CN109521804A - A kind of motion control method of robot, servo controller and readable storage medium storing program for executing - Google Patents
A kind of motion control method of robot, servo controller and readable storage medium storing program for executing Download PDFInfo
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- CN109521804A CN109521804A CN201811306178.3A CN201811306178A CN109521804A CN 109521804 A CN109521804 A CN 109521804A CN 201811306178 A CN201811306178 A CN 201811306178A CN 109521804 A CN109521804 A CN 109521804A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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- Power Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present embodiments relate to robot fields, disclose the motion control method, servo controller and readable storage medium storing program for executing of a kind of robot.The motion control method of volume robot of the invention, comprising: obtain the receiving time of historical position instruction；The receiving time of position command next time is estimated according to the receiving time that historical position instructs；Before the receiving time for the position command next time estimated out reaches, motor movement is controlled several times, and repeatedly the sum of specified amount of exercise of control is related to the unit motion amount specified by position command, so that in low speed operation, motor movement smoothly links up, and reduces shake to the greatest extent.
Description
Technical field
The present embodiments relate to robot fields, the in particular to movement control technology of robot.
Background technique
The main task of industrial robot control system be control movement position of the robot in working space, posture and
The time etc. of track, operation order and movement.It has simultaneously programs simple, menu operation, friendly human-computer interaction circle
The features such as face, on-line operation prompt and are easy to use.
The height of robot freedom degree depends on its moveable joint number, and the more, freedom degree is higher for joint number, displacement
Precision is also outstanding, and the servo motor quantity that must so use is just relatively more；In other words, more accurate industrial machine
People, in servo motor quantity the more, general every multi-axis robot is controlled by a set of control system, also implies that controller
Performance requirement is higher.
In SERVO CONTROL, servo needs to carry out position according to the position command (pulse train) inputted from host controller
Control, there are several types of forms for the pulse train of host controller, and as shown in table 1 below, down arrows therein indicate a position
Set instruction unit.
Table 1
By taking two-phase pulse inputs as an example, when usual servo calculating position instructs, as shown in Figure 1, PULS is pulse train A
Phase, SIGN are pulse train B phase, and PositionREF is calculated position given value.
Position control is handed down to servo controller as shown in Fig. 2, host controller is given position by pulse train, watches
It takes controller and the calculated position of computing module given according to position gives (PosREF) and motor controlled by motor control module
Run to designated position.Servo controller collects the location information (PosFDB) that motor feedback returns simultaneously, and is exported by pulse
Position feedback information is sent to host controller by module.
At least there are the following problems in the prior art for present inventor's discovery: in low speed operation, motor loiters,
Speed shake is very big.
Summary of the invention
A kind of motion control method for being designed to provide robot of embodiment of the present invention, servo controller and readable
Storage medium, so that motor movement smoothly links up, and reduces shake to the greatest extent in low speed operation.
In order to solve the above technical problems, embodiments of the present invention provide a kind of motion control method of robot, packet
It includes: obtaining the receiving time of historical position instruction；Position next time is estimated according to the receiving time that the historical position instructs to refer to
The receiving time of order；Before the receiving time arrival of position command next time described in estimating out, motor movement is controlled several times,
Repeatedly the sum of specified amount of exercise of control is related to the unit motion amount specified by position command.
Embodiments of the present invention additionally provide a kind of servo controller, comprising: at least one processor；And with institute
State the memory of at least one processor communication connection；Wherein, be stored with can be by least one described processor for the memory
The instruction of execution, described instruction are executed by least one described processor so that at least one described processor be able to carry out as
The motion control method of above-mentioned robot.
Embodiments of the present invention additionally provide a kind of computer readable storage medium, are stored with computer program, special
Sign is that the computer program realizes the motion control method of above-mentioned robot when being executed by processor.
