Method and device for implementing intrinsically safe servo system

Abstract

The invention relates to the technical field of servo systems, and discloses a method and a device for implementing an intrinsically safe servo system. The method comprises: calculating a given command acceleration according to an issued position command; acquiring and recording an encoder feedback value of each sampling period in real time; calculating feedback acceleration of the current periodand acceleration of the previous period according to the encoder feedback value; calculating an acceleration sudden change value, comparing the acceleration sudden change value with a preset acceleration sudden change threshold, and combined with the given command acceleration and the feedback acceleration and the feedback current, determining whether the servo system collides during operation, and stopping operation of the servo system when collision occurrence is determined. The method realizes sensorless safety elastic collision by adopting a self-adaptive composite control technology, andrealizes safe operation of a motor based on current coupling relationship of encoder and the motor, thereby realizing intrinsic safety of the servo system.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of servo systems, and in particular to an implementation method and device of an intrinsically safe servo system. Background technique [0002] Intrinsic safety refers to making the production equipment or production system itself safe through design and other means. Specifically include: fail-safe, that is, when the system fails, machines and equipment can automatically prevent operating errors or accidents; and fail-safe, even if due to human error, the equipment system can automatically eliminate, switch or safely stop the operation , so as to ensure the safety of people, equipment and property. [0003] At present, the research of high-precision AC servo system has attracted widespread attention in the control field, and has become a research hotspot in the field of automation. As the core of automation equipment such as robots, the servo system determines the precise, stable ...

AI Technical Summary

Problems solved by technology

[0005] At present, most of the mainstream intrinsic safety research needs to be realized by installing a multi-angle vector moment sensor at the end of the robot, which limits the detection range and limits the practical application.

In addition, some devices use motor current or feedback torque to detect collisions, but due to factors such as time-varying motor load, uncertain load torque, and large motor current fluctuation range, it is difficult for users to set more appropriate sensitivity and protection thresholds , or in cases where the installed load is uncertain, it is not even possible to use

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