CN109521804B - Robot motion control method, servo controller and readable storage medium - Google Patents
Robot motion control method, servo controller and readable storage medium Download PDFInfo
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- CN109521804B CN109521804B CN201811306178.3A CN201811306178A CN109521804B CN 109521804 B CN109521804 B CN 109521804B CN 201811306178 A CN201811306178 A CN 201811306178A CN 109521804 B CN109521804 B CN 109521804B
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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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Abstract
The embodiment of the invention relates to the field of robots, and discloses a motion control method of a robot, a servo controller and a readable storage medium. The motion control method of the robot of the invention comprises the following steps: acquiring the receiving time of the historical position instruction; estimating the receiving time of the next position instruction according to the receiving time of the historical position instruction; before the estimated receiving time of the next position command is reached, the motor is controlled to move for multiple times, and the sum of the motion amounts specified by the multiple times of control is related to the unit motion amount specified by the position command, so that the motor moves smoothly and continuously when the motor runs at a low speed, and the jitter is reduced as much as possible.
Description
Technical Field
The embodiment of the invention relates to the field of robots, in particular to a motion control technology of a robot.
Background
The main task of the industrial robot control system is to control the motion position, posture and track, operation sequence and action time of the robot in the working space. The method has the characteristics of simple programming, software menu operation, friendly man-machine interaction interface, online operation prompt, convenience in use and the like.
The degree of freedom of the robot depends on the number of movable joints, the more the number of joints is, the higher the degree of freedom is, the better the displacement accuracy is, and the more servo motors are used; in other words, the more precise industrial robots, the more servo motors are used, and each multi-axis robot is generally controlled by one set of control system, which means that the higher the performance requirement of the controller.
In the servo control, the servo needs to perform position control based on a position command (pulse sequence) input from an upper controller, and the pulse sequence of the upper controller has several forms, as shown in table 1 below, in which the upper and lower arrows indicate one position command unit.
TABLE 1
Taking the two-phase pulse input as an example, in the case of a normal servo calculation position command, as shown in fig. 1, PULS is a pulse train a phase, SIGN is a pulse train B phase, and PositionREF is a calculated position set value.
The position control is as shown in fig. 2, the upper controller issues the position setting to the servo controller through the pulse sequence, and the servo controller controls the motor to operate to the designated position through the motor control module according to the position setting (PosREF) calculated by the position setting calculation module. Meanwhile, the servo controller collects position information (PosFDB) fed back by the motor and sends the position feedback information to the upper controller through the pulse output module.
The inventor of the application finds that at least the following problems exist in the prior art: when the motor runs at low speed, the motor stops running and the speed is greatly jittered.
Disclosure of Invention
An object of embodiments of the present invention is to provide a motion control method for a robot, a servo controller, and a readable storage medium, which enable smooth and continuous motion of a motor and minimize jitter when the robot runs at a low speed.
In order to solve the above technical problem, an embodiment of the present invention provides a motion control method for a robot, including: acquiring the receiving time of the historical position instruction; estimating the receiving time of the next position instruction according to the receiving time of the historical position instruction; and controlling the motor to move for a plurality of times before the estimated receiving time of the next position command is reached, wherein the sum of the specified motion amounts of the plurality of times of control is related to the unit motion amount specified by the position command.
An embodiment of the present invention also provides a servo controller, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of motion control of a robot as described above.
The embodiment of the present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program is configured to implement the above-mentioned motion control method of the robot when executed by a processor.
Compared with the prior art, the implementation mode of the invention has the main differences and the effects that: when the position setting is calculated in the conventional manner, as shown in fig. 3, CalFlag is a calculation flag of the servo, and when the upper controller desires the motor to operate at a low speed, the given A, B phase pulse conversion is relatively slow. This results in that no position assignment (which may sometimes be several thousand) is received between CalFlag calculation cycles 2 to 5, and in the case of no position assignment the motor will stop running and wait for a new position assignment. The motor does not continue to run one unit until the position setpoint changes by the 6 th cycle. It can be seen that, in the motion control of the existing robot, when a position command is received, the motor is controlled to move by a preset unit amount, in the actual situation of low-speed operation, the command receiving gap is longer, and the motor is in a waiting state for a longer time when the next command is not received, so that the motion jitter is obvious. When the next command is not received, the control is carried out for multiple times, the sum of the specified motion amounts of the multiple times of control is related to the unit motion amount specified by the position command, namely, the motion amount of the motor is controlled to be a part of the preset unit motion amount each time, so that the motor moves for a few times until the predicted next position command receiving time, the motor moves more smoothly and continuously during low-speed movement, and the jitter is reduced as much as possible.