In terms of existing technologies, the main distinction and its effect are embodiment of the present invention: using traditional approach meter
Position is calculated to timing, as shown in figure 3, CalFlag is the calculation flag of servo, when host controller wishes that motor low speed is run
When, given A, B phase impulse transfer is also just relatively slack-off.Thus causing does not have between the calculating cycle 2 to 5 of CalFlag
It receives any position and gives (sometimes may be thousands of a calculating cycles), in the case where no position is given, motor will
It is out of service to wait new position given value always.Until waiting until the 6th period, the variation of position given value, motor is just after reforwarding
One unit of row.As it can be seen that, when receiving position command, controlling the scheduled list of motor movement when existing motion planning and robot control
Position amount, in the actual conditions of low speed operation, command reception gap is longer, and motor is not when receiving next instruction in waiting
State for time is longer, causes the shake of movement obvious.And this programme controls several times when next instruction does not receive, repeatedly
The sum of the specified amount of exercise of control is related to the unit motion amount specified by position command, that is to say, that every secondary control motor
Amount of exercise be scheduled unit motion amount a part so that motor repeatedly moves on a small quantity, until the position next time estimated
The command reception time reduces shake to the greatest extent so that motor movement more smoothly links up when low-speed motion.
As a further improvement, described control in motor movement several times, the time interval of adjacent two secondary control is identical.It is even
Speed is repeatedly controlled, and is further ensured that the coherent smooth of motor movement, is helped to be further reduced shake.
As a further improvement, the time interval of adjacent two secondary control is N number of calculating cycle of servo controller, the N
For the natural number more than or equal to 1.Using the multiple of calculating cycle as the restriction of time interval, it is more convenient for calculating.
As a further improvement, the N is 1.It limits each calculating cycle and carries out motion control, utmostly guarantee electricity
Machine motion smoothing is coherent, and shake is few.
As a further improvement, described control motor movement several times, specifically include: obtaining the current control time and upper one
First difference Tp of the receiving time of secondary position command；The last time position command and the position next time estimated out refer to
The difference of the receiving time of order is denoted as the second difference t2；Specified movement when secondary control is calculated according to the Tp and the t2
Amount.It further limits the specified amount of exercise of every secondary control to be calculated according to time scale, so that position control is more accurate.
As a further improvement, the value of the Tp or the t2 are obtained using register.It limits and is obtained respectively using register
Difference can be realized quickly and easily convenient for calculating.
As a further improvement, described control motor movement several times, specifically include: motor movement described in default control
Number is divided into M times；The amount of exercise of motor described in every secondary control is calculated, be the unit motion amount divided by the M, the M is big
In 1 natural number.The another way for further limiting motion control presets control number, and calculates each
Amount of exercise is controlled in every secondary control with the amount of exercise precomputed, without being calculated every time, is convenient for program
Quick execution.
As a further improvement, the historical position instruction specifically includes: last position command and upper last position
Instruction.It is estimated using the receiving time of last position command and upper last position command, when the reception of position command
Between it is close so that estimating more accurate.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is pulse train schematic diagram when usually private takes calculating position instruction in background technique according to the present invention；
Fig. 2 is the hardware interaction schematic diagram of position control in background technique according to the present invention；
Fig. 3 is pulse train schematic diagram of the traditional approach calculating position to timing in summary of the invention according to the present invention；
Fig. 4 is the motion control method flow chart of robot in first embodiment according to the present invention；
Fig. 5 is pulse sequence diagram in the motion control method of robot in first embodiment according to the present invention；
Fig. 6 be according to the present invention in first embodiment in the motion control method of robot in the position next time estimated out
Before setting the receiving time arrival of instruction, the calculation flow chart of position specified rate in every secondary control motor movement；
Fig. 7 is when being calculated in the motion control method of robot using register in first embodiment according to the present invention
Time diagram；
Fig. 8 be according to the present invention in second embodiment in the motion control method of robot in the position next time estimated out
Before setting the receiving time arrival of instruction, the calculation flow chart of position specified rate in every secondary control motor movement；
Fig. 9 is the structural schematic diagram of servo controller in third embodiment according to the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order to make the reader understand this application better, many technical details are proposed.But even if without these technical details
And various changes and modifications based on the following respective embodiments, the application technical solution claimed also may be implemented.
