CN103753535A - Device and method for controlling single-bus modular digital actuator of robot - Google Patents
Device and method for controlling single-bus modular digital actuator of robot Download PDFInfo
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- CN103753535A CN103753535A CN201410009359.5A CN201410009359A CN103753535A CN 103753535 A CN103753535 A CN 103753535A CN 201410009359 A CN201410009359 A CN 201410009359A CN 103753535 A CN103753535 A CN 103753535A
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Abstract
The invention relate to a device and a method for controlling a single-bus modular digital actuator of a robot. The device comprises an actuator control unit, a direct-current motor, a communication module, a speed reduction mechanism, position and temperature sensors and a current protection circuit. The method includes that the actuator control unit computes control parameters according to the running temperatures, driving currents of the motor and the position of the actuator and outputs the control parameters to a motor control circuit; the communication module receives control instructions of an upper computer and feeds information of the current position of the actuator, the current speed of the actuator and the like to the upper computer; a high rotational speed and low torque of the motor are converted into a low rotational speed and high torque by the speed reduction mechanism and an output mechanism, and the low rotational speed and the high torque are outputted by the speed reduction mechanism and the output mechanism; the position sensor, the temperature sensor and the current protection circuit are respectively used for feeding current position signals of the actuator, the running temperatures and the driving currents of the motor to the actuator control unit, so that closed-loop high-precision safety control can be implemented. The device and the method have the advantages of overcurrent, overvoltage and over-temperature protection, capability of preventing overload or over-temperature damage, high response speed, zero dead zones and high control precision.
Description
Technical field
Robot monobus small size high-torque Modularized digital steering wheel, belongs to automation field, and this steering wheel is widely used in the joint of robot free degree to be controlled, and is used for controlling in addition the operating mechanism of attitude of flight vehicle at space flight, aviation control field.The present invention relates to a kind of steering engine control device and control method, especially relate to a kind of robot monobus Modularized digital steering engine control device and control method.
Background technology
Along with the expansion of automation equipment application in recent years, the demand of steering wheel is more and more extensive, all has higher requirement to the volume of steering wheel, moment of torsion, control mode, structure compatible etc. in various application scenarios.Traditional digital rudder controller and simulation steering wheel basal conditions are that its volume of steering wheel that moment of torsion is large is also very large, bring more limitation to installation and structural configuration; And little its moment of torsion of steering wheel of volume is inadequate, its range of application is had a greatly reduced quality.
In the electronic circuit of tradition steering wheel, without MCU microcontroller, generally be all referred to as to simulate steering wheel.Its steering wheel is connected into Wheatstone bridge by power operational amplifier etc., according to receive between analog voltage control instruction and mechanical linkage position sensor (potentiometer) feedback voltage the differential voltage relatively producing, drive have brushless motor servomotor just/the anti-assigned address that runs to.
The shortcoming of this steering wheel is that efficiency is low, has reactionless district.Suppose a very brief power pulse, and then very long pause, can not apply how many excitations to motor in this case, and steering wheel possibly cannot rotate.Otherwise if a smaller control action of steering wheel output must send a certain amount of inceptive impulse to motor to it, steering wheel could move, this is very inefficient.Same reason, steering wheel is for the tiny action of emitter, and it is very blunt to react, or basic just not reaction.This is also why to simulate the existence that steering wheel has " reactionless district ".
Also occurred at present the digital rudder controller of a small amount of microcontroller, but be limited to the restriction of structure, the output torque of existing digital rudder controller unit volume (being steering wheel moment of torsion/steering wheel volume) is very little, causes its application to be very limited.
In addition, the control mode of traditional steering wheel adopts parallel control more, and many steering wheels obtain control signal and power supply signal from control module separately.Such shortcoming is that system cabling is very loaded down with trivial details when system needs a plurality of steering wheel, and main control module can need interface very many, has limited the miniaturization of system, and topology layout is very limited.Especially in the high-end automation equipments such as articulated robot, its application is very limited.
Traditional steering wheel, in unloaded, does not have power to be transferred to steering wheel motor.When there being signal input that steering wheel is moved, or the rocking arm of steering wheel is when being subject to external force, and steering wheel can be reacted, to steering wheel motor driven power (voltage).This power 50 cycles in fact per second, be modulated into the maximum voltage of ON/OFF pulse, and produce the power of segment.
When strengthening the width of each pulse, as the usefulness of electronic transmission just there will be, until maximum power/voltage is sent to motor, revolution makes steering wheel rocking arm point to a new position.
Then, when steering wheel potentiometer tell electronic section it arrived the position of appointment, power pulse will reduce pulse width so, and motor is slowed down.Until without any power input, motor stops completely.
