CN112179551B - Synchronous testing method and device for torque coefficient and friction force of joint motor of robot - Google Patents
Synchronous testing method and device for torque coefficient and friction force of joint motor of robot Download PDFInfo
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Abstract
The invention provides a synchronous testing method and a synchronous testing device for torque coefficient and friction force of a joint motor of a robot, wherein the method comprises the following steps: calculating a driving moment analytical expression of a driving joint of the robot according to a dynamic model of the robot and the structural parameters of the robot; inputting the stored experimental data into a driving moment analytical expression to obtain a forward moment and a reverse moment, and fitting the driving current to obtain the slope and intercept of a fitting linear function at different experimental positions; obtaining the motor torque coefficient when the joint to be tested moves in the forward direction and the reverse direction by combining the ratio of the reduction ratio of the joint to be tested, and obtaining the friction coefficient when the joint to be tested moves in the forward direction and the reverse direction by taking the inverse number of the intercept; and calculating the average value of the torque coefficient and the friction coefficient of the motor at different experimental positions to obtain a target torque coefficient and a target friction value of the joint to be tested during forward and reverse movement. Therefore, synchronous testing of the torque coefficient and the forward and reverse friction coefficient of the joint motor is achieved, and testing accuracy is improved.
Description
Technical Field
The invention discloses a method and a device for synchronously testing torque coefficient and friction force of a joint motor of a robot, and particularly relates to the technical field of industrial robot dynamics and control.
Background
The industrial robot is an important device widely applied to various industrial manufacturing fields, can realize high-efficiency and accurate operation in dangerous and severe working environments, and is a foundation stone for realizing automatic production. In order to improve the comprehensive performance of the industrial robot, in the links of performance evaluation, optimal design, control algorithm development, parameter adjustment and the like of the robot, the accuracy of an electromechanical system model of the robot 'control-drive-motor-machinery' is high, and some key parameters which cannot be directly obtained or are not accurate enough need to be tested to obtain accurate values.
From the aspect of electromechanical coupling, an industrial robot is a complex multi-axis coupling electromechanical system, and a coupling effect of mutual influence exists between a mechanical subsystem and a control subsystem, wherein the key process is that armature current of a driving motor is acted by acting force in a magnetic field to generate driving torque, and a conversion coefficient, namely a torque coefficient between the armature current and the control subsystem is a key parameter of the electromechanical coupling system. The design value of the motor torque coefficient is generally marked on a motor nameplate, but when the robot is applied to industrial scenes such as surface spraying, machining and the like, the operation environment is severe and is influenced by factors such as dust, temperature and humidity change, mechanical structure assembling quality and the like, the torque coefficient of the joint motor is often deviated from the design value to a certain extent, and the motor running direction is different and can be changed.
The driving moment is an acting force for driving a mechanical structure to operate, and can be obtained through theoretical modeling of robot dynamics, related methods are mature, but because the friction force generated when the joint actually operates is difficult to accurately obtain through theoretical modeling, the actual dynamic behavior of the robot has a large difference with a theoretical dynamic model, and the friction force coefficient of the joint is required to be tested before the dynamic model is applied.
Usually, a dynamometer can be used for measuring a torque coefficient of a motor before the motor is installed, and then a friction force model of a robot joint after installation is tested on the basis of the torque coefficient and a dynamic model, but the method does not consider the influence of mechanical assembly and operation environment on motor parameters, has complicated steps and cannot meet the requirement of quickly correcting the parameters of the robot after the robot is installed and operated for a period of time or after the working environment is changed.
At present, related researches on test and correction of torque coefficients of driving motors of industrial robots in practical application are lacked, rapid tests of the torque coefficients of the motors and joint friction forces facing to robot bodies are still to be perfected, and a robot-facing synchronous test method for the torque coefficients and the friction forces of the joint motors is urgently needed to meet the requirements of accurate modeling of electromechanical systems.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a method and a device for synchronously testing the torque coefficient and the friction force of a joint motor of a robot, and aims to fully consider the influence of a mechanical structure and a working environment on key electromechanical parameters, realize the synchronous test of the torque coefficient and the forward and reverse friction force coefficients of the joint motor and improve the test precision.
The synchronous testing method for the torque coefficient and the friction force of the joint motor of the robot comprises the following steps:
establishing a dynamic model of the robot based on a virtual work principle, acquiring mechanical structure parameters of the robot, and calculating a driving moment analytical expression of each driving joint of the robot according to the dynamic model and the mechanical structure parameters; acquiring prestored experimental data, wherein the experimental data comprises: the angle, the angular velocity, the angular acceleration and the driving current of each joint to be tested are stored in two arrays respectively according to the direction of the angular velocity; respectively inputting experimental data in two arrays at different experimental positions into a driving moment analytical expression to obtain a forward moment and a reverse moment, and fitting the forward moment, the reverse moment and the driving current to obtain the slope and intercept of a fitting linear function at different experimental positions; obtaining a motor torque coefficient when the joint to be tested moves in the forward direction and the reverse direction according to the ratio of the slope of the fitted linear function and the reduction ratio of the joint to be tested, and obtaining a friction coefficient when the joint to be tested moves in the forward direction and the reverse direction by taking an inverse number of the intercept of the fitted linear function; and calculating the average value of the torque coefficient and the friction coefficient of the motor at different experimental positions to obtain a target torque coefficient and a target friction value of the joint to be tested during forward and reverse movement.