The first embodiment of the present invention is related to a kind of motion control methods of robot.Position in present embodiment refers to
Enabling is that pulse train instructs, and is specifically as follows the rising edge or failing edge of pulse.Its process is as shown in figure 4, specific as follows:
Step 401, the receiving time of historical position instruction is obtained.
Specifically, the historical position instruction in present embodiment specifically includes: last position command and upper last time
Position command.
Step 402, the receiving time of position command next time is estimated according to the receiving time that historical position instructs.
Specifically, as shown in figure 5, the C3 line left side is the pulse train that host controller has been sent from, it is on the right of C3 line
The pulse train of estimation.Our target is to obtain new position command (i.e. position command next time) first, it is assumed that C0 line is
Reference position, the receiving time of the position command on C1 line are t0, and the receiving time of the position command on C2 line is t0+t1, in advance
The receiving time for the position command next time estimated is t0+t1+t2, since the frequency variation of existing position command is smaller, will not be dashed forward
Become, so t2 can be estimated out according to t0 and t1, it is specific to estimate that formula may is that t2=t1+ (t1-t0).
It is noted that present embodiment is to carry out the reception of position command next time according to two position commands of history
Time estimation estimated according to last and the upper last time position command, can also be according in history in practical application
The receiving time difference of several position commands, which is averaged, obtains the receiving time of position command next time, so that receiving time
It estimates more accurate, will not enumerate herein.
Step 403, before the receiving time for the position command next time estimated out reaches, motor movement is controlled several times.
Specifically, repeatedly the sum of specified amount of exercise of control is related to the unit motion amount specified by position command,
As the sum of multiple amount of exercise is equal to unit motion amount.
More specifically, the calculating process of position specified rate can be such as Fig. 6 institute in every secondary control motor movement in this step
Show, specifically includes the following steps:
Step 4031, the first difference Tp of the receiving time of current control time and last position command is obtained.
Specifically, the time of a pulse (C2 line) is Tp on C3 line-spacing in Fig. 5, and Tp is also in upper primary position command
After reception by duration.
Step 4032, the difference of the receiving time of last position command and the position command next time estimated out is denoted as second
Difference t2.
Specifically, it as last position command and is estimated out next time according to the t2 value estimated out in step 402
The difference of the receiving time of position command.
Step 4033, specified amount of exercise when secondary control is calculated according to Tp and t2.
Specifically, the time accounting according to Tp in t2 can be continued and determine that the position of current control time is given,
That is the position at C3 line moment is given as, current location is given to add Tp/t2.
It should be noted that above-mentioned steps 4031 to step 4033 is to obtain the position of current control time according to time accounting
It sets given, so that motor movement is more smooth relative to the time, reduces shake to the greatest extent, in multiple control, repeat every time above-mentioned
The calculating of step progress position specified rate.Meanwhile repeatedly in control motor movement, the time interval phase of adjacent two secondary control
Together, furtherly, the time interval in present embodiment is a calculating cycle of servo controller, that is to say, that each
The calculating cycle of servo controller can all carry out the calculating of given position and the control to motor.
It also needs to continue to explain, the value of Tp and t2 can use register and obtain in the given calculating process in above-mentioned position
, so that entire calculating process may be by register realization.Specific method is illustrated by taking Fig. 7 as an example: default to post as follows
Storage: t0Reg, t1Reg, TpReg, TimeCnt.Wherein TimeCnt is time counter, and when there is new pulse, (i.e. position refers to
Enable) when occurring, the counter O reset and restart to calculate.T1Reg is the t1 time to deposit register, when there is new pulse to go out
Now, the value before register deposit TimeCnt is reset.T0Reg is the t0 time to deposit register, when new pulse occurs,
The value of register deposit t1Reg.TpReg is the Tp time to deposit register, when CalFlag occurs, deposits TimeCnt's
Value.Dash area is not considered in figure, analyzes CalFlag period 9 and period 10.9th period, position are given as (a/ (n+ (n-
M)))+3, the 10th period position is given as (c/ (n+ (n-m)))+3.
