the target speed and the driving time may be performed by setting a target speed and a driving time for the driving unit 210 of the friction model 200. [ The target speed and the drive time may be set by the control unit 220. [

Next, the driving apparatus 100 is driven at a first driving speed (S120). This step S120 may be performed by driving the driving device 100 at the first driving speed for the set driving time. The first driving speed may be a speed initially set to measure the input torque by the driving speed at a speed lower than the target speed. The first driving speed may be preset by the user. The first driving speed may be set by the control unit 220. The first driving speed may be initially set to 0.1 rad / s.

Next, the input torque and the first driving speed are stored (S130). This step S130 is a step of changing the input torque and the first driving speed provided to the driving apparatus 100 at a point of time when the driving apparatus 100 is driven at the first driving speed and then reaches the set driving time . The input torque is a torque value provided to the drive device for driving the drive device 100 at the first drive speed. The first driving speed stored together with the input torque is a value obtained by measuring the speed at which the driving apparatus 100 is actually driven in accordance with the input torque and is obtained by an encoder provided in the driving apparatus 100 . The input torque and the first driving speed are stored in the step S130 so that the input torque provided by the control unit 220 to the driving unit 210 and the disturbance observer 230 are transmitted to the driving unit 210, By storing the first driving speed obtained from the encoder installed in the first motor.

The step S130 of storing the input torque and the first driving speed may set and store the input torque as a static frictional force applied to the driving apparatus 100. [ The step S130 of storing the input torque and the first driving speed may be performed by generating a static friction force for each driving speed as friction speed data in the form of a lookup table and storing the generated friction speed data in a memory unit (not shown). Next, the step S130 of storing the input torque and the first driving speed is performed when the driving unit 210 of the friction model 200 is driven at the first driving speed, The input torque provided to the drive unit 210 and the first drive speed. In this case, the input torque and the first driving speed may be stored in the control unit 220.

Next, it is determined whether the first driving speed has reached the target speed (S140). This step (S140) may be performed by judging whether or not the first driving speed has reached the target speed, when the input torque and the first driving speed are stored. The control unit 220 of the friction model 200 determines whether or not the first driving speed has reached the target speed by determining whether the first driving speed has reached the target speed .

Next, if the first driving speed is lower than the target speed, the processes S120, S130, and S140 are performed again after the second driving speed is set to the first driving speed S150. The second driving speed is obtained by adding the reference speed to the first driving speed. The reference speed can be preset by the user. The reference speed may be set by the control unit 220. For example, the reference speed may be 0.1 rad / s. The re-executing step S150 may be performed by the control unit 220 of the friction model 200 setting the second driving speed to the first driving speed. The re-executing step (S150) may be repeatedly performed until the first driving speed reaches the target speed in the step (S120) of driving the driving device at the first driving speed. As the repetition step (S150) is repeated, friction speed data stored in the form of a look-up table can be generated for each of the driving speeds.

Next, when the first drive speed has reached the target speed, the static friction, the Strybeck speed, the Coulomb friction, and the viscous friction coefficient for the static friction parameter are obtained from the friction speed data at step S160. This step (S160) can be performed by reading the static friction, the Strybeck speed, the Coulomb friction, and the viscous friction coefficient based on the friction speed data. The step (S160) of obtaining the static friction, the Strybeck speed, the Coulomb friction, and the viscous friction coefficient may be performed by the control unit 220. [

The step (S160) of obtaining the static friction, the Strybeck speed, the Coulomb friction, and the viscous friction coefficient may include a step of performing the curve fitting using the static friction model . The static friction model is shown in Equation 2 below.

Here, the static friction force Fss, Fc is Coulomb friction, x ₂ is the driving speed of the drive system, Fs is a static friction, v _s is the speed registry Beck, σ ₂ is the viscous friction coefficient.

FIG. 1 shows a result of performing curve fitting using the static friction model in the step of performing the curve fitting (S160).

[Figure 1]

In Figure 1, the vertical axis is the static friction force and the horizontal axis is the drive speed. The circles shown in Figure 1 are the friction rate data prior to performing the curve fitting. The solid line shown in Fig. 1 is the result of performing curve fitting on the friction speed data.