As a further improvement, in the motor motion control in multiple times, the time intervals of two adjacent times of control are the same. And multiple times of control is performed at a constant speed, so that the continuity and smoothness of the motion of the motor are further ensured, and the shaking is further reduced.
As a further improvement, the time interval between two adjacent times of control is N calculation periods of the servo controller, and N is a natural number which is greater than or equal to 1. The calculation is facilitated by using a multiple of the calculation period as a limit for the time interval.
As a further improvement, N is 1. Motion control is carried out in each calculation period, so that smooth and coherent motion of the motor is guaranteed to the maximum extent, and shaking is less.
As a further improvement, the controlling the motor motion for multiple times specifically comprises: acquiring a first difference Tp between the current control time and the receiving time of the last position instruction; the difference between the receiving time of the last position command and the estimated receiving time of the next position command is recorded as a second difference t 2; the movement amount specified at the time of the secondary control is calculated from the Tp and the t 2. The motion amount specified by each control is further limited to be calculated according to the time proportion, so that the position control is more accurate.
As a further improvement, the value of Tp or t2 is obtained using a register. The limit utilizes the register to obtain each difference value, and the calculation is convenient to realize simply and quickly.
As a further improvement, the controlling the motor motion for multiple times specifically comprises: presetting the number of times of controlling the motor to move into M times; and calculating the motion amount of controlling the motor each time, wherein the motion amount is divided by the M, and the M is a natural number larger than 1. And the other mode of motion control is further limited, the control times are preset, the motion amount of each time is calculated, and the control is carried out according to the pre-calculated motion amount during each control, so that the calculation of each time is not required, and the quick execution of the program is facilitated.
As a further improvement, the historical location instruction specifically includes: a last position command and a last position command. The receiving time of the last position command is used for estimating, the receiving time of the position command is close, and the estimation is more accurate.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of a pulse sequence for commonly privately calculating a position command according to the background of the present invention;
FIG. 2 is a diagram illustrating hardware interaction for position control according to the background of the invention;
FIG. 3 is a schematic diagram of a pulse sequence for calculating position-giving timing in a conventional manner in accordance with the teachings of the present invention;
fig. 4 is a flowchart of a motion control method of a robot according to a first embodiment of the present invention;
fig. 5 is a schematic diagram of a pulse sequence in a motion control method of a robot according to a first embodiment of the present invention;
fig. 6 is a flowchart for calculating a position setting amount in each control motor movement before the estimated time for receiving the next position command is reached in the motion control method of the robot according to the first embodiment of the present invention;
fig. 7 is a timing diagram illustrating calculation using a register in the motion control method of the robot according to the first embodiment of the present invention;
fig. 8 is a flowchart for calculating a position setting amount in each control motor movement before the estimated time for receiving a next position command arrives in the movement control method of the robot according to the second embodiment of the present invention;
fig. 9 is a schematic configuration diagram of a servo controller according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
A first embodiment of the present invention relates to a robot motion control method. The position command in the present embodiment is a pulse sequence command, and may specifically be a rising edge or a falling edge of a pulse. The flow is shown in fig. 4, and specifically as follows:
Specifically, the historical position instruction in the embodiment specifically includes: a last position command and a last position command.
And step 402, estimating the receiving time of the next position command according to the receiving time of the historical position command.
