CN113824357A - Robot multi-motor driving system and control method thereof - Google Patents

Robot multi-motor driving system and control method thereof Download PDF

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Publication number
CN113824357A
CN113824357A CN202111384544.9A CN202111384544A CN113824357A CN 113824357 A CN113824357 A CN 113824357A CN 202111384544 A CN202111384544 A CN 202111384544A CN 113824357 A CN113824357 A CN 113824357A
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motor
driving
motors
current
robot
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华强
周伟刚
姚运昌
程超
孔令雨
谢安桓
张丹
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Zhejiang Lab
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Zhejiang Lab
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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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
    • 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
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0027—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
    • 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
    • H02P23/28—Controlling the motor by varying the switching frequency of switches connected to a DC supply and the motor phases
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • H02P2006/045—Control of current

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The invention discloses a robot multi-motor driving system and a control method thereof, wherein the system comprises a synchronous belt transmission device, a speed reducing device, a multi-motor driver and a plurality of permanent magnet brushless motors; the permanent magnet brushless motors, the synchronous belt transmission devices and the speed reducing devices are all integrated in the robot limb structure, and the permanent magnet brushless motors and the speed reducing devices are respectively fixed at different positions of the robot limb structure and are connected through the synchronous belt transmission devices; the output of the speed reducer is used for driving the robot joint; the multi-motor driver is electrically connected with the plurality of motors and is used for controlling each motor. The multi-motor driver includes a detection module, a power driving module, and a controller module. The driving system can be arranged in a robot limb structure, the structural space of the robot is fully utilized, the driving reliability is high, the installation is convenient, and the performance of the driving joint of the robot can be improved on the basis of ensuring the compactness and the attractiveness of the system.

Description

Robot multi-motor driving system and control method thereof
Technical Field
The invention belongs to the field of motor control, and particularly relates to a robot multi-motor driving system and a control method thereof.
Background
The motor driving system is used as an executing component of the electric driving robot and plays an important role in performance expression of the robot body. For example, a large humanoid biped robot has high requirements on the torque of a motor driving system, particularly a knee joint. In order to improve the torque output capability of the driving system, a speed reducer with a high reduction ratio is generally adopted, but the high reduction ratio speed reducer causes the output rotating speed of the driving system to be low, the dynamic response to be slow, and the dynamic performance of the robot is influenced.
In order to improve the dynamic performance of the robot, researchers currently use a high-power large-torque motor to cooperate with a speed reducer with a low reduction ratio to realize the dynamic performance, such as a Cassie biped robot. The scheme can improve the dynamic performance of the robot, but can lead to larger motor size; considering that the biped robot is generally connected through the connecting rod, the inner space is limited, and the scheme can affect the installation and appearance of the structure; in addition, the high-power and high-torque motor generally has high current, and higher requirements on the performance of a driver and the heat dissipation of a system are also provided.
In order to improve the torque of the robot joint, the torque can be improved by adopting multiple motors to drive a single joint in a redundant mode. In the aspect of multi-motor driving, Chinese patent No. CN204858871U proposes a multi-shaft to single-shaft output converter of a small micro direct current motor, wherein 3 small motors are meshed with an output shaft through transmission gears; the method realizes multiplication of mechanical capacity, has the defects of being suitable for driving a micro motor and having certain requirements on transmission gear arrangement. The Chinese patent No. CN103481774B applies multi-motor drive to the electric automobile, improves the reliability of a driving system, but each motor rotating shaft needs a one-way clutch for fixation, has a complex structure and larger weight, and is not suitable for the application of a robot.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multi-motor driving system of a robot and a control method thereof, and the specific technical scheme is as follows:
a robot multi-motor driving system comprises a synchronous belt transmission device, a speed reducing device, a multi-motor driver and a plurality of permanent magnet brushless motors;
the permanent magnet brushless motors, the synchronous belt transmission devices and the speed reducing devices are all integrated in the robot limb structure, and the permanent magnet brushless motors and the speed reducing devices are respectively fixed at different positions of the robot limb structure and are connected through the synchronous belt transmission devices; the output of the speed reducing device is used for driving a robot joint; the multi-motor driver is electrically connected with the motors and used for controlling the motors;
the multi-motor driver comprises a detection module, a power driving module and a controller module;
the detection module comprises a current detection module, a bus voltage detection module and a plurality of position detection modules, and is respectively used for detecting the three-phase current of the motor, the bus voltage, the rotor position of each motor and the output position of the driving system and sending the three-phase current, the bus voltage, the rotor position of each motor and the output position of the driving system to the controller module;
the controller module receives a control signal sent by the central robot controller and a signal collected by the detection module, processes the control signal and the signal and outputs a PWM signal to the power driving module to control the motors to rotate;
the power driving module is used for receiving the PWM signals output by the controller module and converting the PWM signals into a plurality of power signals to drive the motors to work cooperatively.
