CN111953259A - Dynamic bus under-voltage protection method applied to driving and controlling all-in-one machine of robot - Google Patents
Dynamic bus under-voltage protection method applied to driving and controlling all-in-one machine of robot Download PDFInfo
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- CN111953259A CN111953259A CN202010812630.4A CN202010812630A CN111953259A CN 111953259 A CN111953259 A CN 111953259A CN 202010812630 A CN202010812630 A CN 202010812630A CN 111953259 A CN111953259 A CN 111953259A
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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
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/09—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against over-voltage; against reduction of voltage; against phase interruption
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a dynamic bus under-voltage protection method applied to a driving and controlling integrated machine of a robot, which comprises the following steps: s1: real-time sampling bus voltage Udc(ii) a S2: setting the lowest allowable bus voltage U of the electrical system according to the allowable ripple current of the bus capacitordc_min_e(ii) a S3: setting the maximum deviation percentage omega of the angular speed allowed by each joint according to the technological requirements of field applicationerr_maxPercent of maximum deviation from acceleration ωerr_max(ii) a S4: calculating the modulation ratio M of the voltage of the motor modulation line of all the joints in real time; s5: calculating the lowest rotation speed omega allowed by all joints of the robotminAnd the lowest acceleration amin(ii) a S6: calculating the torque T required by each joint under the current posturemin(ii) a S7: calculating the lowest allowable bus voltage U of each joint motordc_min_dy(ii) a S8: judging whether the robot is in idle stroke currently, if so, judging whether the robot is in idle stroke currentlyThe line voltage modulation ratio M is allowed to be larger than 1, and if not, the line voltage modulation ratio M is limited to be within 1.
Description
Technical Field
The invention relates to the technical field of industrial robot control, in particular to a dynamic bus under-voltage protection method applied to a driving and controlling all-in-one machine of a robot.
Background
Industrial robots require a high cycle time and therefore generate a high starting current at the start-up instant, which rapidly pulls down the drive bus voltage. In the traditional servo drive, the threshold of the bus undervoltage is a fixed value, and the undervoltage protection shutdown can be carried out as long as the bus voltage is lower than the fixed value. In practice, however, voltages which are not below this threshold value must be harmful, and voltages above this threshold value must be harmless. The method of cutting the undervoltage protection threshold value by one cutter can reduce the continuous operation time of the robot and greatly reduce the field application efficiency.
Disclosure of Invention
In order to solve the problem that the shutdown is caused by the bus undervoltage to influence the use efficiency, a common solution is to continuously reduce the threshold value of the bus undervoltage protection, but the reduction of the protection threshold value not only influences the service life of the whole servo driver, but also has more serious consequences such as insufficient output force caused by insufficient voltage, robot crash, stall and the like. The invention provides a dynamic bus under-voltage protection method applied to a driving and controlling integrated machine of a robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a dynamic bus under-voltage protection method applied to a driving and controlling integrated machine of a robot comprises the following steps:
s1: real-time sampling bus voltage Udc；
S2: setting the lowest allowable bus voltage U of the electrical system according to the allowable ripple current of the bus capacitordc_min_e；
S3: setting the maximum deviation percentage omega of the angular speed allowed by each joint of the robot according to the technological requirements of field applicationerr_maxPercent of maximum deviation from acceleration ωerr_max；
S4: calculating the lowest rotation speed omega allowed by all joints of the robotminAnd the lowest acceleration amin；
S5: calculating the torque T required by each joint of the robot under the current posturemin；
S6: calculating the lowest allowable bus voltage U meeting the output of each joint motor of the robotdc_min_dy；
S7: calculating the voltage modulation ratio M of motor modulation lines of all joints of the robot in real time;
s8: judging whether the robot is in an idle stroke currently, if so, allowing the line voltage modulation ratio M to be greater than 1, and if not, limiting the line voltage modulation ratio M to be within 1;
s9: in S7, if the line voltage modulation ratio M is larger than or equal to 1, the bus voltage U is judgeddcWhether it is greater than the minimum bus voltage U allowed by dynamicsdc_min_dyIf yes, the operation is continued, otherwise, the undervoltage protection shutdown is carried out;
s10: judging bus voltage UdcWhether it is less than the electrical minimum bus voltage Udc_min_eAnd if the voltage is less than the preset value, performing undervoltage shutdown protection no matter whether the condition of S9 is met or not.