Summary of the invention
The present invention solves the existing traditional digital rudder controller of prior art and the little technical problem of simulation steering wheel unit volume output torque; A kind of small size high-torque is provided; The modularization monobus steering wheel control mode that it adopts, control signal is connected with power signal line flexibly, greatly simplified the structure of the controller mainboard of steering wheel, its connected mode on equipment can adopt series connection or in parallel, also a kind of robot monobus Modularized digital steering engine control device and control method very easily.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
A robot monobus Modularized digital steering engine control device, is characterized in that, comprising:
One steering wheel control module: comprise control module and circuit for controlling motor; Wherein control module receives the feedback information of the control information of steering wheel and temperature, current protecting circuit, and calculates Electric Machine Control parameter according to control information and feedback information, then exports control parameter to circuit for controlling motor;
One direct current generator: receive the control parameter information of circuit for controlling motor output, and according to the rotating speed rotation of appointment;
One communication module: for exporting the output signal of circuit for controlling motor to direct current generator signal input part;
One reducing gear: connect with direct current generator output shaft, for the high rotating speed of motor, the output of low moment of torsion are converted into the slow-speed of revolution, the output of high moment of torsion;
One output mechanism: be connected with reducing gear one end, export the slow-speed of revolution, high moment of torsion to steering wheel;
One position sensor: be connected with the other end of reducing gear, for motor speed signal, position signalling are fed back to circuit for controlling motor.
One temperature sensor: whether surpass setting threshold, and feedback information is sent to the control chip on steering wheel control module for feeding back current running temperature.
One current protecting circuit: whether surpass setting threshold, and feedback information is sent to the control chip on steering wheel control module for feeding back direct current generator drive current.
After the employing said structure of the invention:
1, because of the relation of microprocessor, digital rudder controller can, before power pulse is sent to steering wheel motor, be processed according to the parameter of setting the signal of input.This means the width of power pulse, that is to say the power of excitation motor, can adjust according to the sequential operation of microprocessor, to adapt to different functional requirements, and optimize the performance of steering wheel.
2, digital rudder controller response is fast, stops " reactionless district ".Excellent essential digital rudder controller sends power pulse (with traditional 50 pulse/sec, being 300 pulse/sec now relatively) with the frequency of 6 times of traditional steering wheels to motor, and motor is received more pumping signal at one time, and response speed is faster, rotates sooner.This also means the frequency response control signal that steering wheel motor can be higher, there is no " reactionless district "; Because driving pulse frequency is high, reaction becomes faster, accelerate and slow down also more rapidly, softer, controls finer and smoothlyer, thereby also can provide higher precision and better fixedly strength.
3, band angle feedback and off normal debugging functions, the high conformity of steering wheel, 180 degree are controlled, and without the blind area of control, the scope of actual controllable angle is 0-180 degree, and lock-bit is accurate, and non-jitter, without overshoot.
4, there is overcurrent, overvoltage and overheat protector, can detect stall overcurrent and short-circuit condition and stop rapidly motor drive signal.
A robot monobus Modularized digital steering wheel control method, is characterized in that, comprises the following steps:
Steps A: steering wheel control panel receives the control information of steering wheel, the i.e. angle on target of steering wheel, velocity of rotation.Working control signal is the PWM waveform of different duty;
Step B: control module receives the feedback information from steering wheel position sensor information and temperature, current protecting circuit; proportionally, differential, integration Electric Machine Control algorithm calculate Electric Machine Control parameter, and control PWM waveform signal are sent to circuit for controlling motor.If temperature sensor feedback temperature surpasses setting threshold or current protecting circuit feedback current surpasses setting threshold, steering wheel control module will send reset control command, stops PWM output, makes steering wheel stop output, protection steering wheel;
Step C: the PWM motor control signal sending from control module, through circuit for controlling motor, drives direct current generator to rotate to assigned address according to the rotating speed of appointment.
Step D: direct current generator output shaft is connected with reducing gear, turns to the slow-speed of revolution, high moment of torsion by the high rotating speed of motor, low torque axis; Reducing gear output one end connects the output of whole steering wheel, and the other end connects the position sensor of steering wheel output, and sensor feeds back to steering wheel control module by motor speed signal, position signalling, forms closed-loop control.
Therefore, tool of the present invention has the following advantages: 1, maximum energy conversion efficiency (weighing the index of its energy conservation characteristic): its efficiency is generally more than 90%, and portioned product can reach more than 95%, is greatly better than common iron core motor (15-50%); 2, activate, brake rapidly, response is exceedingly fast: mechanical time constant is less than 28 milliseconds, and portioned product can reach in 10 milliseconds, and under the state that runs up in recommending operation area, rotational speed regulation is sensitive; 3, reliable operation stability: adaptive ability is strong, self fluctuation of speed can be controlled in 2%; 4, electromagnetic interference is few: adopt high-quality brush, commutator structure, commutation spark is little, can remove additional means for anti-jamming from; 5, energy density is large: compare with the iron core motor of Same Efficieney, its weight, volume alleviate 1/3-1/2; The corresponding parameters such as rotating speed-voltage, rotary speed-torque, torque-current all present the linear relationship of standard.
Accompanying drawing explanation
Accompanying drawing 1 is structure principle chart of the present invention.
Accompanying drawing 2 is cut-away views of the present invention.
Accompanying drawing 3 is circuit diagrams of control module in the present invention.
