CN112688607B - Servo motor and artificial intelligent robot - Google Patents
Servo motor and artificial intelligent robot Download PDFInfo
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- CN112688607B CN112688607B CN202011477496.3A CN202011477496A CN112688607B CN 112688607 B CN112688607 B CN 112688607B CN 202011477496 A CN202011477496 A CN 202011477496A CN 112688607 B CN112688607 B CN 112688607B
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Abstract
A servo motor and an artificial intelligent robot which save electric energy. In a servo motor, a first current detector (13) and a second current detector (14) detect U-phase and V-phase currents i input to the motor, respectively ua And i va And input to a first coordinate transformation unit for transformation to generate q-axis current i qa And d-axis current i da The method comprises the steps of carrying out a first treatment on the surface of the The d-axis current calculation unit calculates the q-axis current i qa Generating d-axis adjustment currentThe d-axis voltage calculation unit adjusts according to the d-axisAnd an input d-axis current commandGenerating d-axis voltageThe q-axis voltage calculation unit (4) calculates a q-axis voltage based on the angular velocity commandGenerating q-axis voltageThe adjusting unit adjusts the current i according to the q-axis qa Current of d axis i da And angular velocity commandGenerating a voltage for adjusting the q-axisAnd d-axis voltageQ-axis adjustment voltage of (2)And d-axis adjustment voltage Andaddition generation Andaddition generationThe second coordinate conversion unit converts the currentAndgeneratingAndand provided to the converter.
Description
Technical Field
The invention relates to a servo motor and an artificial intelligence robot, and belongs to the technical field of artificial intelligence.
Background
The prior art provides a servo motor without a position sensor, in which the d-axis current command of the motor driver is set to a fixed value (e.g., the value of the rated current level of the motor). Such a servo motor has the following problems: there is wasted power at light loads and misalignment is not rotated at high loads. In order to prevent the rotation due to the disturbance when the stop command has been issued, it is necessary to use position control or to always continuously supply a wasteful d-axis current command.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a servo motor and an artificial intelligent robot, wherein electric energy is saved.
To achieve the object, the present invention provides a servo motor comprising a motor driver and a motor, characterized in that the motor driver comprises a d-axis current instruction operation unit 109, a d-axis voltage calculation unit 110, a q-axis voltage calculation unit 104, a modified calculation unit 106, a first coordinate conversion unit 107, a second coordinate conversion unit 105, a converter 108, a first current detector 113 and a second current detector 114, wherein the first current detector 113 and the second current detector 114 detect U-phase and V-phase currents i input to the motor, respectively ua And i va And input to a first coordinate transformation unit for transformation to generate q-axis current i qa And d-axis current i da The method comprises the steps of carrying out a first treatment on the surface of the The d-axis current calculation unit calculates the q-axis current i qa Generating d-axis adjustment currentThe d-axis voltage calculation unit adjusts +.>And the input d-axis current command +.>Generating d-axis voltage->q-axis voltage calculating unit 104 is based on the angular velocity instruction +.>Generating q-axis voltage>The adjusting unit adjusts the current i according to the q-axis qa Current of d axis i da And angular velocity command->Generating a voltage for adjusting the q-axis +.>And d-axis voltage>Q-axis adjustment voltage +.>And d-axis adjustment voltage +.> And->Addition generates->And->Addition generates->The second coordinate conversion unit is dependent on the current +>And->Generate->And->And provided to the converter.
Preferably, the d-axis current commandMuch less than the rated current of the motor.
In order to achieve the object, the invention further provides an artificial intelligent robot, which is characterized in that the servo mechanism for driving the robot to operate comprises the servo motor.
Preferably, the artificial intelligence robot is characterized in that it further comprises a control system comprising a camera for acquiring an image of the environment, and in that the control system further comprises an artificial intelligence module comprising: the system comprises an operation instruction input module, an image input module, a neural network, a path planning module and a training module, wherein the data input module is configured to receive operation instruction information sent by a user handheld controller; the image input module is configured to receive image information shot by the camera; the path planning module is configured to generate control information for controlling the motor driver according to the operation instruction information generated by the operation instruction input module or receive the robot path information generated by the neural network to generate the control information for controlling the motor driver; the training module is configured to obtain learning data from the path planning module and provide the learning data to the neural network for learning by the neural network.
