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Method, device and storage medium for self-adaptive compensation of static balance torque

A technology of self-adaptive compensation and static balance, which is applied in the control of electromechanical transmission, motor generator control, control of electromechanical brakes, etc. question

Active Publication Date: 2022-04-19
重庆智能机器人研究院
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Problems solved by technology

However, the former compensates a torque compensation value with a fixed size and direction. Take a six-joint industrial robot as an example. changes, but the magnitude and direction of the compensated torque value do not change accordingly, and it will intensify the nodding phenomenon in some special positions; device puts forward requirements, and the common type in the market is not high

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  • Method, device and storage medium for self-adaptive compensation of static balance torque
  • Method, device and storage medium for self-adaptive compensation of static balance torque
  • Method, device and storage medium for self-adaptive compensation of static balance torque

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Embodiment Construction

[0041] The following principles and features of the present invention are described in conjunction with the accompanying drawings, the examples given are for illustrative purposes only and are not intended to limit the scope of the present invention.

[0042] Figure 1 Schematic diagram of a static equilibrium moment adaptive compensation method provided for an embodiment of the present invention.

[0043] as Figure 1 As shown, a static equilibrium torque adaptive compensation method, comprising the following steps:

[0044] S1: Obtain the original feedback torque value from the motor of the target servo;

[0045] S2: The first limiting treatment of the original feedback torque value is carried out to obtain the feedback torque value;

[0046] S3: Determine whether the target servo of the feedback torque value is broken, and obtain the static equilibrium torque adaptive compensation value according to the judgment result;

[0047] S4: The second limiting treatment of the adaptive ...

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Abstract

The invention provides a static balance torque self-adaptive compensation method, device and storage medium. The method includes: obtaining the original feedback torque value from the motor of the target servo; performing the first limit processing on the original feedback torque value to obtain the feedback Torque value; judge whether the target servo of the feedback torque value is disabled, and obtain the static balance torque adaptive compensation value according to the judgment result; perform second limiting processing on the adaptive compensation value to obtain the static balance torque compensation value . The present invention can provide a static balance torque compensation value with accurate magnitude and direction at the instant when the servo is enabled, which reduces the requirements on the upper controller, does not cause an increase in hardware cost, and avoids or weakens the nodding phenomenon at the same time. It has practical research significance in production.

Description

Technical field [0001] The present invention relates primarily to the field of industrial technology, specifically to a static equilibrium torque adaptive compensation method, apparatus and storage medium. Background [0002] The opportunity of economic transformation puts forward higher requirements for the upgrading of China's industrial industry chain, requiring us to carry out intensive development, the development of industrial automation, and improve the efficiency of the use of manpower, capital and machinery. The servo system is a feedback technology used to accurately follow and copy a certain machine, and it is a technology that must be applied in industrial automation. This requires that the servo system must have high-speed, high-precision, high-response, high-rigidity performance. Overall, the servo drive is a kind of feedback control, feedback control must have a problem of whether the response is timely. In the case of a six-joint industrial robot, there is at lea...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/14H02P21/18H02P21/22
CPCH02P21/14H02P21/18H02P21/22
Inventor 夏亮曹祥谭先锋赵晓兀李琦兰东洋
Owner 重庆智能机器人研究院
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