Accompanying drawing 4 is circuit for controlling motor figure in the present invention.
The specific embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment:
Paper is hardware configuration of the present invention once:
1, this steering wheel is comprised of steering wheel control module, direct current generator, communication module, reducing gear, output mechanism, position sensor, temperature sensor and current protecting circuit.Structure control schematic diagram as shown in Figure 1.
2, steering wheel control module is to take the steering wheel control panel that ATMEGA is main control chip; shown in steering wheel control panel, comprise actuating mechanism controls module (containing control algolithm), communication module, sensor feedback circuit module and overcurrent, overvoltage, protection module as shown in fig. 1.
3, communication module: steering wheel adopts asynchronous serial bus communication modes, can support that nearly 254Ge robot steering wheel becomes chain connection and upper machine communication not to interfere with each other by bus group.Each steering wheel can be set different node ID, and a plurality of steering wheels can be unified motion also can single independent control.
4, slow down and increase the reducing gear of turning round device employing high accuracy, multistage big retarding ratio, motor output torque can be increased to 200-300 doubly.
5, steering wheel adopts modularized design mode, and steering wheel control panel, the very convenient handover configurations of direct current generator, can flexible configuration according to different needs and application scenario.
During work, comprise the following steps:
Steps A: steering wheel control panel receives the control information of steering wheel, the i.e. angle on target of steering wheel, velocity of rotation.Working control signal is the PWM waveform of different duty, from Fig. 3 chips pin, introduces for 30,31,32, No. 1;
Step B: control module receives the feedback information from steering wheel position sensor information and temperature, current protecting circuit from pin two 3,24,25; proportionally, differential, integration Electric Machine Control algorithm calculate Electric Machine Control parameter, and control PWM waveform signal are sent to circuit for controlling motor.If temperature sensor feedback temperature surpasses setting threshold or current protecting circuit feedback current surpasses setting threshold, steering wheel control module will send reset control command, stops PWM output, makes steering wheel stop output, protection steering wheel;
Step C: the PWM motor control signal sending from control module, through circuit for controlling motor, drives direct current generator to rotate to assigned address according to the rotating speed of appointment.
Step D: direct current generator output shaft is connected with reducing gear, turns to the slow-speed of revolution, high moment of torsion by the high rotating speed of motor, low torque axis; Reducing gear output one end connects the output of whole steering wheel, and the other end connects the position sensor of steering wheel output, and sensor feeds back to control circuit by motor speed signal, position signalling, forms closed-loop control.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various modifications or supplement or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (2)
1.Yi Zhong robot monobus Modularized digital steering engine control device, is characterized in that, comprising:
One steering wheel control module: comprise control module and circuit for controlling motor; Wherein control module receives the feedback information of the control information of steering wheel and temperature, current protecting circuit, and calculates Electric Machine Control parameter according to control information and feedback information, then exports control parameter to circuit for controlling motor;
One direct current generator: receive the control parameter information of circuit for controlling motor output, and according to the rotating speed rotation of appointment;
One communication module: for exporting the output signal of circuit for controlling motor to direct current generator signal input part;
One reducing gear: connect with direct current generator output shaft, for the high rotating speed of motor, the output of low moment of torsion are converted into the slow-speed of revolution, the output of high moment of torsion;
One output mechanism: be connected with reducing gear one end, export the slow-speed of revolution, high moment of torsion to steering wheel;
One position sensor: be connected with the other end of reducing gear, for motor speed signal, position signalling are fed back to circuit for controlling motor;
One temperature sensor: whether surpass setting threshold, and feedback information is sent to steering wheel control module for feeding back current running temperature;
One current protecting circuit: whether surpass setting threshold, and feedback information is sent to steering wheel control module for feeding back direct current generator drive current.
2.Yi Zhong robot monobus Modularized digital steering wheel control method, is characterized in that, comprises the following steps:
Steps A: steering wheel control panel receives the control information of steering wheel, the i.e. angle on target of steering wheel, velocity of rotation.Working control signal is the PWM waveform of different duty;
Step B: control module receives the feedback information from steering wheel position sensor information and temperature, current protecting circuit; according to traditional ratio, differential, integration Electric Machine Control algorithm, calculate Electric Machine Control parameter, and control PWM waveform signal is sent to circuit for controlling motor.If temperature sensor feedback temperature surpasses setting threshold or current protecting circuit feedback current surpasses setting threshold, steering wheel control module will send reset control command, stops PWM output, makes steering wheel stop output, protection steering wheel;
Step C: the PWM motor control signal sending from control module, through circuit for controlling motor, drives direct current generator to rotate to assigned address according to the rotating speed of appointment.
Step D: direct current generator output shaft is connected with reducing gear, turns to the slow-speed of revolution, high moment of torsion by the high rotating speed of motor, low torque axis; Reducing gear output one end connects the output of whole steering wheel, and the other end connects the position sensor of steering wheel output, and sensor feeds back to control circuit by motor speed signal, position signalling, forms closed-loop control.
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