The step (S160) of obtaining the static friction, the Strybeck speed, the Coulomb friction, and the viscous friction coefficient may be performed after performing the step of performing the curve fitting, and then the static friction, the Strybeck speed, the Coulomb friction, And a step of reading out the data.

Wherein the step of reading out the static friction, the Strybeck speed, the Coulomb friction, and the viscous friction coefficient comprises the step of calculating the friction friction data, the Strybeck speed, the Coulomb friction, and the viscous friction coefficient from the result of curve fitting using the static friction model, And reading the viscous friction coefficient.

For example, the step of reading the static friction, the Strybeck speed, the Coulomb friction, and the viscous friction coefficient can be performed by reading the static friction, the Strybeck speed, the Coulomb friction, and the viscous friction coefficient as shown in FIG. 2 .

[Figure 2]

Accordingly, the step (S160) of obtaining the static friction, the Strybeck speed, the Coulomb friction, and the viscous friction coefficient may be performed by using the static friction, the Strybeck speed, the Coulomb friction, and the viscosity The friction coefficient can be obtained.

) 및 댐핑계수(

)를 포함할 수 있다. 상기 동적마찰 파라미터를 획득하는 공정(S200)은, 상기 마찰모델(200)을 이용하여 상기 도달위치를 측정하고, 상기 획득된 정적마찰 파라미터를 기반으로 상기 구동장치(100)에 대한 시뮬레이션 모델을 이용하여 상기 추정도달위치를 획득한 후에, 상기 도달위치 및 상기 추정도달위치를 비교하여 상기 추정도달위치가 상기 도달위치를 기준으로 하는 오차범위에 속하도록 상기 획득된 정적마찰 파라미터를 보정함으로써 이루어질 수 있다.1 to 5, the step S200 of obtaining the dynamic friction parameter includes the steps of measuring an arrival position according to a reference input torque to the drive system 100 and obtaining the static friction parameter And obtaining the dynamic friction parameter using the obtained estimated arrival position and the measured arrival position after obtaining the estimated arrival position using the static friction parameter obtained through the step S100 and the reference input torque. The dynamic friction parameter is determined by the friction stiffness (< RTI ID = 0.0 >

) And damping coefficient (

). The step S200 of acquiring the dynamic friction parameter includes the steps of measuring the arrival position using the friction model 200 and using the simulation model for the driving apparatus 100 based on the obtained static friction parameter By comparing the arrival position and the estimated arrival position, and correcting the obtained static friction parameter so that the estimated arrival position falls within an error range based on the arrival position after obtaining the estimated arrival position .

The step (S200) of acquiring the dynamic friction parameter may include a step of measuring an arrival position in accordance with the reference input torque. The step of measuring the arrival position in accordance with the reference input torque may be obtained using the friction model 200. [ Specifically, it is as follows.

First, the reference input torque for the drive unit 110 is measured. The reference input torque drives a drive unit 210 of the friction model 200 using a trigonometric function signal having a slow change rate as shown in Equation 3 below and drives the drive unit 210 of the friction model 200 as the drive unit 210 is driven By measuring the reference input torque input to the unit 210. [ The step of measuring the reference input torque may be performed by measuring the input torque that the control unit 220 provides to the drive unit 210. [

For example, the measured reference input torque may be expressed as shown in FIG. 3 below. In Figure 3, the vertical axis is the reference input torque and the horizontal axis is the time.

[Figure 3]

Next, an arrival position according to the reference input torque is measured. This process can be performed by measuring the position of the encoder installed in the driving unit 210 when the driving unit 210 is driven according to the reference input torque. The encoder can obtain the reaching position by measuring the position of the driving unit 210 with respect to the motor shaft. In this process, the disturbance observer 230 can estimate the disturbance acting on the driving unit 210. [

For example, as shown in FIG. 4, the result of measuring the arrival position by driving the drive unit 210 with a reference input torque as shown in FIG. In Figure 4, the vertical axis is the arrival position and the horizontal axis is time. In Fig. 4, the dotted line indicates the arrival position.

[Figure 4]

The disturbance estimated by the disturbance observer 230 can be expressed as shown in FIG. 5 as the driving unit 210 is driven with the reference input torque as shown in FIG. In Figure 5, the vertical axis is the estimated disturbance and the horizontal axis is the time. The estimated disturbance may be obtained by converting the reference input torque into a friction value with a friction value acting on the drive unit 210. [ In Figure 5, the dotted line indicates the arrival position.