Present inventor also it is emphasized that if reach the receiving time for the position command next time estimated out, but
Practical position command next time does not receive, then also not continuing to control, that is, stops calculating specified rate and motor control
System, makes motor be in halted state.
It is noted that more before the receiving time for the position command next time estimated out reaches in present embodiment
Secondary control be carried out in each calculating cycle of servo controller, that is, the time interval of adjacent two secondary control is identical, and when
Between between be divided into a calculating cycle, in practical application, the time of adjacent two secondary control can be greater than a calculating cycle, such as every two
A calculating cycle carries out a secondary control or every ten calculating cycles carry out a secondary control, will not enumerate herein.In addition, phase
The time interval of adjacent two secondary controls can not also be identical.
As it can be seen that present embodiment is in terms of existing technologies, the main distinction and its effect are: using traditional approach meter
Position is calculated to timing, in the case where no position is given, motor waits always new position command to arrive for out of service,
Calculate new position given value.In this way, when existing motion planning and robot control, when receiving position command, control motor fortune
Scheduled unit quantity is moved, in the actual conditions of low speed operation, command reception gap is longer, and motor is not receiving next instruction
When be waited for that the time is longer, cause the shake of movement obvious.And present embodiment is divided when next instruction does not receive
Repeatedly control, repeatedly the sum of specified amount of exercise of control is related to the unit motion amount specified by position command, that is to say, that
The amount of exercise of every secondary control motor is a part of scheduled unit motion amount, so that motor repeatedly moves on a small quantity, until estimating
Position command receiving time next time reduce shake to the greatest extent so that motor movement more smoothly links up when low-speed motion.
Second embodiment of the present invention is related to a kind of motion control method of robot.Second embodiment is real with first
It is roughly the same to apply mode, is in place of the main distinction: before position command receives next time, repeatedly to motor control when position
Set given calculation.In the first embodiment, position given value calculates in real time according to time accounting, and in the present invention second
In embodiment, position given value is precalculated, and is directlyed adopt the value precomputed every time and is carried out motor control, so that being not necessarily to
It is calculated every time, is convenient for program quick execution.
Specifically, in the motion control method of the robot in present embodiment, refer in the position next time estimated out
Before the receiving time of order reaches, the calculating process of position specified rate can be as shown in figure 8, specific packet in every secondary control motor movement
It includes:
Step 8031, the number of default control motor movement is divided into 500 times.
Specifically, preset number can be set according to actual needs, or according to the position command next time estimated out
Receiving time setting, be set as 500 times in present embodiment, may be set to be other values, it is not limited here.
Step 8032, the amount of exercise of every secondary control motor is calculated, is unit amount of exercise divided by 500.
Specifically, since inventor has found that the specified displacement of each position command is identical, so, the displacement is equal
Get sub- displacement, every secondary control point, which is hit, moves the sub- displacement, until position command receives next time.
It should be noted that, although the motor control number before position command reception next time is preset in, but if control
Number is not up to, and position command next time has been received, that control after also not continuing to directly calculates position next time
The specified position specified rate of instruction.In addition, if the receiving time for the position command next time estimated out has arrived at, but not
New position command is received, that is also required to stop the control to motor, is in standby motor, guarantees the control to motor
System corresponds to actual needs.
As it can be seen that present embodiment further limits the another way of motion control, control number, Yi Jiji are preset
Each amount of exercise is calculated, in every secondary control, is controlled with the amount of exercise precomputed, without being counted every time
It calculates, is convenient for program quick execution.