In addition, the synchronous testing method for the torque coefficient and the friction force of the joint motor of the robot can also have the following additional technical characteristics:
according to some embodiments of the invention, it may further comprise determining different experimental positions and joints to be tested; keeping other joints still, and controlling the joint to be tested to do trapezoidal acceleration and deceleration reciprocating motion at different experimental positions, wherein the speed of the joint to be tested in the uniform motion stage is in positive correlation with the angular speed of the joint to be tested in actual work. Experimental data was acquired at different experimental locations.
According to some embodiments of the invention, acquiring experimental data at different experimental positions comprises acquiring an angle of a joint to be tested by an absolute value encoder; acquiring the speed of a joint to be tested through a grating encoder; obtaining the angular acceleration of the joint to be tested by differentiating the instantaneous speed; and acquiring the driving current of the joint to be tested through the Hall sensor.
According to some embodiments of the invention, the driving torque analytical expression is:
wherein tau is the real-time driving moment of the joint to be tested,
as an inertial force component in the drive torque,
g (θ) G is a gravitational component in the driving torque. In addition, theoretical driving moment during the forward motion is obtained by using experimental data during the forward motion of the joint to be tested; and calculating the theoretical driving moment in the reverse motion by using experimental data in the reverse motion of the joint to be tested.
According to some embodiments of the invention, the fitting uses the formula:
wherein, KtFor the torque coefficient of the joint motor to be tested, IqThe driving current of the joint motor to be tested, f is the friction force applied to the joint to be tested during operation, and i is the reduction ratio of the joint to be tested. Tau is theoretical driving moment of the joint to be tested, comprises the theoretical driving moment during the forward motion and the theoretical driving moment during the reverse motion of the joint to be tested, and is obtained by fitting when the theoretical driving moment during the forward motion of the joint to be tested is usedThe function of (a) is a forward motion fitting function; when using the theoretical drive torque for the reverse motion of the joint to be tested, the function obtained by fitting is a reverse motion fitting function.
According to some embodiments of the invention, the step of controlling the joint to be tested to do trapezoidal acceleration and deceleration reciprocating motion at different experimental positions comprises the steps of uniformly selecting coordinates of a plurality of robot end effectors at equal intervals in a preset working space of the robot to position and generate different experimental positions; and controlling the joint to be tested to perform the movement with the same movement stroke and the same speed planning at different experimental positions.
In order to achieve the above object, a second aspect of the present invention provides a synchronous testing apparatus for torque coefficient and friction of a joint motor of a robot, including: the robot driving moment analysis system comprises a modeling module, an obtaining module, a first calculating module, a second calculating module and a third calculating module, wherein the modeling module is used for establishing a dynamic model of the robot based on a virtual work principle, obtaining mechanical structure parameters of the robot, and calculating driving moment analysis expressions of driving joints of the robot according to the dynamic model and the mechanical structure parameters; the acquisition module is used for acquiring prestored experimental data, wherein the experimental data comprises: the angle, the angular velocity, the angular acceleration and the driving current of each joint to be tested are stored in two arrays respectively according to the direction of the angular velocity; the first calculation module is used for respectively inputting experimental data in the two arrays at different experimental positions into a driving moment analytical expression to obtain a forward moment and a reverse moment, and fitting the forward moment, the reverse moment and the driving current to obtain the slope and intercept of a fitting linear function at different experimental positions; the second calculation module is used for obtaining a motor torque coefficient when the joint to be tested moves in the forward direction and the reverse direction according to the ratio of the slope of the fitted linear function to the reduction ratio of the joint to be tested, and taking an inverse number of the intercept of the fitted linear function to obtain a friction coefficient when the joint to be tested moves in the forward direction and the reverse direction; the third calculation module is used for calculating the average value of the motor torque coefficient and the friction coefficient at different experimental positions to obtain a target torque coefficient and a target friction value of the joint to be tested during forward and reverse movement.
In addition, the synchronous testing device for the torque coefficient and the friction force of the joint motor of the robot according to the above embodiment of the invention may further have the following additional technical features:
further, in a possible implementation manner of the embodiment of the present application, the method may further include:
the determining module is used for determining different experimental positions and joints to be tested;
and the experiment module is used for keeping other joints still and controlling the joint to be tested to do trapezoidal acceleration and deceleration reciprocating motion at different experiment positions, wherein the speed of the joint to be tested in the uniform motion stage is in positive correlation with the angular speed of the joint to be tested in the actual work.