Specifically, as shown in fig. 5, the left side of the line C3 is the pulse sequence that the upper controller has issued, and the right side of the line C3 is the estimated pulse sequence. Firstly, we aim to obtain a new position command (i.e. a next position command), assuming that a line C0 is a reference position, a receiving time of the position command on a line C1 is t0, a receiving time of the position command on a line C2 is t0+ t1, and an estimated receiving time of the next position command is t0+ t1+ t2, since a frequency change of the existing position command is small and does not suddenly change, t2 can be estimated according to t0 and t1, and a specific estimation formula can be: t2 ═ t1+ (t1-t 0).
It should be noted that in the present embodiment, the receiving time of the next position command is estimated according to two historical position commands, that is, the receiving time of the next position command is estimated according to the last and last position commands, and in practical application, the receiving time of the next position command can be obtained by averaging the receiving time differences of a plurality of historical position commands, so that the estimation of the receiving time is more accurate, and is not listed one by one here.
And step 403, controlling the motor to move for multiple times before the estimated receiving time of the next position command is reached.
Specifically, the sum of the movement amounts specified by the plurality of controls is correlated with the unit movement amount specified by the position instruction, such that the sum of the plurality of movement amounts is equal to the unit movement amount.
More specifically, the process of calculating the position setting amount in each control motor movement in this step may be as shown in fig. 6, and specifically includes the following steps:
in step 4031, a first difference Tp between the current control time and the time of receiving the previous position command is obtained.
Specifically, the time from the line C3 to the last pulse (line C2) in fig. 5 is Tp, which is also the time period elapsed since the last position command was received.
In step 4032, the difference between the last position command and the estimated time of receiving the next position command is recorded as a second difference t 2.
Specifically, the estimated value of t2 in step 402 is used as the difference between the time of receipt of the last position command and the estimated time of receipt of the next position command.
In step 4033, the movement amount specified at the time of the secondary control is calculated from Tp and t 2.
Specifically, the position assignment for the current control time can continue to be determined based on the time fraction of Tp in t2, i.e., the position assignment at the time of the C3 line is the current position assignment plus Tp/t 2.
It should be noted that, in steps 4031 to 4033, the position setting of the current control time is obtained according to the time ratio, so that the motor motion is smoother with respect to time, and the jitter is reduced as much as possible. Meanwhile, in the multiple control of the motor motion, the time interval between two adjacent control is the same, and further, the time interval in the embodiment is one calculation period of the servo controller, that is, the calculation period of each servo controller performs calculation of a given position and control of the motor.
It should be further noted that the values of Tp and t2 in the calculation process given by the above positions can be obtained by using registers, so that the whole calculation process can be realized by using registers. The specific method is specifically illustrated by taking fig. 7 as an example: the following registers are preset: t0Reg, t1Reg, TpReg, TimeCnt. Where TimeCnt is a time counter that is cleared and begins counting again when a new pulse (i.e., a position command) occurs. t1Reg is a t1 time register that registers the value before TimeCnt clears when a new pulse occurs. t0Reg registers the register for t0 time, which registers the value of t1Reg when a new pulse occurs. TpReg is a Tp-time register that registers the value of TimeCnt when CalFlag is present. The shaded portion of the figure is not taken into account and CalFlag periods 9 and 10 are analyzed. In the 9 th cycle, the position is given as (a/(n + (n-m))) +3, and in the 10 th cycle the position is given as (c/(n + (n-m)) + 3.
The inventor of the present application should also emphasize that if the estimated time of receiving the next position command is reached but the next position command is not actually received, the control is not continued, i.e. the calculation of the given amount and the motor control are stopped, so that the motor is in a stopped state.
It should be noted that in this embodiment, a plurality of times of control before the estimated time of receiving the next position command is reached are performed in each calculation period of the servo controller, that is, the time interval between two adjacent times of control is the same, and the time interval is one calculation period. In addition, the time intervals of two adjacent controls may be different.