Preferably, the neural network comprises at least an input layer, a function layer and an output layer, wherein the input layer inputs image coordinates of an image, and the image coordinates of the image can be represented by the following matrix:
wherein N is the number of rows of the image, M is the number of columns of the image, (x) 1 ,y 1 )、(x 1 ,y M )、(x N ,y 1 ) And (x) N ,y M ) Image coordinates of four corners of the input image respectively; (x) n ,y m ) Image coordinates for any point in the image;
the function of the function layer at least satisfies the following formula:
wherein, (X Y Z) is the geodetic coordinates of the robot path; (X) n Y m Z nm ) Is of the coordinates (x n ,y m ) Geodetic coordinates of the image counterpart of (a); f is the focal length of the camera; lambda and delta are normal numbers, and are determined by a training module through learning; min { } is the minimum value;
a 1 ＝cosφ·cosκ
a 2 ＝cosω·sinκ+sinω·sinφ·cosκ
a 3 ＝sinω·sinκ-cosω·sinφ·sinκ；
b 1 ＝-cosφ·sinκ；
b 2 ＝cosω·cosκ-sinω·sinφ·sinκ
b 3 ＝sinω·sinκ+cosω·sinφ·sinκ
c 1 ＝sinφ；
c 2 ＝-sinω·cosφ；
c 3 ＝cosω·cosφ
wherein,,omega and kappa are the rotation angles of the camera photographing axis around the y axis of the space coordinate system, the rotation angles around the x axis of the space coordinate system and the rotation angles around the z axis of the space coordinate system respectively;
the output layer outputs a value of (X-X N ),(Y-Y m ),(Z-Z K )。
Compared with the prior art, the servo motor and the artificial intelligent robot provided by the invention have the following advantages: (1) saving electrical energy; (2) can avoid the barrier with only single camera.
Drawings
FIG. 1 is a block diagram of a control system of an artificial intelligence robot provided by the present invention;
FIG. 2 is a block diagram of an artificial intelligence module provided by the present invention;
FIG. 3 is a graph of the relationship of various coordinate systems provided by the present invention;
FIG. 4 is a power supply system for providing electrical energy to an artificial intelligent robot provided by the present invention;
fig. 5 is a schematic diagram of the composition of a receiving coil and a transmitting coil provided by the present invention;
FIG. 6 is a block diagram of a servo motor provided by the present invention;
FIG. 7 shows d-axis and q-axis as motor axes and d-axis as control axis in a servo motor ＊ Shaft, q ＊ Schematic of the shaft;
fig. 8 is a block diagram showing the configuration of the d-axis current instruction operation unit shown in fig. 6.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below are exemplary only for explaining the present invention and are not construed as limiting the present invention by referring to the drawings.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It will be appreciated by those skilled in the art that the term "application," "application program," and similar concepts herein refer to computer software, organically constructed from a series of computer instructions and related data resources, suitable for electronic execution, as the same concepts are well known to those skilled in the art. Unless specifically specified, such naming is not limited by the type, level of programming language, nor by the operating system or platform on which it operates. Of course, such concepts are not limited by any form of terminal.
The artificial intelligent robot provided by the invention comprises a servo mechanism for driving the robot to operate and a control system, wherein the control system provides control signals for the servo mechanism to drive the robot to operate.
Fig. 1 is a block diagram of a control system of an artificial intelligent robot according to the present invention, and as shown in fig. 1, the control system includes a processor 5, a MEMS2, a memory 2, and a servo 9. The running gear 9 comprises a running gear controller, two motor drivers and two motors M1 and M2, the running gear controller being configured to provide control signals to the motor drivers of the robot, the motor drivers driving the motors to run. The motors respectively drive two driving wheels (not shown) of the robot to rotate, so that the robot can run. The memory 1 is used for storing system programs, application programs and data. MEMS2 is used to acquire the spin angle of the camera axis of the robot about the y-axis of the spatial coordinate systemThe rotation angle ω about the x-axis of the spatial coordinate system, the rotation angle κ about the z-axis of the spatial coordinate system, and provided to the processor 5. The relationship between the geodetic coordinate system XYZ and the spatial coordinate system XYZ provided in the present invention is shown in fig. 3.
In the present invention, the robot control system further includes a communication module 8 configured to wirelessly communicate with the hand-held controller of the user by control to obtain instructions of the hand-held controller, and also configured to communicate with the wireless charger to obtain instructions of the wireless charger, and to operate according to the instructions. In the present invention, the robot control system may optionally include a positioning time service module 3 for acquiring position information and standard time information of the robot. In the invention, the robot control system also comprises a camera 4 which is used for acquiring the image information of the environment. The robot further comprises a power supply module, which is a magnetic coupling power supply 6 for providing power to the parts of the robot, which will be described in more detail later.
In the invention, the control system also comprises an artificial intelligent module which is configured to avoid the obstacle according to the image information acquired by the camera 4 and provide a control signal for the running mechanism 9 to control the running or stopping of the robot.
FIG. 2 is a block diagram of an artificial intelligence module provided by the present invention, as shown in FIG. 2, comprising: the system comprises an operation instruction input module, an image input module, a neural network, a path planning module and a training module, wherein the data input module is configured to receive operation instruction information sent by a user handheld controller; the image input module is configured to receive image information captured by the camera 4; the path planning module is configured to generate control information for controlling the rotor driver according to the operation instruction information generated by the operation instruction input module or receive the robot path information generated by the neural network to generate the control information for controlling the rotor driver; the training module is configured to obtain learning data from the path planning module and provide the learning data to the neural network for learning by the neural network.
