Research On Multi-Axis Driving Technology Of Integrated Control And Drive Robot

At present most of robot control system adopted "controller + drive" distributed control for multi-axis linkage of equipment to provide real-time control,the control mode is done inside the controller command explanation,interpolation algorithm,send position instructions to servo drives through the bus way,servo drives three-ring complete motor drive function.In this distributed architecture,the motion controller and the servo driver are independent of each other.However,in the process of robot motion,not only are the joints themselves subjected to external forces including gravity and friction force,but also the forces between the joints in different positions and positions affect each other.Due to the complex stress distribution of robot joint,and each joint motion inertia real-time change in different locations,if adopts the form of the traditional "controller + drive",drives the shaft will independently using their own way of the error of the multistage PID adjustment to complete position control,it is difficult to meet the requirements of robot trajectory precision of some high,fast dynamic response of application scenarios.This paper first summarizes the advantages and application significance of the development of robot control system integrating control and drive,then analyzes and studies the advantages and disadvantages of the distributed robot control system and the robot control system integrating control and drive respectively,and focuses on the robot control system integrating control and drive.This paper studies the multi-axis synchronous drive strategy in the robot control system,introduces the single-axis vector control and multi-axis synchronous drive strategy,and realizes the multi-axis servo drive function with as few resources as possible.Secondly,the three-loop control algorithm of control and drive integration is studied,including current feedforward compensation based on dynamics and PID parameter self-tuning method.Finally,based on SoC chip,the solution of industrial robot control and drive system is proposed,and the functional modules are developed.The robot control system with integrated control and drive was built to test the SCARA four-axis robot,and the multi-axis driving of the robot control system with integrated control and drive was verified.At the same time,the experiment of current compensation based on dynamics is carried out to verify the effectiveness of the current feedforward algorithm based on dynamics.