It can be seen that, compared with the prior art, the main differences and effects of the present embodiment are as follows: when the position given value is calculated in a traditional mode, under the condition that the position is not given, the motor stops running and waits for a new position instruction to arrive, and then the new position given value is calculated. Therefore, when the existing robot is used for motion control, the motor is controlled to move by a preset unit amount when a position command is received, in the actual situation of low-speed running, the command receiving gap is long, the waiting time of the motor when the motor does not receive the next command is long, and the motion jitter is obvious. In the embodiment, when the next command is not received, the control is performed for multiple times, and the sum of the motion amounts specified by the multiple times of control is related to the unit motion amount specified by the position command, that is, the motion amount of the motor is controlled to be a part of the preset unit motion amount each time, so that the motor moves for multiple times in a small amount until the estimated next position command receiving time, and the motor moves more smoothly and continuously during low-speed movement, and the jitter is reduced as much as possible.
A second embodiment of the present invention relates to a robot motion control method. The second embodiment is substantially the same as the first embodiment, and mainly differs therefrom in that: and setting a calculation mode for the position during motor control for multiple times before receiving the next position command. In the first embodiment, the position set value is calculated in real time according to the time ratio, while in the second embodiment of the present invention, the position set value is calculated in advance, and the motor control is performed directly using the calculated value each time, so that calculation is not required each time, and the program can be executed quickly.
Specifically, in the method for controlling the movement of the robot according to the embodiment, before the estimated time for receiving the next position command is reached, a process of calculating the position setting amount in each movement of the control motor may be as shown in fig. 8, and specifically includes:
in step 8031, the number of times of controlling the motor to move is preset to 500 times.
Specifically, the preset number of times may be set according to actual needs, or may be set according to the estimated receiving time of the next position instruction, which is set to 500 times in this embodiment, or may be set to other values, which is not limited herein.
Specifically, since the inventors found that the displacement amount specified by each position command is the same, the displacement amounts are equally divided into sub-displacement amounts, and each control click moves the sub-displacement amounts until the next position command is received.
It should be noted that although the number of times of motor control before the next position command is received is preset, if the number of times of control is not reached and the next position command has been received, the subsequent control is not continued, and the position setting amount specified by the next position command is directly calculated. In addition, if the estimated receiving time of the next position command is reached but a new position command is not received, the control of the motor also needs to be stopped, so that the motor is in a standby state, and the control of the motor is ensured to meet the actual requirement.
As can be seen, the present embodiment further defines another mode of motion control, in which the number of times of control is preset, and the amount of motion at each time is calculated, and the control is performed with the amount of motion calculated in advance at each time of control, so that the calculation at each time is not necessary, and the program can be executed quickly.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A third embodiment of the present invention relates to a servo controller, as shown in fig. 9, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for controlling the motion of the robot as set forth in the first embodiment or the second embodiment.
Where the memory and processor are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting together one or more of the various circuits of the processor and the memory. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor.
The processor is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory may be used to store data used by the processor in performing operations.
A fourth embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (8)
1. A method for controlling the movement of a robot, comprising:
acquiring the receiving time of the historical position instruction;
estimating the receiving time of the next position instruction according to the receiving time of the historical position instruction;
controlling the motor to move for a plurality of times before the estimated receiving time of the next position command is reached, wherein the sum of the specified motion amounts of the plurality of times of control is related to the unit motion amount specified by the position command;
the control of the motor motion for multiple times specifically comprises:
acquiring a first difference Tp between the current control time and the receiving time of the last position instruction;
the difference between the receiving time of the last position command and the estimated receiving time of the next position command is recorded as a second difference t 2;
calculating the designated movement amount in the secondary control according to the Tp and the t 2;
wherein, in the range of t2, a plurality of Tps are obtained.
2. The method of controlling the movement of a robot according to claim 1, wherein the time interval between two adjacent controls is the same in the controlling of the motor movement in a plurality of times.
3. The method of controlling the motion of a robot according to claim 2, wherein the time interval between two adjacent times of control is N calculation cycles of the servo controller, and N is a natural number equal to or greater than 1.
4. The method according to claim 3, wherein N is 1.
5. Method for controlling the movement of a robot according to claim 1, characterized in that the values of Tp or t2 are obtained using registers.
6. The method according to claim 1, wherein the historical position command specifically includes: a last position command and a last position command.
7. A servo controller, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of motion control of a robot as claimed in any one of claims 1 to 6.
8. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method for motion control of a robot according to any one of claims 1 to 6.
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