And the recording module is used for acquiring experimental data at different experimental positions.
Further, in a possible implementation manner of the embodiment of the application, the recording module is specifically configured to obtain an angle of the joint to be tested through the absolute value encoder, obtain a speed of the joint to be tested through the grating encoder, obtain an angular acceleration of the joint to be tested through differentiating the instantaneous speed, and obtain a driving current of the joint to be tested through the hall sensor.
Further, in a possible implementation manner of the embodiment of the present application, the first calculating module is configured to calculate the driving torque analytic expression as follows:
wherein tau is the real-time driving moment of the joint to be tested,
as an inertial force component in the drive torque,
g (θ) G is a gravitational component in the driving torque. In addition, the use is waitedThe theoretical driving moment during the positive movement is obtained by calculating experimental data during the positive movement of the test joint; and calculating the theoretical driving moment in the reverse motion by using experimental data in the reverse motion of the joint to be tested.
The synchronous testing method for the torque coefficient and the friction force of the joint motor of the robot provided by the embodiment of the invention has the following beneficial effects:
establishing a dynamic model of the robot based on a virtual work principle, acquiring mechanical structure parameters of the robot, and calculating a driving moment analytical expression of each driving joint of the robot according to the dynamic model and the mechanical structure parameters; acquiring prestored experimental data, wherein the experimental data comprises: the angle, the angular velocity, the angular acceleration and the driving current of each joint to be tested are stored in two arrays respectively according to the direction of the angular velocity; respectively inputting experimental data in two arrays at different experimental positions into a driving moment analytical expression to obtain a forward moment and a reverse moment, and fitting the forward moment, the reverse moment and the driving current to obtain the slope and intercept of a fitting linear function at different experimental positions; obtaining a motor torque coefficient when the joint to be tested moves in the forward direction and the reverse direction according to the ratio of the slope of the fitted linear function and the reduction ratio of the joint to be tested, and obtaining a friction coefficient when the joint to be tested moves in the forward direction and the reverse direction by taking an inverse number of the intercept of the fitted linear function; and calculating the average value of the torque coefficient and the friction coefficient of the motor at different experimental positions to obtain a target torque coefficient and a target friction value of the joint to be tested during forward and reverse movement. Therefore, under the condition that the influence of a mechanical structure and a working environment on key electromechanical parameters is fully considered, the synchronous test of the torque coefficient and the forward and reverse friction coefficient of the joint motor is realized, and the test precision is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a method for synchronously testing a torque coefficient and a friction force of a joint motor of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a six-axis series-parallel spraying robot suitable for use in the present invention;
FIG. 3 is a comparison graph of a to-be-tested joint driving current curve and a to-be-tested joint angular velocity curve of the six-axis series-parallel spraying robot;
FIG. 4 is a graph of a calculated drive torque for a six-axis series-parallel spraying robot joint test experiment;
FIG. 5 is a scatter diagram of actual driving current in the forward motion phase of the six-axis hybrid spraying robot;
FIG. 6 is a scatter diagram of driving moment calculated in a forward motion phase of a six-axis hybrid spraying robot;
FIG. 7 is a schematic diagram of linear fitting of actual driving current and calculated driving torque in a forward motion phase of a six-axis series-parallel spraying robot;
FIG. 8 is a scatter diagram of actual driving currents in a reverse motion phase of a six-axis hybrid spraying robot;
FIG. 9 is a scatter diagram of the driving torque calculated during the reverse motion phase of the six-axis series-parallel painting robot;
FIG. 10 is a schematic diagram of a linear fit of actual driving current and calculated driving torque at a reverse motion stage of a six-axis series-parallel spraying robot;
FIG. 11 is a comparison graph of predicted driving current and actual driving current of a six-axis series-parallel spraying robot joint verification experiment;
fig. 12 is a schematic mechanism diagram of a synchronous testing device for torque coefficient and friction force of a joint motor of a robot according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The invention aims to fully consider the influence of a mechanical structure and a working environment on key electromechanical parameters, realize synchronous test of the torque coefficient and the forward and reverse friction coefficient of the joint motor and improve the test precision.
The method and the device for synchronously testing the torque coefficient and the friction force of the joint motor of the robot are described below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a method for synchronously testing a torque coefficient and a friction force of a joint motor of a robot according to an embodiment of the present invention. As shown in fig. 1, the method for synchronously testing the torque coefficient and the friction force of the joint motor of the robot comprises the following steps:
Wherein, the robot can be understood as industrial robot etc. and different types of industrial robot can be applied to different operational environment, because operational environment's difference can cause the difference or the change of robot operating parameter.