Further, in S4, the lowest rotation speed ω isminAnd the lowest acceleration aminThe calculation formulas of (A) are respectively as follows:
ωmin＝ωset*(1-ωerr_max) (3)
amin＝aset*(1-aerr_max) (4)
formula 3: omegasetTo set the angular velocity, omegaerr_maxIs the maximum deviation percentage of angular velocity;
formula 4: a issetTo set the acceleration, aerr_maxIs the acceleration maximum deviation percentage.
Further, in S5, the torque TminThe calculation formula of (a) is as follows:
formula 5: m (q) is a set of inertial matrices,
for centrifugal force and surgeryThe set of force parameters, G (q) is the force of gravity,
in order to obtain the angular acceleration of the joint,
is angular velocity of the joint, TminIs the joint moment.
Further, in S6, the lowest bus voltage Udc_min_dyThe calculation formula of (a) is as follows:
Tmin＝Ktiq_min (6)
Udc_min_dy＝Us_min (9)
formula 6: t isminAllowing minimum motor torque for the robot, KtIs the motor torque constant, iq_minAllowing a minimum q-axis current for the robot;
formula 7: u shaped_minAllowing a minimum d-axis voltage, U, for the robotq_minAllowing a minimum q-axis voltage, i, for the robotd_minAllowing minimum d-axis current, i, for the robotq_minAllowing minimum q-axis current, R, for the robotdIs d-axis resistance of the motor, LdIs d-axis inductance, R, of the motorqIs the q-axis resistance of the motor, LqIs the q-axis inductance of the motor, P is the pole pair number of the motor, omega is the angular speed of the motor,
is a motor flux linkage.
Further, in S7, the line voltage modulation ratio M is calculated as follows:
formula 1: u shaped_actOutputting d-axis voltage for the current loop;
Uq_actoutputting a q-axis voltage for the current loop;
Us_actto control the phase voltage amplitude;
formula 2: m is the line voltage modulation ratio;
Udcis the dc bus voltage.
Compared with the prior art, the invention has the beneficial effects that:
the dynamic bus voltage under-voltage protection provided by the invention not only improves the efficiency of the robot in field application, reduces the downtime, but also can protect the robot and an electrical system to the maximum extent, and prolongs the service life of the whole machine.
Drawings
Fig. 1 is a flowchart of a dynamic bus under-voltage protection method applied to a driving and controlling integrated machine of a robot.
Detailed Description
The present invention will be further described with reference to the following examples, which are intended to illustrate only some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, other embodiments used by those skilled in the art without any creative effort belong to the protection scope of the present invention.
Example 1:
as shown in fig. 1, a dynamic bus under-voltage protection method applied to a driving and controlling integrated machine of a robot includes the following steps:
s1: real-time sampling bus voltage Udc；
S2: setting the lowest allowable bus voltage omega of an electrical system according to the allowable ripple current of the bus capacitordc_min_e；
S3: setting the maximum deviation percentage omega of the angular speed allowed by each joint of the robot according to the technological requirements of field applicationerr_maxPercent of maximum deviation from acceleration ωerr_max；
This parameter needs to be given by the user in combination with his own operating conditions, for example in some applications it is required that the rotational speed and acceleration must follow the commands exactly, and in some applications there may be deviations, which step is desired to set the maximum deviation allowed.
S4: calculating the lowest rotation speed omega allowed by all joints of the robotminAnd the lowest acceleration amin；
In S4, the lowest rotation speed ωminAnd the lowest acceleration aminThe calculation formulas of (A) are respectively as follows:
ωmin＝ωset*(1-ωerr_max) (3)
amin＝aset*(1-aerr_max) (4)
formula 3: omegasetTo set the angular velocity, omegaerr_maxIs the maximum deviation percentage of angular velocity;
formula 4: a issetTo set the acceleration, aerr_maxIs the acceleration maximum deviation percentage.
S5: calculating the torque T required by each joint of the robot under the current posturemin(ii) a According to the Lagrange equation of the link dynamics, the minimum velocity omega brought into each jointminAnd minimum acceleration aminAnd the current location. Order to
And
and the current position q of each joint, namely the minimum moment T required by each joint at the moment can be obtainedmin
In the S5, the torque TminThe calculation formula of (a) is as follows:
formula 5: m (q) is a set of inertial matrices,
the set of centrifugal and coriolis force parameters, g (q) the gravitational force,
in order to obtain the angular acceleration of the joint,
is angular velocity of the joint, TminIs the joint moment.