In the present invention, the neural network includes at least an input layer, a function layer, and an output layer, the input layer inputting image coordinates (x n ,y m ) And the rotation angle of the camera photographing axis around the y axis of the space coordinate systemThe rotation angle ω about the x-axis of the spatial coordinate system and the rotation angle κ about the z-axis of the spatial coordinate system, the image coordinates of the image may be represented by the following matrix:
wherein N is the number of rows of the image, M is the number of columns of the image, (x) 1 ,y 1 )、(x 1 ,y M )、(x N ,y 1 ) And (x) N ,y M ) Image coordinates of four corners of one image in the input video image stream respectively; (x) n ,y m ) Image coordinates for any point in the image;
the function of the function layer at least satisfies the following formula:
wherein, (X Y Z) is the geodetic coordinates of the robot path; (X) n Y m Z nm ) Is of the coordinates (x n ,y m ) Geodetic coordinates of the image counterpart of (a); f is the focal length of the camera; lambda and delta are normal numbers, are the safe distance between the robot and the obstacle, and are determined by the training module through learning; min { } is the minimum value;
a 1 ＝cosφ·cosκ
a 2 ＝cosω·sinκ+sinω·sinφ·cosκ
a 3 ＝sinω·sinκ-cosω·sinφ·sinκ；
b 1 ＝-cosφ·sinκ；
b 2 ＝cosω·cosκ-sinω·sinφ·sinκ
b 3 ＝sinω·sinκ+cosω·sinφ·sinκ
c 1 ＝sinφ；
c 2 ＝-sinω·cosφ；
c 3 ＝cosω·cosφ；
the output layer (X-X N ),(Y-Y m ),(Z-Z K )。
Fig. 4 is a schematic diagram of a power supply system for supplying power to an artificial intelligent robot according to the present invention, fig. 5 is a schematic diagram of a composition of a receiving coil and a transmitting coil according to the present invention, and as shown in fig. 4 to 5, the artificial intelligent robot further includes a power module, wherein the module is a magnetically coupled power supply 6, and includes a receiving coil L2, which is a non-magnetic core coil, and is wound with a metal wire to form a cylindrical structure having a hollow portion, and is used for receiving power transmitted by a wireless charger when charging, and the wireless charger includes a transmitting coil L1, which is a coil having a magnetic core 68, and is wound with a metal wire around a portion of the magnetic core, and a diameter of the magnetic core 68 penetrating into the hollow portion of the receiving coil L2 is smaller than a diameter of the receiving coil L2 when wireless charging is performed. In the present invention, it is preferable that the wireless charger is fixed to a mechanism having a vertical mounting surface, and the height of the magnetic core is matched with the height of the receiving coil in the power supply of the robot, and when the robot needs to be charged, a part of the magnetic core is inserted into the receiving coil, so that the magnetic coupling degree of the transmitting coil and the receiving coil can be enhanced, and further, the charging efficiency can be increased.
In the present invention, the wireless charger further comprises an oscillator 61, a frequency divider 62, a first switching circuit, a second switching circuit, an inverter 63, a phase detection unit 64, an amplitude detection unit 66, a processor 65 and a communication unit 67, wherein the oscillator 61 is used for generating a signal with a fixed frequency; the frequency divider 62 is configured to divide the signal provided by the oscillator 61 and output an input terminal of the first switching circuit and the inverter 63, respectively; the inverter 63 is used for inverting the signal provided by the frequency divider 62 and providing the signal to the input end of the second switching circuit; the output end of the first switching circuit is connected to the first end of the sending coil L1 through a capacitor C2, and the output end of the second switching circuit is connected to the second end of the sending coil L1 through a capacitor C1; the phase detection unit 64 is for detecting the phase of the voltage of the transmitting coil L1; the amplitude detection unit 66 is configured to detect the amplitude of the voltage of the transmitting coil L1; the processor 65 determines, according to the phase signal provided by the phase detecting unit 64 and the amplitude signal provided by the amplitude detecting unit 66, whether the receiving coil L2 moves to a predetermined position on the magnetic core, that is, the processor 65 sends an instruction signal to the robot through the communication unit 67, and the robot operates after receiving the instruction, so that the receiving coil L2 is sleeved in the magnetic core 68 and moves along the magnetic core until the series resonance unit reaches the series resonance state.
In the invention, a first switch circuit comprises a P-channel field effect transistor Q1 and an N-channel field effect transistor Q2, wherein the gates of the N-channel field effect transistor Q2 and the P-channel field effect transistor Q1 are connected together to serve as an input end, the drain electrode of the P-channel field effect transistor Q1 is connected to a power supply V, and the source electrode is connected to the drain electrode of the N-channel field effect transistor Q2 and serves as an output end; the source of the N-channel field effect transistor Q2 is grounded. The second switching circuit comprises a P-channel field effect transistor Q3 and an N-channel field effect transistor Q4, the gates of the N-channel field effect transistor Q4 and the P-channel field effect transistor Q3 are connected together to serve as input ends, the drain electrode of the P-channel field effect transistor Q3 is connected to a power supply V, and the source electrode is connected to the drain electrode of the N-channel field effect transistor Q4 and serves as an output end; the source of the N-channel field effect transistor Q4 is grounded.