[Figure 5]

Referring to FIGS. 1 to 5, the step S200 for obtaining the dynamic friction parameter may include the following configuration.

First, the stiffness and the damping coefficient are set (S210). This step (S210) can be performed by setting the stiffness and damping coefficient to be input to the simulation model when the arrival position according to the reference input torque is measured. The value to be set for the stiffness and damping coefficient may be preset by the user. For example, the stiffness may be set to 1, and the damping coefficient may be set to 0.01. The simulation model may be a program for simulating the friction model 200. [

Next, an estimated arrival position is obtained (S220). This process (S220) may be performed by simulating through the simulation model based on the set stiffness, the set damping coefficient, and the obtained static friction parameter, and the reference input torque to obtain the estimated arrival position. The step (S220) of obtaining the estimated arrival position is performed such that the drive unit implemented through the simulation model drives based on the set stiffness, the set damping coefficient, and the obtained static friction parameter and the reference input torque Accordingly, it can be achieved by setting the measured arrival position for the drive unit implemented through the simulation model to the estimated arrival position.

Next, it is determined whether the estimated arrival position is within an error range (S230). This process (S230) may be performed by determining whether or not the obtained estimated arrival position is within an error range based on the obtained arrival position. The error range can be preset by the user. The step of determining whether or not the estimated arrival position is within the error range (S230) may be performed by determining whether or not the absolute value of the obtained estimated arrival position falls within the error position. The step S230 of determining whether or not the estimated arrival position is within an error range can be performed by the simulation model.

For example, the step of determining whether the estimated arrival position is within the error range (S230) may be such that the result of measuring the estimated arrival position is shown together with the measurement result of the arrival position, And comparing the arrival positions with each other. The solid line in Fig. 4 indicates the estimated arrival position.

The step (S230) of determining whether the estimated arrival position is within an error range includes a disturbance estimated based on driving the drive unit by the disturbance observer implemented through the simulation model and a disturbance estimated by the friction model And comparing the disturbance estimated by the disturbance observer 230 with the estimated disturbance. Such a process may be performed by comparing the disturbance estimated by the appearance observer implemented through the simulation model and the disturbance estimated by the disturbance observer 230 of the friction model 200 together as shown in FIG. The disturbance estimated by the disturbance observer realized by the simulation is shown by the solid line in FIG.

Next, when the estimated arrival position is out of the error range, the processes S210, S220, and S230 are performed again after the obtained static friction parameter, the set stiffness, and the set damping coefficient are corrected (S240). In this step S240, a predetermined value is added to or subtracted from the Coulomb friction and the viscous friction coefficient among the obtained static friction parameters, and a predetermined value is added to or subtracted from the set stiffness and the set damping coefficient And correcting it. The predetermined value to be added or subtracted for correction is set so that the estimated arrival position obtained through the simulation model can be within an error range based on the arrival position obtained through the friction model 200, And can be preset by the user. The re-execution process (S420) may be repeated until the estimated arrival position falls within an error range based on the arrival position. The predetermined value to be added or subtracted for correction may be set in consideration of the disturbance estimated through the simulation model and the disturbance estimated through the friction model 200. [ In this case, the predetermined value to be added or subtracted for correction is a value that makes the disturbance estimated through the simulation model as shown in FIG. 5 fall within an error range based on the disturbance estimated through the friction model 200 And can be preset by the user.

Next, when the estimated arrival position is within the error range, the estimated friction value is set (S250). If the estimated arrival position is within an error range based on the arrival position as shown in FIG. 4, the static friction parameter and the dynamic friction parameter used for deriving the result are set as the estimated friction value . The set estimated friction value may be stored in the friction estimation unit 130 (shown in FIG. 1) of the driving apparatus 100. For example, the estimated friction value can be set using the determined static friction parameter and the dynamic friction parameter as shown in Table 2 below.