S6: calculating the lowest allowable bus voltage U meeting the output of each joint motor of the robotdc_min_dy(ii) a Moment T calculated from dynamicsminThe minimum q-axis current i allowed by the robot is obtained by equation 6q_minAnd the maximum torque control id_minWhen is equal to 0, i isd_min，iq_minThe minimum d-axis voltage U allowed by the robot is obtained by substituting the motor rotating speed omega into the formula 7d_minAnd q-axis voltage Uq_minThen, the U is putd_minAnd Uq_minDrive-in 8 obtains the lowest control voltage U allowed at this times_min. Calculating the lowest bus voltage U allowed at the momentdc_min_dy＝Us_min。
In S6, the lowest bus voltage Udc_min_dyThe calculation formula of (a) is as follows:
Tmin＝Ktiq_min (6)
Udc_min_dy＝Us_min (9)
formula 6: t isminAllowing minimum motor torque for the robot, KtIs the motor torque constant, iq_minAllowing a minimum q-axis current for the robot;
formula 7: u shaped_minAllowing a minimum d-axis voltage, U, for the robotq_minAllowing a minimum q-axis voltage, i, for the robotd_minAllowing minimum d-axis current, i, for the robotq_minAllowing minimum q-axis current, R, for the robotdIs d-axis resistance of the motor, LdIs d-axis inductance, R, of the motorqIs the q-axis resistance of the motor, LqIs the q-axis inductance of the motor, P is the pole pair number of the motor, omega is the angular speed of the motor,
is a motor flux linkage.
S7: calculating the voltage modulation ratio M of motor modulation lines of all joints of the robot in real time;
in S7, the line voltage modulation ratio M is calculated as follows:
formula 1: u shaped_actOutputting d-axis voltage for the current loop;
Uq_actoutputting a q-axis voltage for the current loop;
ωs_actto control the phase voltage amplitude;
formula 2: m is the line voltage modulation ratio;
Udcis the dc bus voltage.
S8: judging whether the robot is in an idle stroke currently, if so, allowing the line voltage modulation ratio M to be greater than 1, and if not, limiting the line voltage modulation ratio M to be within 1;
s9: in S7, if the line voltage modulation ratio M is larger than or equal to 1, the bus voltage U is judgeddcWhether it is greater than the minimum bus voltage allowed by dynamicsUdc_min_dyIf yes, the operation is continued, otherwise, the undervoltage protection shutdown is carried out;
s10: judging bus voltage UdcWhether it is less than the electrical minimum bus voltage Udc_min_eAnd if the voltage is less than the preset value, performing undervoltage shutdown protection no matter whether the condition of S9 is met or not.
The traditional undervoltage threshold value of the bus voltage undervoltage protection is fixed, whether the value is set reasonably or not does not have clear judgment conditions, if the value is set too high, the use continuity of field equipment is seriously influenced, and the use efficiency is reduced. If the setting is too low, the bus voltage is too low, which may not meet the process requirements of field use, and even may crash, the ripple current of the bus capacitor in the electrical system may be increased, and the service life of the electrical equipment may be reduced.
The lowest bus voltage allowed by an electrical system is used as the lowest threshold value, the allowed lowest speed and acceleration of each joint are set according to the requirements of field application processes, the lowest torque of each joint is calculated by using dynamics, and the allowed lowest bus voltage is calculated according to the lowest torque of each joint and the current motor rotating speed. And finally, judging whether bus undervoltage protection is performed or not by combining the lowest voltage allowed by the comprehensive electrical system and the lowest voltage allowed by dynamics with the modulation ratio of each joint motor.
The dynamic bus voltage under-voltage protection provided by the invention not only improves the efficiency of the robot in field application, reduces the downtime, but also can protect the robot and an electrical system to the maximum extent, and prolongs the service life of the whole machine.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A dynamic bus under-voltage protection method applied to a driving and controlling integrated machine of a robot is characterized by comprising the following steps:
s1: real-time sampling bus voltage Udc；
S2: setting the lowest allowable bus voltage U of the electrical system according to the allowable ripple current of the bus capacitordc_min_e；
S3: setting the maximum deviation percentage omega of the angular speed allowed by each joint of the robot according to the technological requirements of field applicationerr_maxPercent of maximum deviation from acceleration ωerr_max；
S4: calculating the lowest rotation speed omega allowed by all joints of the robotminAnd the lowest acceleration amin；
S5: calculating the torque T required by each joint of the robot under the current posturemin；
S6: calculating the lowest allowable bus voltage U meeting the output of each joint motor of the robotdc_min_dy；
S7: calculating the voltage modulation ratio M of motor modulation lines of all joints of the robot in real time;
s8: judging whether the robot is in an idle stroke currently, if so, allowing the line voltage modulation ratio M to be larger than 1, and if not, limiting the line voltage modulation ratio M to be within 1;
s9: in S7, if the line voltage modulation ratio M is larger than or equal to 1, the bus voltage U is judgeddcWhether it is greater than the minimum bus voltage U allowed by dynamicsdc_min_dyIf yes, the operation is continued, otherwise, the undervoltage protection shutdown is carried out;
s10: judging bus voltage UdcWhether it is less than the electrical minimum bus voltage Udc_min_eAnd if the voltage is less than the preset value, performing undervoltage shutdown protection no matter whether the condition of S9 is met or not.