In the present invention, the magnetic coupling power supply of the robot further includes a diode bridge DB for full-wave rectification, an electrolytic capacitor C3, a charger 69, and a storage battery 70, the storage battery 70 being a rechargeable battery. The receiving coil L2 is magnetically coupled to the transmitting coil L1, and has a coupling coefficient M that varies with the relative positions of the transmitting coil L1 and the receiving coil L2. The input end of the diode bridge DB is connected to two ends of the receiving coil L2, for detecting the ac power induced by the receiving coil L2 to generate pulsating dc power, and the electrolytic capacitor C2 is used for filtering the pulsating dc power generated by the diode bridge DB and supplying the same to the charger 69. The charger 69 charges the direct current power to the storage battery. In the present invention, the charger 69 may include a boost circuit.
The working process of the magnetic coupling power supply provided by the invention is as follows: after the wireless charger is turned on, a signal of a set frequency output from the oscillator 61 is divided by the frequency divider 62 to 1/n, where n is an integer greater than or equal to 2. The frequency-divided signal of the set frequency outputted from the frequency divider 62 is applied to the input terminal of the first switching circuit and the inverter 63, respectively, and the inverter 63 inverts the signal supplied from the frequency divider to supply the input terminal of the second switching circuit, and the first switching circuit and the second switching circuit are inversely operated. That is, the first switch and the second switch have the P-channel field effect transistors Q1 and Q3 and the N-channel field effect transistors Q2 and Q4, respectively, and in the case of the high level, the P-channel field effect transistor Q1 and the N-channel field effect transistor Q4 are in the on state, and the N-channel field effect transistor Q2 and the P-channel field effect transistor Q3 are in the off state, so that the output of the first switch circuit is connected to the dc power supply V through the P-channel field effect transistor Q1 to be at the high level, and the output of the second switch circuit is connected to the ground through the N-channel field effect transistor Q4 to be at the low level. Thus, a current flows in the forward direction through the transmitting coil L1. When the inputs of the first and second switching circuits are reversed, the P-channel fet Q1 and the N-channel fet Q4 are turned off, and the N-channel fet Q2 and the P-channel fet Q3 are turned on, so that the output of the first switching circuit is grounded through the N-channel fet Q2 and becomes low, and the output of the second switching circuit 5B is connected to the dc power supply V through the P-channel fet Q3 and becomes high. Thus, a current flows in the opposite direction in the transmitting coil L1. In this way, when alternating current power (high frequency power) is supplied to the transmitting coil L1 by switching operations in which the first switching circuit and the second switching circuit are repeatedly alternately turned on and off based on a signal of a set frequency output from the oscillator 3, counter electromotive force is generated in the receiving coil L2 by electromagnetic coupling conduction. The ac power transmitted to the receiving coil L2 is full-wave rectified by the diode bridge DB, filtered by the electrolytic capacitor C3, and converted into dc power, and the dc power is supplied to the charger 69, and the charger 69 charges the battery 70 with power for the robot.
In the first switching circuit and the second switching circuit, the P-channel field effect transistors Q1 and Q3 and the N-channel field effect transistors Q2 and Q4 are not simultaneously turned on, and no through current is generated. In addition, since the drive control can be performed by only the voltage, no electric power is consumed during the control.
As described above, the transmitting coil L1 of the wireless charger and the receiving coil L2 of the receiving system are magnetically coupled to transmit electric power in a contactless and noncontact manner. In the electroless charger, capacitors C1, C2 are connected in series with a transmitting coil L1, a direct-current voltage supplied to the transmitting coil L1 is converted into an alternating-current voltage and boosted, and the capacitors C1, C2 and the transmitting coil L1 constitute an integral series resonant circuit including a primary series resonant circuit (primary series resonant circuit excluding a mutual inductance M caused by a receiving coil L2) and a mutual inductance M caused by the receiving coil L2, and alternating-current power is supplied to the transmitting coil L1 via the capacitors C1, C2. In the present invention, the capacitors C1, C2 and may also be provided between the first switching circuit and the connection terminal of the transmitting coil L1. According to the invention, the capacitors are respectively arranged in the branches of the output ends of the first switch circuit and the second switch circuit, which are connected with the transmitting coil, so that the voltage resistance of the capacitors can be increased, and the weight of the magnetic coupling electric energy transmitter can be reduced. In the present invention, the resonance point of the series resonance circuit including the mutual inductance M of the receiving coil L2 is set as: higher than the frequency of the resonance point of the primary series resonant circuit constituted by the primary coil L1 and the capacitors C1, C2.