Further, the transmission device is in synchronous belt transmission; the speed reducer is a planetary speed reducer, a cycloid speed reducer or a harmonic speed reducer.
Furthermore, the power driving module comprises a power switch tube driving circuit and a three-phase full-bridge circuit consisting of MOS or IGBT power switch tubes.
A control method of a multi-motor drive system of a robot includes the following steps:
s1: the controller module receives a control mode and an instruction sent by a central controller of the robot to obtain an operation mode of a driving system, wherein the operation mode is a torque mode, a rotating speed mode or a position mode;
s2: according to the operation mode of the driving system, the controller module performs multi-motor cooperative control to obtain the operation mode and corresponding instructions of each motor, and the method specifically comprises the following steps:
when the driving system is in a torque mode, each motor runs in a torque control mode;
when the driving system is in a rotating speed mode, one of all the motors is selected as a main motor, the other motors are selected as slave motors, the main motor runs in a rotating speed control mode, and the slave motors run in a torque control mode;
when the driving system is in a position mode, one of all the motors is selected as a main motor optionally, and the other motors are slave motors, the main motor runs in a position control mode, and the slave motors run in a torque control mode;
s3: and the controller module executes a corresponding motor control algorithm according to the control mode of each motor to control each motor to rotate.
Further, when the driving system is in a torque mode, the specific operation steps are as follows:
(1) calculating torque control commands T corresponding to the motorsiThe calculation formula is as follows:
Figure 547665DEST_PATH_IMAGE001
wherein i is more than or equal to 1 and less than or equal to n, and n is the total number of the motors in the driving system; t is*Outputting a torque command for a driving system sent by a central controller; d represents the reduction ratio of the drive system, D = D1*D2Wherein D is1For synchronous belt reduction ratio, D2Is the reduction ratio of the reduction gear;
(2) calculating current command I of each motori= f(T i ) (ii) a Wherein the functionf(T) Obtaining the current torque curve according to a motor manual or an off-line test;
(3) the controller module measures current of each current motor phase according to the detection module, and feedback current is obtained after coordinate transformation processing;
(4) the controller module executes a current closed-loop control algorithm according to the current instruction and the feedback current value of each motor, and generates a driving signal after coordinate transformation and an SVPWM algorithm;
(5) the controller module sends the driving signal to the driving module, and the driving module controls the motors to rotate.
Further, when the driving system is in the rotating speed mode, the specific operation steps are as follows:
(1) calculating a rotation speed control command w of a main motorp=D*w*，w*Outputting a rotating speed instruction for a driving system sent by the central controller;
(2) the controller module controls the command w according to the rotating speed of the main motorpAnd executing a rotating speed closed-loop control algorithm according to the rotating speed of the main motor calculated according to the position detected by the position detection module to obtain the torque T of the main motorPAnd further obtains a slave motor torque control command Ti=TP；
(3) Calculating current command I of each motori= f(T i ) (ii) a Wherein the functionf(T) Obtaining the current torque curve according to a motor manual or an off-line test;
(4) the controller module measures current of each current motor phase according to the detection module, and feedback current is obtained after coordinate transformation processing;
(5) the controller module executes a current closed-loop control algorithm according to the current instruction and the feedback current value of each motor, and generates a driving signal after coordinate transformation and an SVPWM algorithm;
(6) the controller module sends the driving signal to the driving module, and the driving module controls the motors to rotate.
Further, when the driving system is in the position mode, the specific operation steps are as follows:
(1) calculating a main motor position control command thetap=θ*，θ*Outputting a position instruction for a driving system sent by a central controller;
(2) the controller module controls the command theta according to the position of the main motorpAnd the position detection module measures the output position of the driving system and executes a position closed-loop control algorithm to obtain a rotating speed control instruction w of the main motorp；
(3) The controller module controls the command w according to the rotating speed of the main motorpAnd executing a rotating speed closed-loop control algorithm according to the rotating speed of the main motor calculated according to the position detected by the position detection module to obtain the torque T of the main motorPAnd further obtains a slave motor torque control command Ti=TP；
(4) Calculating current command I of each motori= f(T i ) (ii) a Wherein the functionf(T) Obtaining the current torque curve according to a motor manual or an off-line test;
(5) the controller module measures current of each current motor phase according to the detection module, and feedback current is obtained after coordinate transformation processing;
(6) the controller module executes a current closed-loop control algorithm according to the current instruction and the feedback current value of each motor, and generates a driving signal after coordinate transformation and an SVPWM algorithm;
(7) the controller module sends the driving signal to the driving module, and the driving module controls the motors to rotate.