2. The dynamic bus undervoltage protection method applied to the driving and controlling all-in-one machine of the robot as claimed in claim 1, wherein in S4, the lowest rotation speed ω isminAnd the lowest acceleration aminThe calculation formulas of (A) are respectively as follows:
ωmin＝ωset*(1-ωerr_max) (3)
amin＝aset*(1-aerr_max) (4)
formula 3：ωsetTo set the angular velocity, omegaerr_maxIs the maximum deviation percentage of angular velocity;
formula 4: a issetTo set the acceleration, aerr_maxIs the acceleration maximum deviation percentage.
3. The dynamic bus undervoltage protection method applied to the driving and controlling all-in-one machine of the robot as claimed in claim 1, wherein in S5, the torque T isminThe calculation formula of (a) is as follows:
formula 5: m (q) is a set of inertial matrices,
the set of centrifugal and coriolis force parameters, g (q) the gravitational force,
in order to obtain the angular acceleration of the joint,
is angular velocity of the joint, TminIs the joint moment.
4. The dynamic bus under-voltage protection method applied to the driving and controlling all-in-one machine of the robot as claimed in claim 3, wherein in S6, the lowest bus voltage U isdc_min_dyThe calculation formula of (a) is as follows:
Tmin＝Ktiq_min (6)
Udc_min_dy＝Us_min (9)
formula 6: t isminAllowing minimum motor torque for the robot, KtIs the motor torque constant, iq_minAllowing a minimum q-axis current for the robot;
formula 7: u shaped_minAllowing a minimum d-axis voltage, U, for the robotq_minAllowing a minimum q-axis voltage, i, for the robotd_minAllowing minimum d-axis current, i, for the robotq_minAllowing minimum q-axis current, R, for the robotdIs d-axis resistance of the motor, LdIs d-axis inductance, R, of the motorqIs the q-axis resistance of the motor, LqIs the q-axis inductance of the motor, P is the pole pair number of the motor, omega is the angular speed of the motor,
is a motor flux linkage.
5. The method for dynamic bus undervoltage protection of the driving and controlling all-in-one machine applied to the robot as claimed in claim 1, wherein in S7, the line voltage modulation ratio M is calculated according to the following formula:
formula 1: u shaped_actOutputting d-axis voltage for the current loop;
Uq_actoutputting a q-axis voltage for the current loop;
Us_actto control the phase voltage amplitude;
formula 2: m is the line voltage modulation ratio;
Udcis the dc bus voltage.
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| CN202010812630.4A CN111953259B (en) | 2020-08-13 | 2020-08-13 | Dynamic bus under-voltage protection method applied to driving and controlling all-in-one machine of robot |
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| CN202010812630.4A CN111953259B (en) | 2020-08-13 | 2020-08-13 | Dynamic bus under-voltage protection method applied to driving and controlling all-in-one machine of robot |
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2020
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| DE102009016556A1 (en) * | 2008-04-15 | 2009-11-05 | DENSO CORPORATION, Kariya-shi | Driver for a synchronous electric motor |
| JP2013048530A (en) * | 2011-08-29 | 2013-03-07 | Panasonic Corp | Motor drive and pump having the same |
| CN103326321A (en) * | 2013-06-09 | 2013-09-25 | 常熟市九洲电器设备有限公司 | Motor undervoltage protection method |
| CN106533294A (en) * | 2016-12-19 | 2017-03-22 | 东南大学 | Line voltage modulation-based field-weakening control method of permanent magnet synchronous motor |
| US9973102B1 (en) * | 2016-12-23 | 2018-05-15 | Rockwell Automation Technologies, Inc. | System for power conversion with feedback to reduce DC bus loading |
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Address after: 610000 No. 42, Huatai Road, Chenghua District, Chengdu, Sichuan Patentee after: Chengdu kanop Robot Technology Co.,Ltd. Address before: No.199, Huaguan Road, Longtan Industrial Park, Chenghua District, Chengdu, Sichuan 610000 Patentee before: CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY Co.,Ltd. |