In the present invention, since the oscillation frequency of the oscillator 61 is set so that the oscillation frequency of the divided signal outputted from the frequency divider 62 becomes the resonance frequency of the series resonant circuit including the mutual inductance M of the receiving coil L2, and the primary series resonant circuit and the series resonant circuit are driven by the first switch circuit and the second switch circuit, when no robot charge exists, only a minute current flows in the transmitting coil L1 because of a large shift from the resonance point of the primary resonant circuit. On the other hand, when there is charging of the robot, the robot moves back and forth on the magnetic core with its receiving coil L2, and when the series resonant circuit resonates, a large current flows through the transmitting coil L1. Therefore, the magnetically coupled power transmitter can generate a large voltage in the transmission coil L1 by the boosting function of the capacitors C1 and C2 connected in series with the transmission coil L1, independently of the voltage of the power source or the signal source. In addition, due to the resonance characteristic of the series resonant circuit including the mutual inductance M of the receiving coil L2, only a minute current flows in the transmitting coil L1 when the robot is not charged, and only a large current flows in the robot when the robot is charged. Therefore, a high power transmission efficiency at a practical level can be achieved, and further, miniaturization, light weight, and power saving can be easily achieved.
In the invention, the receiving coil L2 is a non-magnetic core coil, and is wound by a metal wire to form a cylindrical structure with a hollow part; the transmitting coil L1 is a coil with a magnetic core, and is formed by winding a metal wire around a part of the magnetic core 68, and when the wireless charging is performed, the robot carries the receiving coil L2 to move back and forth on the magnetic core, so that the magnetic core 68 penetrates into the hollow part of the receiving coil L2. The metal wire is preferably a plurality of stranded copper wires or enameled wires.
In the invention, the wireless charger is used for charging the robot, and the receiving coil is a magnetic core-free coil, so that the weight of the robot can be reduced, and meanwhile, when the wireless charger is charged, the magnetic core of the wireless charger is inserted into the receiving coil of the robot, so that the magnetic coupling is strong, and the charging efficiency is high.
Fig. 6 is a block diagram of a servo motor provided by the present invention. In fig. 1, the motors M1 and M2 are permanent magnet synchronous motors. The constituent phases of the two motors are described by taking the motor M1 and its drive controller as an example. In the present invention, the motor M1 uses a non-salient pole surface magnet synchronous motor. The motor driver includes: a speed command generating unit 101, a speed computing unit 102, and a phase computing unit 103, wherein the speed command generating unit 101 generates a speed command ω from the running mechanism controller r Generating a speed command specifying the rotational speed of the motor M1The speed operation unit 102 makes the speed instruction generated by the speed instruction generation unit 101 +.>Multiplying half-pole number P/2 (P is the full-pole number) generates an angular velocity command expressed in terms of electrical angle>The angular velocity command->Is input to a phase operation unit (integrator) 103, a q-axis voltage calculation unit 104, and a correction value calculation unit 106. Phase operation unit 103 diagonal speed instruction->Performing an integration operation to generate a phase on the electric axis (dq axis)>The phase->Is input as a position command to the three-phase two-phase coordinate conversion unit 105 and the two-phase three-phase coordinate conversion unit 107.
Motor driver packageThe method comprises the following steps: a d-axis current instruction operation unit 109, a d-axis voltage calculation unit 110, a compensation unit 104, a conversion unit 1066, a first coordinate conversion unit 107, a second coordinate conversion unit 105, a converter 108, a current detector 113, and a current detector 114, wherein the current detectors 113 and 114 detect drive currents i of U-phase and V-phase of the motor ua 、i va And is input to the three-phase two-phase coordinate transformation unit 107. The three-phase two-phase coordinate transformation unit 107 converts the drive current i of two phases input from the current detectors 113 and 114 ua And i va Calculating the drive current i of the W phase wa Generating three-phase driving current based on the phase as position commandConverts it into control currents of d-axis and q-axis (d-axis current i da Current on q axis i qa ). d-axis current i da Current on q axis i qa Is input to correction value calculation section 106, and d-axis current i da Is input to the d-axis voltage calculation unit 110.
q-axis current i qa Is input to the d-axis current instruction operation unit 109 to generate a d-axis adjustment currentAdder 112 adjusts the d-axis current +.>And d-axis current command input from the operating mechanism controller shown in FIG. 1 +.>Adding to obtain d-axis current instruction +.>And is input to the d-axis voltage calculating unit 110. In the present invention, d-axis current command from operating mechanism controller +.>Is a specific motorLow rated current. In the present invention, the d-axis current instruction arithmetic unit 109 can determine the d-axis current instruction necessary for the current control by the d-axis voltage calculation unit 104, and thus the d-axis current instruction +_ from the operating mechanism controller>May be zero. d-axis voltage calculation unit 110 d-axis current instruction +.>Generating d-axis voltage +.>The d-axis voltage->D-axis disturbance voltage outputted by adder 15 and correction value calculating unit 106>Added to become d-axis voltageIs input to the two-phase three-phase coordinate conversion unit 105.