Specifically, the robot is regarded as a multi-rigid-body link mechanism, a theoretical dynamic model of the robot is established based on the virtual work principle, a three-dimensional model of the robot is established in three-dimensional software, parameters such as mass, length and rotational inertia of each component of the robot are collected through the three-dimensional software, and the parameters are brought into the theoretical dynamic model established based on the virtual work principle, so that an analytical expression of the driving torque of each joint of the robot is obtained. Wherein, the three-dimensional software can be Solidworks, Creo (Pro/E) and the like.
The pre-stored experimental data can be understood as joints to be tested which are determined in advance, in a preset working space of the robot, coordinate positioning of a plurality of robot end effectors is uniformly selected in an interval equal mode to generate different experimental positions, other joints are kept still at different experimental positions, the joints to be tested are controlled to do trapezoidal acceleration and deceleration reciprocating motion, and therefore a plurality of groups of experimental data of the joints to be tested at different experimental positions are obtained. The experimental data included: the angle, angular velocity, angular acceleration and drive current of the joint to be tested. The method for obtaining each experimental data can be to obtain the angle of the joint to be tested through an absolute value encoder; acquiring the speed of a joint to be tested through a grating encoder; obtaining the angular acceleration of the joint to be tested by differentiating the instantaneous speed; and acquiring the driving current of the joint to be tested through the Hall sensor. In addition, in the experimental data of a plurality of groups of joints to be tested at different experimental positions, the joints to be tested can be divided into two arrays according to the angular speed direction. Meanwhile, the speed of the joint to be tested in the uniform motion stage is in positive correlation with the angular speed of the joint to be tested in actual work.
Specifically, two arrays of one set of experimental data are selected from multiple sets of experimental data obtained according to different experimental positions of the joints to be tested, and the experimental data of the angle, the angular velocity, the angular acceleration and the driving current of each joint to be tested, which are recorded in advance through an experimental process, are obtained from the two arrays.
And 103, respectively inputting the experimental data in the two arrays at different experimental positions into a driving moment analytical expression to obtain a forward moment and a reverse moment, and fitting the forward moment, the reverse moment and the driving current to obtain the slope and intercept of a fitting linear function at different experimental positions.
Wherein, the driving moment analytical expression is formula (1):
wherein tau is the real-time driving moment of the joint to be tested,
as an inertial force component in the drive torque,
the driving moment is a centrifugal force and a Coriolis force component in the driving moment, G (theta) G is a gravity component in the driving moment, and in addition, a theoretical driving moment in the positive motion is obtained by using experimental data in the positive motion of the joint to be tested; and calculating the theoretical driving moment in the reverse motion by using experimental data in the reverse motion of the joint to be tested. In addition, in the industrial robot, for a lightweight robot without a high-speed movement requirement, an inertia component and a gravity component will dominate in the driving torque, so that the centrifugal force and the coriolis force component can be ignored in subsequent calculation.
In addition, the fitting is performed using the formula (2):
wherein, KtFor the torque coefficient of the joint motor to be tested, IqThe method comprises the steps that the driving current of a joint motor to be tested is obtained, f is the friction force on the joint to be tested during operation, i is the reduction ratio of the joint to be tested, tau is the theoretical driving moment of the joint to be tested and comprises the theoretical driving moment during forward motion and the theoretical driving moment during reverse motion of the joint to be tested, and when the theoretical driving moment during forward motion of the joint to be tested is used, a function obtained by fitting is a forward motion fitting function; when using the theoretical drive torque for the reverse motion of the joint to be tested, the function obtained by fitting is a reverse motion fitting function.
Specifically, the obtained multiple groups of pre-stored angle, angular velocity and angular acceleration data of the joint to be tested at different experimental positions are substituted into the driving moment analytical expression of the joint to be tested according to the difference of the angular velocity directions, and the forward driving moment and the reverse driving moment of the joint to be tested at different experimental positions and different movement directions are calculated.
And then performing linear fitting on the forward driving torque and the reverse driving torque of the joint to be tested in different experimental positions and the collected driving current of the joint motor to be tested through a least square method to obtain the slope and intercept of a forward motion fitting linear function in different experimental positions.
And then calculating the forward driving torque and the reverse driving torque of the joint to be tested at different experimental positions and the collected driving current of the joint motor to be tested, and performing linear fitting by using a least square method to obtain the slope and intercept of a reverse motion fitting linear function at different experimental positions.
And 104, obtaining the motor torque coefficient of the joint to be tested during forward and reverse movement according to the ratio of the slope of the fitted linear function to the reduction ratio of the joint to be tested, and taking the inverse number of the intercept of the fitted linear function to obtain the friction coefficient of the joint to be tested during forward and reverse movement.
Specifically, the ratio of the slope of the forward fitting linear function, the slope of the reverse fitting linear function and the reduction ratio of the joint to be tested at different experimental positions is used as the motor torque coefficient when the joint to be tested moves in the forward direction and the motor torque coefficient when the joint to be tested moves in the reverse direction, and the opposite numbers of the intercept of the forward fitting linear function and the intercept of the reverse fitting linear function of the joint to be tested at different experimental positions are used as the friction coefficient when the joint to be tested moves in the forward direction and the friction coefficient when the joint to be tested moves in the reverse direction.