Referring to FIGS. 1 and 2, the step of setting the drive torque (S300) includes a step (S100) of obtaining the static friction parameter and a step (S200) of obtaining the dynamic friction parameter By setting the drive torque for moving the object 10 to the target position according to the value of the drive torque. The estimated friction value is stored in the friction estimation unit 130. The step S300 of setting the driving torque may include adding or subtracting the estimated friction value to a reference torque for moving the object 10 to a target position on the assumption that there is no friction in the driving unit 120, Can be achieved by setting the torque. The reference torque may be set by the control unit 140 (shown in Fig. 1) of the driving apparatus 100. [ The control unit 140 may receive the estimated friction value from the estimated friction unit 130 and may derive the drive torque through an operation on the received estimated friction value and the reference torque.

Referring to FIGS. 1 and 2, the disturbance observer 110 checks an error with respect to the object 10 moving according to the set driving torque in step S400 of correcting the driving torque, And correcting the drive torque according to the error. The disturbance observer 110 periodically confirms the current position of the object 10 in the process of moving the object 10 to the target position and checks the current position and the detected position of the object 10 And then, after the predicted position of the object 10 is compared, the drive torque can be corrected according to the comparison result. The disturbance observer 110 can confirm the current position of the object 10 through a sensor installed on the object 10. The disturbance observer 110 may check the current position of the object 10 through an encoder installed in the driving unit 120. [

Therefore, compared with the embodiment using only the disturbance observer 110, the object driving method using the disturbance observer and the friction model according to the present invention can reduce the influence of the measurement noise, It is possible to improve the accuracy of the operation of moving to the position. That is, the object driving method using the disturbance observer and the friction model according to the present invention can improve the precision of the operation control of the object 10.

This is because the position error between the current position and the target position that occurs when the embodiment using only the disturbance observer 110 moves the object 10 to the target position and the object driving method using the disturbance observer and the friction model according to the present invention The position error between the current position and the target position, which occurs when the object 10 is moved to the target position, is shown in FIG. In FIG. 6, the vertical axis indicates the positional error between the current position and the target position of the object 10. In Figure 6, the horizontal axis is time. In FIG. 6, the dotted line represents the positional error for the embodiment, and the solid line represents the positional error for the object driving method using the disturbance observer and the friction model according to the present invention.

[Figure 6]

From FIG. 6, it can be seen that the position error for the embodiment using only the disturbance observer 110 is 3%, and the position error for the object driving method using the disturbance observer and the friction model according to the present invention is 1.5%. Therefore, the object driving method using the disturbance observer and the friction model according to the present invention not only improves the accuracy of the operation of moving the object 10 to the target position, but also improves the accuracy of the operation control of the object 10 Can be improved.

Hereinafter, embodiments of an object driving apparatus using a disturbance observer and a friction model according to the present invention will be described in detail with reference to the accompanying drawings.

Referring to FIG. 1, an object driving apparatus 100 using a disturbance observer and a friction model according to the present invention includes a disturbance observer 110, a driving unit 120, a friction estimating unit 130, and a control unit 140.

When the driving unit 120 moves the object 10 at a driving torque set in accordance with the control of the controller 140, the disturbance observer 110 calculates the distance to the moving object 10 Check the error. The disturbance observer 110 periodically checks the current position of the object 10 in the process of moving the object 10 to the target position by the driving unit 120, Is moved according to the driving torque, an error with respect to the object 10 can be confirmed by comparing the predicted position of the object 10. The disturbance observer 110 can check an error with respect to the object 10 through a sensor installed on the object 10. The disturbance observer 110 can check an error with respect to the object 10 through an encoder installed in the driving unit 120.

The disturbance observer 110 may provide the determined error to the controller 140 so that the drive torque is reset according to the identified error. The disturbance observer 110 may reset the drive torque according to the determined error and provide the reset drive torque to the drive unit 120 or the control unit 140. [ The disturbance observer 110 may be a PI observer. The disturbance observer 110 may transmit the determined error or the reset torque using at least one of wire communication and wireless communication.

The driving unit 120 moves the object 10. The driving unit 120 may include a motor for generating a driving force for moving the object 10 and a power transmission system for transmitting the driving force generated by the motor to the object 10. The driving unit 120 may move the object 10 at a driving torque set in accordance with the control of the controller 140. The driving unit 120 may move the object 10 with the driving torque reset by the disturbance observer 110. [

The friction estimating unit 130 stores the estimated friction value. The estimated friction value is obtained by the object driving method using the disturbance observer and the friction model according to the present invention. Therefore, the object driving apparatus 100 using the disturbance observer and the friction model according to the present invention can accurately move the object 10 to the target position, and precisely control the operation of the object 10 have. The friction estimator 130 may provide the estimated friction value to the controller 140. [ The friction estimator 130 may provide the estimated friction value to the controller 140 using at least one of wire communication and wireless communication.