In the present invention, q-axis voltage calculation section 104 calculates a speed command for synchronous motor M1Induced electromotive force generated during rotation +.>The induced electromotive force->Is compensation and speed command->The voltage of the corresponding q-axis voltage is added withIn the multiplier 116, the q-axis disturbance voltage +_outputted from the correction value calculating unit 6>Added to become q-axis voltage +.>And is input to the two-phase three-phase coordinate transformation unit 105. Here, in the case where the motor M1 is a non-salient pole surface magnet motor, an electromotive force is induced +.>Represented by the formula:
in phi, phi a Is the magnetic flux density.
The two-phase three-phase coordinate conversion unit 105 is based on the phase as the position instructionThe voltage of the control two phases of the d-axis and the q-axis orthogonal thereto (d-axis voltage +.>q-axis voltage->) Voltage command converted into three phases (UVW) applied to synchronous motor M1 +.>The converter 108 is a so-called inverter, which is based on the 3-phase voltage command from the two-phase three-phase coordinate conversion unit 105>The generated pulse width modulated driving pulse signal makes the switch element conduct on/off operation, and generates and speedsInstruction->A 3-phase ac voltage of a corresponding frequency is supplied to the synchronous motor M1.
The modified value calculation unit 106 uses the speed instructionAnd the detected d-axis current i da Q-axis current i qa Calculating d-axis correction voltage for generating compensated d-axis voltage and q-axis voltage>q-axis correction voltage +.>As previously described, the d-axis interference voltage generated is +.>Input to adder 115, q-axis interference voltage +.>Input to adder 116. Here, in the case where the motor M1 is a non-salient pole surface magnet motor, the d-axis interference voltage +.>q-axis interference voltage->Represented by the following two formulas:
where La is the inductance component of d-axis and q-axis.
In the invention, according to the d-axis current command from the running mechanism controllerSynchronous control is performed by applying only a speed command omega from the running gear controller to the q-axis r Generated speed command->And from the speed command->The resulting position command, i.e. phase->Corresponding voltage command->No current control is performed.
As shown in FIG. 7, the control shaft is controlled by the method of d * The shaft being in accordance with the speed commandRotate to make the rotor magnet 117 to the speed command +.>D at the control shaft due to disturbance torque such as friction when rotating in the direction of (a) * In the case of a deviation of the d-axis of the shaft from the motor shaft, in the speed command +.>And rotor speed omega re Generating phase error theta err . In the future->And modification value calculation unit 106 detects q-axis current i using qa Calculated q-axis interference voltage +.>Q-axis voltage added by adder 116 +.>When supplied to the two-phase three-phase coordinate conversion unit 105 and applied to the motor M1, the actual applied voltage +_applied to the q-axis of the motor shaft>And the applied voltage v obtained as a theoretical value qa Is generated and the phase error theta is generated err Corresponding to the voltage error, the q-axis current i output from the three-phase two-phase coordinate transformation unit 107 qa A variation component of a magnitude corresponding to the voltage error occurs.
The following will specifically describe a case of a non-salient pole surface magnet motor. In the case of a non-salient pole surface magnet motor, the d-axis voltage v da And q-axis voltage v qa The relationship of (2) is represented by a voltage equation shown in the following formula:
where Ra is the winding resistance and p is the differential sign.
According to the above, the q-axis voltage is appliedAnd the applied voltage v obtained as a theoretical value qa Expressed by the following two formulas:
therefore, the voltage error v generated on the q-axis qe Expressed by the following formula:
here, whenWhen not generating voltage error v qe Does not need to detect the q-axis current i qa The method comprises the steps of carrying out a first treatment on the surface of the But whenVoltage error v qe = noteq 0, the q-axis current i needs to be detected qa . When the motor is stopped, the rotor magnet 17 is rotated by the disturbance torque to generate a voltage error v qe In the same way, the q-axis current i needs to be detected qa 。
Therefore, in the present invention, as shown in fig. 6, the motor driver is provided with the d-axis current instruction operation unit 109 including the adder 112. The d-axis current command operation unit 109 takes the detected q-axis current i converted and output only by the three-phase two-phase coordinate conversion unit 107 which is conventionally used qa The q-axis current i is monitored qa Calculating the d-axis current command from the running gear controllerD-axis adjusting current command for increasing/decreasing adjustment>Output of d-axis current command from adder 112 to d-axis voltage calculating unit 110>D-axis current command for automatically increasing/decreasing adjustment>Thereby, the d-axis voltage calculation unit 110 can generate the pull-up voltageD-axis voltage +.>
The d-axis current command calculation unit 109 may be configured as shown in fig. 8, for example. As shown in fig. 8, the d-axis current instruction operation unit 109 shown in fig. 6 may be constituted by: is input with the detected q-axis current i qa An absolute value circuit (ABS) 92 having an output of the bandpass filter 91 as an input, a time constant variable filter having an output of the absolute value circuit 92 as an input, and an output gain multiplier 94 having an output of the time constant variable filter as an input. The output of the output gain multiplier 94 is input to one input of an adder 112. The d-axis current command from the operating mechanism controller is input to the other input of the adder 112A band-pass filter 91 for filtering the q-axis current i qa The medium noise component and the steady deviation component are only variable component currents including positive and negative changes. The absolute value circuit 92 outputs a q-axis current i of positive and negative changes inputted from the band-pass filter 91 qa Absolute-valued variation component of (2) to generate absolute-valued q-axis current i qb And outputs it to a time constant variable filter. The time constant variable filter includes: an adder-subtractor 97, a variable gain unit 95, a multiplier 96, and an integrator 93. The adder-subtractor 97 converts the q-axis current i from the absolute value circuit 92 qb Subtracting the state quantity i of the time constant variable filter qf (which is the current integral value of the integrator 93) to obtain a deviation i qe And outputs it to one input of the variable gain unit 95 and the multiplier 96. The variable gain unit 95 output Gout is input to the other input terminal of the multiplier 96. The output of the multiplier 96 is input to the integrator 93.