And 105, calculating the average value of the torque coefficient and the friction coefficient of the motor at different experimental positions to obtain a target torque coefficient and a target friction value of the joint to be tested during forward and reverse movement.
Specifically, the respective average values of the motor torque coefficient and the friction coefficient of the joint to be tested in forward and reverse movements at different experimental positions are calculated, and the target torque coefficient and the target friction value of the joint to be tested in the forward and reverse movements are obtained.
For example, taking a six-axis hybrid spraying robot as shown in fig. 2 as an example, the six-axis hybrid spraying robot includes six joints, and its main body is a plane parallel mechanism 8 composed of a first rotating joint 1, a second rotating joint 2, and a third rotating joint 3, which drive a spray gun 7 to move through respective connecting rods. The fourth rotary joint 4 rotates the plane parallel mechanism 8 about the vertical axis, the fifth rotary joint 5 rotates the fourth rotary joint 4 and the plane parallel mechanism 8 about the horizontal axis, and the sixth rotary joint 6 rotates the fifth rotary joint 5, the fourth rotary joint 4, and the plane parallel mechanism 8 about the vertical axis.
Firstly, a mechanical human dynamics model is established based on the virtual work principle and is written into a standard dynamics equation form shown in formula (3):
wherein tau is the real-time driving moment of the joint to be tested,
as an inertial force component in the drive torque,
the driving moment is a centrifugal force and a Coriolis force component in the driving moment, G (theta) G is a gravity component in the driving moment, and in addition, a theoretical driving moment in the positive motion is obtained by using experimental data in the positive motion of the joint to be tested; and calculating the theoretical driving moment in the reverse motion by using experimental data in the reverse motion of the joint to be tested. Since the spraying robot is not a lightweight robot with high-speed motion requirement, inertia component and gravity component will occupy the dominant position in the driving moment, so that the centrifugal force and Coriolis force component are ignored in the subsequent calculation.
In this embodiment, a test procedure is performed with the joint 1 of the six-axis hybrid painting robot, i.e., the large arm driving joint, as a joint to be tested, the six-axis hybrid painting robot is modeled in three-dimensional software, and mechanical mechanism parameters such as the mass, the length, the moment of inertia, and the like of the robot read in the three-dimensional software are substituted into formula (3), so that an analytical expression of the driving torque of the joint 1 to be tested is obtained as formula (4):
wherein, theta1、θ2、θ3The angles (unit: rad) of the joints 1, 2, 3 to be tested,
the angular acceleration (unit: rad/s) of the joint 1, 2, 3 to be tested2)，τd1Is the drive torque (unit: N · m) of the joint 1 to be tested.
Fig. 3 is a curve of joint driving current and joint angular velocity recorded in an experiment of the joint 1 to be tested, wherein the driving current value circled in the semi-transparent dotted line frame is originally a positive value, and the motor current collected considering that the driving torque is reversed at the moment can only be a positive value, and absolute value removal processing is performed here. The experimental result shows that when the speed of the joint to be tested is changed from negative to positive, the driving current value has positive sudden change, and when the speed of the joint to be tested is changed from positive to negative, the driving current value has reverse sudden change with the same amplitude, which is caused by the change of the speed direction of the joint to be tested and the change of the direction of the friction force applied to the joint to be tested.
Fig. 4 is a driving torque curve obtained by substituting data such as angle, angular velocity, angular acceleration and the like of the joint 1 to be tested in an experiment into formula (4), and the calculated torque curve keeps continuous when the movement speed direction of the joint to be tested is changed.
Fig. 5, 6, 8 and 9 are graphs of actual driving current and calculated driving torque of the joint to be tested in forward and reverse directions, which are obtained by performing data grouping storage according to the angular velocity direction of the joint to be tested.
Fig. 7 and 10 are schematic diagrams of performing linear fitting on the actual driving current and the calculated driving torque of the joint to be tested in forward and reverse directions by using a least square method, wherein the abscissa is the actual driving current, the ordinate is the calculated driving torque, the linear fitting effect of the actual driving current and the calculated driving torque is good, and the black solid line is a linear fitting result and has an expression of formula (5):
wherein tau isd+For the drive torque (unit: N m), tau, of the joint 1 to be tested during forward operationd-For driving torque in reverse operation, Iq+Is the drive current (unit: A), I in forward operationq-Is the drive current in reverse operation. The slope unit of the linear fitting result expression is N.m/A, and the intercept unit is N.m.