Further, the current closed-loop control algorithm adopts PI control, the rotating speed closed-loop control algorithm adopts PI control, and the position closed-loop control algorithm adopts P control.
The invention has the following beneficial effects:
the robot multi-motor driving system provided by the invention adopts a plurality of permanent magnet brushless motors to replace large-power giant motors, is convenient to be intensively arranged in a robot limb structure together with the synchronous belt transmission device and the speed reducing device, fully utilizes the structural space of the robot, has high driving reliability and convenient installation, and can improve the performance of a robot driving joint on the basis of ensuring the compactness and the attractiveness of the system. Meanwhile, the transmission mode of the synchronous belt is utilized, so that the structural complexity of the system is favorably reduced, and the installation is convenient; in addition, the multi-motor control method provided by the invention can synchronously carry out cooperative control on a plurality of motors, and prevent the internal force generated during multi-motor transmission.
Drawings
FIG. 1 is a block diagram of the components of a multi-motor drive system of a robot in the present invention;
FIG. 2 is a schematic structural diagram of a multi-motor drive system of a biped robotic knee joint according to one embodiment of the present invention;
FIG. 3 is a diagram of the steps of a multi-motor control method of the robot in the present invention;
fig. 4 is a detailed flowchart of a robot multi-motor control method in the present invention.
In fig. 2, 1 is a thigh of the biped robot, 2 is a permanent magnet brushless motor, 3 is a synchronous belt transmission device, 4 is a speed reduction device, and 5 is a knee joint of the biped robot.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, it being understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
Fig. 1 is a block diagram of a multi-motor drive system of a robot according to the present invention, and as shown in fig. 1, the multi-motor drive system of a robot according to the present invention includes a synchronous belt transmission device 3, a reduction gear device 4, a multi-motor driver, and a plurality of permanent magnet brushless motors 2.
The permanent magnet brushless motors, the synchronous belt transmission devices and the speed reducing devices are all integrated in the robot limb structure, and the permanent magnet brushless motors and the speed reducing devices are respectively fixed at different positions of the robot limb structure and are connected through the synchronous belt transmission devices; the output of the speed reducer is used for driving the robot joint; the multi-motor driver is electrically connected with the plurality of motors and is used for controlling each motor.
Fig. 2 is a schematic view of the multi-motor drive system of the present invention applied to a knee joint of a biped robot. In the embodiment, 3 permanent magnet brushless motors 2 with the same model are adopted, are arranged inside thighs 1 of the biped robot and are transmitted to a speed reduction device 4 through the same synchronous belt, and the output of the speed reduction device 4 is used for driving a knee joint 5 of the biped robot; the speed reducer comprises a speed reducer, a bearing and a flange related structural member, wherein the speed reducer adopts a harmonic speed reducer in the embodiment. And a planetary speed reducer or a cycloid speed reducer can be adopted according to actual requirements.
As shown in fig. 1, the multi-motor driver includes a detection module, a power driving module, and a controller module provided therein; the detection module comprises a current detection module, a bus voltage detection module and a plurality of position detection modules, and is respectively used for detecting the three-phase current of the motor, the bus voltage, the position of the rotor of each motor and the position of the output end of the driving system and sending the position to the controller module;
the controller module receives a control signal sent by the central robot controller and a signal collected by the detection module, processes the control signal and the signal and outputs a PWM signal to the power driving module to control the motors to rotate; preferentially, the controller module can adopt an MCU with more pins and good processing performance; an STM32 controller is used in this example.
The power driving module is used for receiving the PWM signals output by the controller module and converting the PWM signals into a plurality of power signals to drive the motors to work cooperatively. The power driving module comprises a power switch tube driving circuit and a three-phase full-bridge circuit consisting of MOS or IGBT power switch tubes. In order to enable the driving effects of the motors to be the same, the devices adopted by the power driving modules for driving the motors are the same.
As shown in fig. 3, the method for controlling a multi-motor drive system of a robot according to the present invention comprises the steps of:
s1: the controller module receives a control mode and an instruction sent by a central controller of the robot to obtain an operation mode of a driving system, wherein the operation mode is a torque mode, a rotating speed mode or a position mode;
s2: according to the operation mode of the driving system, the controller module performs multi-motor cooperative control to obtain the operation mode and corresponding instructions of each motor, and the method specifically comprises the following steps:
when the driving system is in a torque mode, each motor runs in a torque control mode;
when the driving system is in a rotating speed mode, one of all the motors is selected as a main motor, the other motors are selected as slave motors, the main motor runs in a rotating speed control mode, and the slave motors run in a torque control mode;
when the driving system is in a position mode, one of all the motors is selected as a main motor optionally, and the other motors are slave motors, the main motor runs in a position control mode, and the slave motors run in a torque control mode;
s3: and the controller module executes a corresponding motor control algorithm according to the control mode of each motor to control each motor to rotate.