In the present invention, the variable gain unit 95 is based on the input deviation i qe A circuit of variable gain of the output Gout, when the deviation i qe When larger, the variable gain unit 95 outputs Gout with a gain of a larger value, and when the deviation i is qe When smaller, the variable gain unit 95 outputs Gout with a gain of a smaller value.
Deviation i output from add-subtract arithmetic unit 97 qe The output Gout of the variable gain unit 97 is multiplied by a multiplier 96, and is input to an integrator 93 to be integrated to obtain a state quantity i qf Thus, by the above-described operation of the variable gain unit 95, the state quantity i qf Is variable and is in a state quantity i qf With increasing state quantity i qf The time constants are different in the case of reduction. The output gain multiplier 94 will be based on the deviation i qe State quantity i changing with different time constant qf And output gain k a Multiplying to generate d-axis adjustment current commandAdder 12 outputs d-axis adjustment current command generated by gain multiplier 94>D-axis current command from operating device controller +.>Adding the two values as a d-axis current command to the d-axis voltage calculation unit 10
In the present invention, when a disturbance torque is applied, as shown in fig. 7, the rotor magnet 117 is moved away from d * The direction of the axis rotates, the induced electromotive force changes, a voltage error occurs, and a q-axis current i with a large change is input from the three-phase two-phase conversion unit 107 to the d-axis current command calculation unit 109 qa . In the d-axis current instruction operation unit 109, such q-axis current i is extracted by the band-pass filter 91 qa Is not limited to a large variation component of (a). If the q-axis current i is detected initially qa Positive polarity, absolute value circuit 92 directly takes it as absolute value q-axis current i qb To the time constant variable filter. Time constant variable filter responds to input absolute q-axis current i qb Is to command d-axis current with a small time constantAnd rises sharply. D-axis adjusting current command of the rising change>In adder 112, d-axis current command from the operating-mechanism controller is +.>Added and inputted to the d-axis voltage calculating unit 110 to generate a corresponding d-axis voltage +.>By the d-axis current command->Generates a magnetic force to move the rotor magnet 117 toward d * Torque returned in the axial direction when d-axis current command +.>When the rotor magnet 117 rises to a certain value, the rotor magnet is moved to d * The torque returned in the axial direction overcomes the disturbance torque, and the rotor speed is d * The axial direction changes. As rotor speed is relative to d * The variation of the axis is reduced, the voltage error is eliminated, and the q-axis current i qa Absolute value q-axis current i qb Reduced, therefore, in the time constant variable filter, the q-axis current i is absolute valued in response qb Is changed to make d-axis current command +.>With a large time constant. D-axis adjusting current command of which the drop is changed in this way +.>Q-axis current command from operating mechanism controller +.>And (5) adding. In this process, when the disturbance torque disappears, the current command +.>Direction d of production * Torque returned in axial direction and rotor speed in d * The axial direction changes, thus again inducing a change in the induced electromotive force, producing a second q-axis current i qa . The polarity of the induced electromotive force in this case is opposite to that when the disturbance torque is applied, and thus the 2 nd q-axis current i is generated qa In the present example negative. The q-axis current i of the negative polarity qa Absolute value q-axis current i changed to positive polarity by absolute value circuit 92 qb And is input to a time constant variable filter. In the time constant variable filter, d-axis current command +.>With a small time constant. The rotor speed is then relative to d ＊ The change of axis disappears, the second q-axis current i qa Reducing, absolute value q-axis current i qb When the time constant variable filter is lowered, the d-axis adjustment current command is again made +.>Slowly decreasing with a larger time constant and eventually becoming 0.