In addition, in the present embodiment, the reduction ratio of the joint to be tested of the six-axis series-parallel spraying robot is set to 121 by the manufacturer when the six-axis series-parallel spraying robot leaves the factory, and in other embodiments, the reduction ratio of the joint to be tested of the six-axis series-parallel spraying robot may also be set to other specified values by the manufacturer. Therefore, in the present embodiment, in combination with the joint reduction ratio 121 to be tested, the experimental test result of the motor torque coefficient and the friction force according to the formula (2) is formula (6):
wherein, Kt+For the torque coefficient, K, of the motor of the joint 1 to be tested in the forward directiont-For the torque coefficient of the motor of the joint 1 to be tested in the reverse direction, f+Is the friction value f of the joint to be tested when the motor of the joint 1 to be tested runs in the positive direction-The friction value of the joint to be tested when the motor of the joint 1 to be tested runs in the reverse direction is shown.
Repeating 6 groups of test experiments at different experimental positions of the robot, and averaging the experiment results to obtain the driving current I of the joint 1 to be testedqThe prediction expression is formula (7):
wherein,
in order to obtain the testing result of the positive torque coefficient of the joint motor to be tested according to the steps,
in order to obtain the test result of the reverse torque coefficient of the joint motor to be tested according to the steps,
in order to obtain the positive friction force value of the joint to be tested according to the steps,
the counter friction value omega of the joint to be tested is obtained according to the steps1The angular velocity of the joint to be tested indicates that the joint to be tested runs in the positive direction, and the negative value indicates that the joint to be tested runs in the reverse direction.
Fig. 11 is a verification result of applying the current prediction model of the joint 1 to be tested in the formula (7) to another set of motion experiments of the joint to be tested. The actual driving current is a driving current curve of the joint to be tested acquired in the experiment, the predicted driving current is a predicted driving current curve obtained by substituting position, speed and angular speed data of the joint to be tested acquired in the experiment into a formula (7), and as can be seen from the figure, the two curves are well fitted, so that the method provided by the invention is proved to finish accurate testing of the motor torque coefficient and the friction force of the joint to be tested 1 of the robot in the embodiment.
In the embodiment of the invention, the method for synchronously testing the torque coefficient and the friction force of the joint motor of the robot establishes the dynamic model of the robot based on the virtual work principle, obtains the mechanical structure parameters of the robot, and calculates the driving torque analytical expression of each driving joint of the robot according to the dynamic model and the mechanical structure parameters; acquiring prestored experimental data, wherein the experimental data comprises: the angle, the angular velocity, the angular acceleration and the driving current of each joint, and experimental data are respectively stored in two arrays according to the direction of the angular velocity; respectively inputting experimental data in two arrays at different experimental positions into a driving moment analytical expression to obtain a forward moment and a reverse moment, and fitting the forward moment, the reverse moment and the driving current to obtain the slope and intercept of a fitting linear function at different experimental positions; obtaining a motor torque coefficient when the joint to be tested moves in the forward direction and the reverse direction according to the ratio of the slope of the fitted linear function and the reduction ratio of the joint to be tested, and obtaining a friction coefficient when the joint to be tested moves in the forward direction and the reverse direction by taking an inverse number of the intercept of the fitted linear function; and calculating the average value of the torque coefficient and the friction coefficient of the motor at different experimental positions to obtain a target torque coefficient and a target friction value of the joint to be tested during forward and reverse movement. Therefore, under the condition that the influence of a mechanical structure and a working environment on key electromechanical parameters is fully considered, the synchronous test of the torque coefficient and the forward and reverse friction coefficient of the joint motor is realized, and the test precision is improved.
In order to realize the embodiment, the application further provides a synchronous testing device for the torque coefficient and the friction force of the joint motor of the robot.
Fig. 12 is a schematic structural diagram of a synchronous testing device for torque coefficient and friction force of a joint motor of a robot according to an embodiment of the present invention.
As shown in fig. 12, the apparatus includes: modeling module 1201, obtaining module 1202, first calculating module 1203, second calculating module 1204, third calculating module 1205.
The modeling module 1201 is used for establishing a dynamic model of the robot based on a virtual work principle, acquiring the mechanical structure number of the robot, and calculating a driving moment analytical expression of each driving joint of the robot according to the dynamic model and the mechanical structure parameters;
an obtaining module 1202, configured to obtain pre-stored experimental data, where the experimental data includes: the angle, the angular velocity, the angular acceleration and the driving current of each joint, and experimental data are respectively stored in two arrays according to the direction of the angular velocity;
the first calculation module 1203 is configured to input the experimental data in the two arrays at different experimental positions into a driving moment analytical expression respectively to obtain a forward moment and a reverse moment, and perform fitting processing on the forward moment, the reverse moment and the driving current to obtain a slope and an intercept of a fitting linear function at different experimental positions;
the second calculation module 1204 is configured to obtain a motor torque coefficient when the joint to be tested moves in the forward direction and the reverse direction according to a ratio of a slope of the fitted linear function to a reduction ratio of the joint to be tested, and obtain an inverse number of an intercept of the fitted linear function to obtain a friction coefficient when the joint to be tested moves in the forward direction and the reverse direction;
and the third calculating module 1205 is configured to calculate average values of the motor torque coefficients and the friction coefficients at different experimental positions, so as to obtain a target torque coefficient and a target friction value of the joint to be tested during forward and reverse motions.