As shown in fig. 4, when the driving system is in the torque mode, the specific operation steps are as follows:
(1) calculating torque control commands T corresponding to the motorsiThe calculation formula is as follows:
Figure 58281DEST_PATH_IMAGE002
wherein i is more than or equal to 1 and less than or equal to n, and n is the total number of the motors in the driving system; t is*Outputting a torque command for a driving system sent by a central controller; d represents the reduction ratio of the drive system, D = D1*D2Wherein D is1For synchronous belt reduction ratio, D2Is the reduction ratio of the reduction gear;
(2) calculating current command I of each motori= f(T i ) (ii) a Wherein the functionf(T) Obtaining the current torque curve according to a motor manual or an off-line test;
(3) the controller module measures current of each current motor phase according to the detection module, and feedback current is obtained after coordinate transformation processing;
(4) the controller module executes a current closed-loop control algorithm, preferably adopts PI control, and generates a driving signal after coordinate transformation and SVPWM algorithm according to the current instruction and feedback current value of each motor;
(5) the controller module sends the driving signal to the driving module, and the driving module controls the motors to rotate.
When the driving system is in a rotating speed mode, the specific operation steps are as follows:
(1) calculating a rotation speed control command w of a main motorp=D*w*，w*Outputting a rotating speed instruction for a driving system sent by the central controller;
(2) the controller module controls the command w according to the rotating speed of the main motorpAnd executing a rotating speed closed-loop control algorithm according to the rotating speed of the main motor calculated according to the position detected by the position detection module, preferably adopting PI control to obtain the torque T of the main motorPAnd further obtains a slave motor torque control command Ti=TP；
And then controlling the rotation of the master motor and the slave motor according to the steps of the torque operation mode. That is, the subsequent steps are the same as the steps (2) to (5) in the torque mode.
When the driving system is in the position running mode, the specific operation steps are as follows:
(1) calculating a main motor position control command thetap=θ*，θ*Outputting a position instruction for a driving system sent by a central controller;
(2) the controller module controls the command theta according to the position of the main motorpAnd the position detection module measures the output position of the driving system, executes a position closed-loop control algorithm, preferably adopts P control, and obtains a rotating speed control instruction w of the main motorp；
And then executing according to a rotating speed operation mode, and controlling the rotation of the master motor and the slave motor.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.

Claims (8)

1. A robot multi-motor driving system is characterized by comprising a synchronous belt transmission device, a speed reducing device, a multi-motor driver and a plurality of permanent magnet brushless motors;
the permanent magnet brushless motors, the synchronous belt transmission devices and the speed reducing devices are all integrated in the robot limb structure, and the permanent magnet brushless motors and the speed reducing devices are respectively fixed at different positions of the robot limb structure and are connected through the synchronous belt transmission devices; the output of the speed reducing device is used for driving a robot joint; the multi-motor driver is electrically connected with the motors and used for controlling the motors;
the multi-motor driver comprises a detection module, a power driving module and a controller module;
the detection module comprises a current detection module, a bus voltage detection module and a plurality of position detection modules, and is respectively used for detecting the three-phase current of the motor, the bus voltage, the rotor position of each motor and the output position of the driving system and sending the three-phase current, the bus voltage, the rotor position of each motor and the output position of the driving system to the controller module;
the controller module receives a control signal sent by the central robot controller and a signal collected by the detection module, processes the control signal and the signal and outputs a PWM signal to the power driving module to control the motors to rotate;
the power driving module is used for receiving the PWM signals output by the controller module and converting the PWM signals into a plurality of power signals to drive the motors to work cooperatively.
2. The multi-motor robot drive system according to claim 1, wherein the transmission means is a synchronous belt transmission; the speed reducer is a planetary speed reducer, a cycloid speed reducer or a harmonic speed reducer.
3. The multi-motor robot drive system of claim 1, wherein the power drive module comprises a power switch tube drive circuit and a three-phase full bridge circuit composed of MOS or IGBT power switch tubes.