In this way, in the d-axis current command calculation unit 109 shown in fig. 8, the d-axis current command from the running mechanism controller according to the disturbance torque can be automatically determined and executedD-axis adjusting current command for increasing/decreasing adjustment>Therefore, the shaft shift caused by the disturbance torque can be eliminated, the robustness against the disturbance can be improved, and the consumed electric power can be reduced.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (2)
1. A power supply system for an artificial intelligent robot, wherein the artificial intelligent robot comprises a servo motor and a power supply module, the servo motor comprising a motor driver and a motor, characterized in that the motor driver comprises a d-axis current instruction operation unit (109), a d-axis voltage calculation unit (010), a q-axis voltage calculation unit (104), a modification calculation unit (106), a first coordinate conversion unit (107), a second coordinate conversion unit (105), a converter (108), a first current detector (113) and a second current detector (114), wherein the first current detector (113) and the second current detector (114) detect a U-phase and a V-phase current i, respectively, input to the motor ua And i va And input to a first coordinate transformation unit for transformation to generate q-axis current i qa And d-axis current i da The method comprises the steps of carrying out a first treatment on the surface of the The d-axis current calculation unit calculates the q-axis current i qa Generating d-axis adjustment currentThe d-axis voltage calculation unit adjusts +.>And the input d-axis current command +.>Generating d-axis voltage->A q-axis voltage calculation unit (104) instructs +/according to the angular velocity>Generating q-axis voltage>The adjusting unit adjusts the current i according to the q-axis qa Current of d axis i da And angular velocity command->Generating a voltage for adjusting the q-axis +.>And d-axis voltage>Q-axis adjustment voltage +.>And d-axis adjustment voltage +.>And->Addition generates->And->Addition generationThe second coordinate conversion unit is dependent on the current +>And->Generate->And->The power module is a magnetic coupling power supply, the magnetic coupling power supply comprises a receiving coil L2, the receiving coil L2 is a non-magnetic core coil, a cylindrical structure with a hollow part is formed by winding metal wires in a fitting mode, the receiving coil L1 is used for receiving electric energy sent by a wireless charger during charging, the wireless charger comprises a sending coil L1, the sending coil L1 is a coil with a magnetic core, the receiving coil L1 is formed by winding metal wires on a part of the magnetic core, and the diameter of the magnetic core penetrating into the hollow part of the receiving coil L2 is smaller than the diameter of the receiving coil L2 during wireless charging;
the wireless charger further comprises an oscillator, a frequency divider, a first switch circuit, a second switch circuit, an inverter, a phase detection unit, an amplitude detection unit, a processor and a communication unit, wherein the oscillator is used for generating a signal with fixed frequency; the frequency divider is used for dividing the frequency of the signal provided by the oscillator and respectively outputting an input end of the first switch circuit and the inverter; the inverter is used for inverting the signal provided by the frequency divider and providing the signal to the input end of the second switching circuit; the output end of the first switching circuit is connected to the first end of the sending coil L1 through a capacitor C2, and the output end of the second switching circuit is connected to the second end of the sending coil L1 through a capacitor C1; the phase detection unit is used for detecting the phase of the voltage of the transmitting coil L1; the amplitude detection unit is used for detecting the amplitude of the voltage of the transmitting coil L1; the processor determines whether the receiving coil L2 moves to a preset position on the magnetic core according to the phase signal provided by the phase detection unit and the amplitude signal provided by the amplitude detection unit, namely, the processor sends an instruction signal to the robot through the communication unit, and the robot operates after receiving the instruction, so that the receiving coil L2 is sleeved into the magnetic core and moves along the magnetic core until the series resonance unit reaches a series resonance state;
the first switching circuit comprises a P-channel field effect transistor Q1 and an N-channel field effect transistor Q2, wherein the gates of the N-channel field effect transistor Q2 and the P-channel field effect transistor Q1 are connected together to serve as input ends, the drain electrode of the P-channel field effect transistor Q1 is connected to a power supply V, and the source electrode is connected to the drain electrode of the N-channel field effect transistor Q2 and serves as an output end; the source electrode of the N channel field effect transistor Q2 is grounded; the second switching circuit comprises a P-channel field effect transistor Q3 and an N-channel field effect transistor Q4, the gates of the N-channel field effect transistor Q4 and the P-channel field effect transistor Q3 are connected together to serve as input ends, the drain electrode of the P-channel field effect transistor Q3 is connected to a power supply V, and the source electrode is connected to the drain electrode of the N-channel field effect transistor Q4 and serves as an output end; the source of the N-channel field effect transistor Q4 is grounded.
2. The power system for an artificial intelligence robot of claim 1, further comprising a control system including a camera for acquiring an image of an environment, wherein the control system further comprises an artificial intelligence module comprising: the system comprises an operation instruction input module, an image input module, a neural network, a path planning module and a training module, wherein the data input module is configured to receive operation instruction information sent by a user handheld controller; the image input module is configured to receive image information shot by the camera; the path planning module is configured to generate control information for controlling the motor driver according to the operation instruction information generated by the operation instruction input module or receive the robot path information generated by the neural network to generate the control information for controlling the motor driver; the training module is configured to obtain learning data from the path planning module and provide the learning data to the neural network for learning by the neural network.
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