Further, in a possible implementation manner of the embodiment of the present application, the method further includes: a determination module 1206, an experiment module 1207, a recording module 1208, wherein,
a determining module 1206 for determining different experimental positions and joints to be tested;
the experiment module 1207 is used for keeping other joints still and controlling the joint to be tested to do trapezoidal acceleration and deceleration reciprocating motion at different experiment positions, wherein the speed of the joint to be tested in the uniform motion stage is in positive correlation with the angular speed of the joint to be tested in actual work.
A recording module 1208, configured to obtain experimental data at different experimental locations.
Further, in a possible implementation manner of the embodiment of the present application, the recording module 1208 is specifically configured to obtain an angle of the joint to be tested through an absolute value encoder; acquiring the speed of a joint to be tested through a grating encoder; obtaining the angular acceleration of the joint to be tested by differentiating the instantaneous speed; and acquiring the driving current of the joint to be tested through the Hall sensor.
Further, in a possible implementation manner of the embodiment of the present application, the first calculating module 1203 is configured to calculate an analytic expression of the driving torque as:
wherein tau is the real-time driving moment of the joint to be tested,
as an inertial force component in the drive torque,
the driving moment is a centrifugal force and a Coriolis force component in the driving moment, G (theta) G is a gravity component in the driving moment, and in addition, a theoretical driving moment in the positive motion is obtained by using experimental data in the positive motion of the joint to be tested; and calculating the theoretical driving moment in the reverse motion by using experimental data in the reverse motion of the joint to be tested.
It should be noted that the foregoing explanation of the method embodiment is also applicable to the apparatus of this embodiment, and is not repeated herein.
According to the synchronous testing device for the torque coefficient and the friction force of the joint motor of the robot, a modeling module establishes a dynamic model of the robot based on a virtual work principle, obtains mechanical structure parameters of the robot, and calculates driving moment analytical expressions of driving joints of the robot according to the dynamic model and the mechanical structure parameters; the acquisition module acquires pre-stored experimental data, wherein the experimental data comprise: the angle, the angular velocity, the angular acceleration and the driving current of each joint to be tested are stored in two arrays respectively according to the direction of the angular velocity; the first calculation module respectively inputs experimental data in two arrays at different experimental positions into a driving moment analytical expression to obtain a forward moment and a reverse moment, and performs fitting processing on the forward moment, the reverse moment and the driving current to obtain the slope and intercept of a fitting linear function at different experimental positions; the second calculation module obtains motor torque coefficients of the joints to be tested during forward and reverse movement according to the ratio of the slope of the fitted linear function to the reduction ratio of the joints to be tested, and obtains friction coefficients of the joints to be tested during forward and reverse movement by taking the inverse number of the intercept of the fitted linear function; and the third calculation module calculates the average value of the motor torque coefficient and the friction coefficient at different experimental positions to obtain a target torque coefficient and a target friction value of the joint to be tested during forward and reverse movement. Therefore, under the condition that the influence of a mechanical structure and a working environment on key electromechanical parameters is fully considered, the synchronous test of the torque coefficient and the forward and reverse friction coefficient of the joint motor is realized, and the test precision is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, and the program may be stored in a computer readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A synchronous testing method for torque coefficient and friction force of a joint motor of a robot is characterized by comprising the following steps:
establishing a dynamic model of the robot based on a virtual work principle, acquiring mechanical structure parameters of the robot, and calculating driving moment analytical expressions of driving joints of the robot according to the dynamic model and the mechanical structure parameters;
acquiring pre-stored experimental data, wherein the experimental data comprises: the angle, the angular velocity, the angular acceleration and the driving current of each joint to be tested are stored in two arrays respectively according to the direction of the angular velocity;
respectively inputting the experimental data in the two arrays at different experimental positions into the driving torque analytical expression to obtain a forward torque and a reverse torque, and performing fitting processing on the forward torque, the reverse torque and the driving current to obtain the slope and intercept of a fitting linear function at different experimental positions;
obtaining a motor torque coefficient when the joint to be tested moves in the forward direction and the reverse direction according to the ratio of the slope of the fitting linear function to the reduction ratio of the joint to be tested, and obtaining a friction coefficient when the joint to be tested moves in the forward direction and the reverse direction by taking an inverse number of the intercept of the fitting linear function;
and calculating the average value of the motor torque coefficient and the friction coefficient at different experimental positions to obtain a target torque coefficient and a target friction value of the joint to be tested during forward and reverse movement.