4. A control method of a robot multi-motor drive system according to claim 1, characterized by comprising the steps of:
s1: the controller module receives a control mode and an instruction sent by a central controller of the robot to obtain an operation mode of a driving system, wherein the operation mode is a torque mode, a rotating speed mode or a position mode;
s2: according to the operation mode of the driving system, the controller module performs multi-motor cooperative control to obtain the operation mode and corresponding instructions of each motor, and the method specifically comprises the following steps:
when the driving system is in a torque mode, each motor runs in a torque control mode;
when the driving system is in a rotating speed mode, one of all the motors is selected as a main motor, the other motors are selected as slave motors, the main motor runs in a rotating speed control mode, and the slave motors run in a torque control mode;
when the driving system is in a position mode, one of all the motors is selected as a main motor optionally, the other motors are auxiliary motors, the main motor runs in a position control mode, and the auxiliary motors run in a torque control mode;
s3: and the controller module executes a corresponding motor control algorithm according to the control mode of each motor to control each motor to rotate.
5. The control method of the multi-motor drive system of the robot as claimed in claim 4, wherein when the drive system is in the torque mode, the specific operation steps are as follows:
(1) calculating torque control commands T corresponding to the motorsiThe calculation formula is as follows:
Figure 866918DEST_PATH_IMAGE001
wherein i is more than or equal to 1 and less than or equal to n, and n is the total number of the motors in the driving system; t is*Outputting a torque command for a driving system sent by a central controller; d represents the reduction ratio of the drive system, D = D1*D2Wherein D is1For synchronous belt reduction ratio, D2Is the reduction ratio of the reduction gear;
(2) calculating current command I of each motori= f(T i ) (ii) a Wherein the functionf(T) Obtaining the current torque curve according to a motor manual or an off-line test;
(3) the controller module measures current of each current motor phase according to the detection module, and feedback current is obtained after coordinate transformation processing;
(4) the controller module executes a current closed-loop control algorithm according to the current instruction and the feedback current value of each motor, and generates a driving signal after coordinate transformation and an SVPWM algorithm;
(5) the controller module sends the driving signal to the driving module, and the driving module controls the motors to rotate.
6. The control method of the multi-motor drive system of the robot as claimed in claim 5, wherein when the drive system is in a rotation speed mode, the specific operation steps are as follows:
(1) calculating a rotation speed control command w of a main motorp=D*w*，w*Outputting a rotating speed instruction for a driving system sent by the central controller;
(2) the controller module controls the command w according to the rotating speed of the main motorpAnd executing a rotating speed closed-loop control algorithm according to the rotating speed of the main motor calculated according to the position detected by the position detection module to obtain the torque T of the main motorPAnd further obtains a slave motor torque control command Ti=TP；
(3) Calculating current command I of each motori= f(T i ) (ii) a Wherein the functionf(T) According to the current torque curve in the motor manualA line or an off-line test is carried out;
(4) the controller module measures current of each current motor phase according to the detection module, and feedback current is obtained after coordinate transformation processing;
(5) the controller module executes a current closed-loop control algorithm according to the current instruction and the feedback current value of each motor, and generates a driving signal after coordinate transformation and an SVPWM algorithm;
(6) the controller module sends the driving signal to the driving module, and the driving module controls the motors to rotate.
7. The method for controlling a multi-motor drive system of a robot according to claim 6, wherein when the drive system is in a position mode, the specific operation steps are as follows:
(1) calculating a main motor position control command thetap=θ*，θ*Outputting a position instruction for a driving system sent by a central controller;
(2) the controller module controls the command theta according to the position of the main motorpAnd the position detection module measures the output position of the driving system and executes a position closed-loop control algorithm to obtain a rotating speed control instruction w of the main motorp；
(3) The controller module controls the command w according to the rotating speed of the main motorpAnd executing a rotating speed closed-loop control algorithm according to the rotating speed of the main motor calculated according to the position detected by the position detection module to obtain the torque T of the main motorPAnd further obtains a slave motor torque control command Ti=TP；
(4) Calculating current command I of each motori= f(T i ) (ii) a Wherein the functionf(T) Obtaining the current torque curve according to a motor manual or an off-line test;
(5) the controller module measures current of each current motor phase according to the detection module, and feedback current is obtained after coordinate transformation processing;
(6) the controller module executes a current closed-loop control algorithm according to the current instruction and the feedback current value of each motor, and generates a driving signal after coordinate transformation and an SVPWM algorithm;
(7) the controller module sends the driving signal to the driving module, and the driving module controls the motors to rotate.
8. The method of claim 7, wherein the current closed-loop control algorithm employs PI control, the rotational speed closed-loop control algorithm employs PI control, and the position closed-loop control algorithm employs P control.
CN202111384544.9A 2021-11-22 2021-11-22 Robot multi-motor driving system and control method thereof Pending CN113824357A (en)

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Application publication date: 20211221