The controller 140 controls the driving unit 120. The control unit 140 sets a driving torque for moving the object 10 to the target position according to the estimated friction value provided from the friction estimating unit 130 and controls the driving unit 120 according to the set driving torque Can be controlled. When the error detected by the disturbance observer 110 is received during the control of the driving unit 120 according to the set driving torque, the controller 140 resets the driving torque according to the received error, (120). The controller 140 may control the driving unit 120 using at least one of wired communication and wireless communication.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Will be clear to those who have knowledge of.

100: drive device 110: disturbance observer
120: driving part 130: friction estimation part
140: control unit 10: object

Claims (5)

Measuring an input torque for each driving speed for the driving device to obtain a static friction parameter related to static friction acting upon driving the driving device;
Wherein the control unit measures an arrival position in accordance with a reference input torque for the drive unit, acquires an estimated arrival position using the obtained static friction parameter and the reference input torque, Obtaining dynamic friction parameters relating to dynamic friction acting on said drive system;
Setting a drive torque for moving an object to a target position according to the estimated friction value derived from the static friction parameter and the dynamic friction parameter; And
And a disturbance observer for checking an error of the moving object according to the set driving torque and correcting the driving torque in accordance with the determined error, and a method for driving an object using the friction model. 2. The method of claim 1, wherein obtaining the static friction parameter comprises:
Setting a target speed and a driving time;
Driving the driving device at a first driving speed for the set driving time;
Storing the input torque and the first driving speed provided to the driving apparatus at the time when the set driving time is reached;
Determining whether the first driving speed has reached the target speed;
Setting the second driving speed obtained by adding the reference speed to the first driving speed to the first driving speed when the first driving speed is smaller than the target speed and driving the driving device to the first driving speed , Storing the input torque and the first driving speed, and re-executing the step of determining whether the first driving speed has reached the target speed. And
From the friction speed data generated through the step of storing the input torque and the first drive speed when the first drive speed has reached the target speed, a stop friction for the static friction parameter, a Stribeck speed , Coulomb friction, and a viscous coefficient of friction, and a method of driving an object using the friction model. 3. The method of claim 2, wherein the step of acquiring the static friction, the Strybeck speed, the Coulomb friction,
And performing the curve fitting using the static friction model,
The static friction model includes:

(However, the static frictional force Fss, Fc is Coulomb friction, x ₂ is the driving speed of the drive system, Fs is a static friction, v _s is the speed registry Beck, σ ₂ is the viscous friction coefficient)
Wherein the disturbance observer and the friction model are used to drive the object. 2. The method of claim 1, wherein obtaining the dynamic friction parameter comprises:
Setting a stiffness and a damping coefficient with respect to the dynamic friction parameter when an arrival position according to the reference input torque is measured;
Obtaining the estimated arrival position using the set stiffness, the set damping coefficient, the obtained static friction parameter, and the reference input torque;
Determining whether the obtained estimated arrival position is within an error range based on the measured arrival position;
Obtaining the estimated arrival position after correcting the obtained static friction parameter, the set stiffness, and the set damping coefficient when the obtained estimated arrival position is out of the error range, and acquiring the estimated arrival position Re-executing the step of determining whether it is within the error range; And
And setting the estimated friction value when the obtained estimated arrival position belongs to the error range, and a method of driving an object using the friction model. A driving unit for moving the object;
A friction estimating unit for providing an estimated friction value obtained from a static friction parameter relating to static friction acting upon driving the driving unit and a dynamic friction parameter relating to dynamic friction acting on the driving unit;
A controller configured to set a drive torque for moving the object to a target position according to an estimated friction value provided from the friction estimating unit and to control the drive unit according to the set drive torque; And
And a disturbance observer for checking the error of the moving object according to the set drive torque and providing the determined error to the control unit so that the drive torque is reset according to the determined error, Object drive.

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