2. The method of claim 1, prior to said obtaining pre-stored experimental data, further comprising:
determining the different experimental positions and the joint to be tested;
keeping other joints still, and controlling the joint to be tested to do trapezoidal acceleration and deceleration reciprocating motion at different experimental positions, wherein the speed of the joint to be tested in the uniform motion stage is in positive correlation with the angular speed of the joint to be tested in actual work;
acquiring the experimental data at the different experimental positions.
3. The method of claim 2, wherein said acquiring said experimental data at said different experimental locations comprises:
acquiring the angle of the joint to be tested through an absolute value encoder;
acquiring the speed of the joint to be tested through a grating encoder;
obtaining the angular acceleration of the joint to be tested by differentiating the instantaneous speeds;
and acquiring the driving current of the joint to be tested through a Hall sensor.
4. The method according to claim 1, wherein the driving torque analytical expression is:
wherein tau is the real-time driving torque of the joint to be tested,
as an inertial force component in the driving torque,
calculating a theoretical driving moment in the forward motion by using the experimental data in the forward motion of the joint to be tested; and calculating the theoretical driving moment of the joint to be tested in the reverse motion by using the experimental data in the reverse motion.
5. The method of claim 1, wherein the fitting is performed using the formula:
wherein, KtFor the joint motor to be testedTorque coefficient of (I)qThe driving current of the joint motor to be tested, f is the friction force suffered by the joint to be tested during operation, i is the reduction ratio of the joint to be tested, tau is the theoretical driving moment of the joint to be tested, the theoretical driving moment of the joint to be tested during forward motion and the theoretical driving moment of the joint to be tested during reverse motion are included, and when the theoretical driving moment of the joint to be tested during forward motion is used, the function obtained by fitting is a forward motion fitting function; when using the theoretical drive torque in the reverse motion of the joint to be tested, the function obtained by fitting is a reverse motion fitting function.
6. The method of claim 2, wherein controlling the joint to be tested to perform trapezoidal acceleration and deceleration reciprocating motions at the different experimental positions comprises:
uniformly selecting the coordinate positioning of a plurality of robot end effectors in a preset working space of the robot in an equal-interval mode to generate different experimental positions;
and controlling the joint to be tested to perform the motion with the same motion stroke and the same speed plan at different experimental positions.
7. A synchronous testing device for torque coefficient and friction force of a joint motor of a robot comprises:
the modeling module is used for establishing a dynamic model of the robot based on a virtual work principle, acquiring mechanical structure parameters of the robot, and calculating driving moment analytical expressions of driving joints of the robot according to the dynamic model and the mechanical structure parameters;
the acquisition module is used for acquiring prestored experimental data, wherein the experimental data comprises: the angle, the angular velocity, the angular acceleration and the driving current of each joint to be tested are stored in two arrays respectively according to the direction of the angular velocity;
the first calculation module is used for respectively inputting the experimental data in the two arrays at different experimental positions into the driving moment analytical expression to obtain a forward moment and a reverse moment, and performing fitting processing on the forward moment, the reverse moment and the driving current to obtain the slope and intercept of a fitting linear function at different experimental positions;
the second calculation module is used for obtaining a motor torque coefficient when the joint to be tested moves in the forward direction and the reverse direction according to the ratio of the slope of the fitting linear function to the reduction ratio of the joint to be tested, and taking an inverse number of the intercept of the fitting linear function to obtain a friction coefficient when the joint to be tested moves in the forward direction and the reverse direction;
and the third calculation module is used for calculating the average value of the motor torque coefficient and the friction coefficient at different experimental positions to obtain a target torque coefficient and a target friction value of the joint to be tested during forward and reverse movement.
8. The apparatus of claim 7, further comprising:
the determining module is used for determining the different experimental positions and the joints to be tested;
the experiment module is used for keeping other joints still and controlling the joint to be tested to do trapezoidal acceleration and deceleration reciprocating motion at different experiment positions, wherein the speed of the joint to be tested in the uniform motion stage is in positive correlation with the angular speed of the joint to be tested in actual work;
and the recording module is used for acquiring the experimental data at different experimental positions.
9. The apparatus of claim 8, wherein the recording module is specifically configured to:
acquiring the angle of the joint to be tested through an absolute value encoder;
acquiring the speed of the joint to be tested through a grating encoder;
obtaining the angular acceleration of the joint to be tested by differentiating the instantaneous speeds;
and acquiring the driving current of the joint to be tested through a Hall sensor.
10. The apparatus of claim 9, the first calculation module to calculate the driving torque analytical expression as:
wherein tau is the real-time driving torque of the joint to be tested,
as an inertial force component in the driving torque,
calculating a theoretical driving moment in the forward motion by using the experimental data in the forward motion of the joint to be tested; and calculating the theoretical driving moment of the joint to be tested in the reverse motion by using the experimental data in the reverse motion.
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| CN114964593A (en) * | 2022-06-21 | 2022-08-30 | 郑州安杰莱智能科技有限公司 | Current torque conversion method and device and rehabilitation robot |
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