The step of various methods divide above, be intended merely to describe it is clear, when realization can be merged into a step or
Certain steps are split, multiple steps are decomposed into, as long as including identical logical relation, all in the protection scope of this patent
It is interior；To adding inessential modification in algorithm or in process or introducing inessential design, but its algorithm is not changed
Core design with process is all in the protection scope of the patent.
Third embodiment of the invention is related to a kind of servo controller, as shown in Figure 9, comprising:
At least one processor；And
The memory being connect at least one processor communication；Wherein,
Memory is stored with the instruction that can be executed by least one processor, and instruction is executed by least one processor, with
At least one processor is set to be able to carry out the motion control of the robot as mentioned in first embodiment or second embodiment
Method.
Wherein, memory is connected with processor using bus mode, and bus may include the bus of any number of interconnection
And bridge, bus is by one or more processors together with the various circuit connections of memory.Bus can also will be such as peripheral
Together with various other circuit connections of management circuit or the like, these are all well known in the art for equipment, voltage-stablizer
, therefore, it will not be further described herein.Bus interface provides interface between bus and transceiver.Transceiver
Can be an element, be also possible to multiple element, such as multiple receivers and transmitter, provide for over a transmission medium with
The unit of various other device communications.The data handled through processor are transmitted on the radio medium by antenna, further,
Antenna also receives data and transfers data to processor.
Processor is responsible for managing bus and common processing, can also provide various functions, including periodically, peripheral interface,
Voltage adjusting, power management and other control functions.And memory can be used for storage processor and execute operation when institute
The data used.
Four embodiment of the invention is related to a kind of computer readable storage medium, is stored with computer program.Computer
Above method embodiment is realized when program is executed by processor.
That is, it will be understood by those skilled in the art that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions are to make
It obtains an equipment (can be single-chip microcontroller, chip etc.) or processor (processor) executes side described in each embodiment of the application
The all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of motion control method of robot characterized by comprising
Obtain the receiving time of historical position instruction；
The receiving time of position command next time is estimated according to the receiving time that the historical position instructs；
Before the receiving time arrival of position command next time described in estimating out, motor movement is controlled several times, is repeatedly controlled
The sum of specified amount of exercise is related to the unit motion amount specified by position command.
2. the motion control method of robot according to claim 1, which is characterized in that the motor fortune of control several times
In dynamic, the time interval of adjacent two secondary control is identical.
3. the motion control method of robot according to claim 2, which is characterized in that between the time of adjacent two secondary control
It is divided into N number of calculating cycle of servo controller, the N is the natural number more than or equal to 1.
4. the motion control method of robot according to claim 3, which is characterized in that the N is 1.
5. the motion control method of robot according to claim 1, which is characterized in that the motor fortune of control several times
It is dynamic, it specifically includes:
Obtain the first difference Tp of the receiving time of current control time and last position command；
The difference of the receiving time of the last time position command and the position command next time estimated out is denoted as the second difference
t2；
Specified amount of exercise when secondary control is calculated according to the Tp and the t2.
6. the motion control method of robot according to claim 5, which is characterized in that the value of the Tp or the t2 benefit
It is obtained with register.
7. the motion control method of robot according to claim 1, which is characterized in that the motor fortune of control several times
It is dynamic, it specifically includes:
The number of motor movement described in default control is divided into M times；
The amount of exercise of motor described in every secondary control is calculated, is the unit motion amount divided by the M, the M is the nature greater than 1
Number.
8. the motion control method of robot according to claim 1, which is characterized in that the historical position instruction is specific
It include: last position command and upper last position command.
9. a kind of servo controller characterized by comprising
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out the movement of the robot as described in any in claim 1 to 8
Control method.
10. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the computer program is located
Manage the motion control method that any robot in claim 1 to 8 is realized when device executes.
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