Title:
TORQUE CONTROL METHOD AND APPARATUS, TERMINAL DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/179131
Kind Code:
A1
Abstract:
Provided are a torque control method and apparatus, a terminal device, and a storage medium. The method comprises: establishing a nominal dynamics model of a series elastic actuator (S101); obtaining a real-time disturbance quantity by means of a disturbance observer according to the nominal dynamics model, a current value input by a motor at the current time point, and an output torque of the series elastic actuator at the current time point (S102); obtaining a feedforward dynamics model by means of a feedforward compensator according to the nominal dynamics model and a scaling coefficient of rotational inertia of the motor (S103); obtaining a feedforward compensation amount according to the feedforward dynamics model and a desired output torque of the series elastic actuator (S104); and obtaining a desired current value and outputting the desired current value to the motor according to the real-time disturbance quantity, the feedforward compensation amount, and an ideal current value obtained by means of a proportional-differential controller (S105). The dynamic response performance can be improved, the control precision and the robustness of external disturbance are ensured, the stability is improved, and an algorithm is simple.
Inventors:
ZHAO WEN (CN)
ZHAO MINGGUO (CN)
XIONG YOUJUN (CN)
ZHAO MINGGUO (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2021/124622
Publication Date:
September 01, 2022
Filing Date:
October 19, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
G05D17/02
Foreign References:
| CN112987812A | 2021-06-18 | |||
| CN112199833A | 2021-01-08 | |||
| CN108873686A | 2018-11-23 | |||
| CN109358510A | 2019-02-19 | |||
| CN110561427A | 2019-12-13 | |||
| CN112394637A | 2021-02-23 | |||
| US20110190934A1 | 2011-08-04 |
Other References:
OH SEHOON, KONG KYOUNGCHUL: "High-Precision Robust Force Control of a Series Elastic Actuator", IEEE/ASME TRANSACTIONS ON MECHATRONICS, vol. 22, no. 1, 1 February 2017 (2017-02-01), US , pages 71 - 80, XP055961609, ISSN: 1083-4435, DOI: 10.1109/TMECH.2016.2614503
MEHLING JOSHUA S.; HOLLEY JAMES; O'MALLEY MARCIA K.: "Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators", 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 28 September 2015 (2015-09-28), pages 1646 - 1651, XP032831809, DOI: 10.1109/IROS.2015.7353588
LEE CHAN; OH SEHOON: "Robust assistive force control of leg rehabilitation robot", 2017 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 3 July 2017 (2017-07-03), pages 634 - 638, XP033144388, ISBN: 978-1-5090-5998-0, DOI: 10.1109/AIM.2017.8014088
CALANCA ANDREA, FIORINI PAOLO: "A Rationale for Acceleration Feedback in Force Control of Series Elastic Actuators", IEEE TRANSACTIONS ON ROBOTICS, vol. 34, no. 1, 1 February 2018 (2018-02-01), US , pages 48 - 61, XP055961610, ISSN: 1552-3098, DOI: 10.1109/TRO.2017.2765667
LEE HYUNWOOK; KWAK SUHUI; OH SEHOON: "Force Control of Series Elastic Actuators-Driven Parallel Robot", 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 21 May 2018 (2018-05-21), pages 1 - 5, XP033403268, DOI: 10.1109/ICRA.2018.8460768
LIU WEIYING: "Design of Series Elastic Actuator System for the Assistive Limb", CHINESE MASTER'S THESES FULL-TEXT DATABASE, 1 June 2014 (2014-06-01), pages 1 - 70, XP055961612
MEHLING JOSHUA S.; HOLLEY JAMES; O'MALLEY MARCIA K.: "Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators", 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 28 September 2015 (2015-09-28), pages 1646 - 1651, XP032831809, DOI: 10.1109/IROS.2015.7353588
LEE CHAN; OH SEHOON: "Robust assistive force control of leg rehabilitation robot", 2017 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 3 July 2017 (2017-07-03), pages 634 - 638, XP033144388, ISBN: 978-1-5090-5998-0, DOI: 10.1109/AIM.2017.8014088
CALANCA ANDREA, FIORINI PAOLO: "A Rationale for Acceleration Feedback in Force Control of Series Elastic Actuators", IEEE TRANSACTIONS ON ROBOTICS, vol. 34, no. 1, 1 February 2018 (2018-02-01), US , pages 48 - 61, XP055961610, ISSN: 1552-3098, DOI: 10.1109/TRO.2017.2765667
LEE HYUNWOOK; KWAK SUHUI; OH SEHOON: "Force Control of Series Elastic Actuators-Driven Parallel Robot", 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 21 May 2018 (2018-05-21), pages 1 - 5, XP033403268, DOI: 10.1109/ICRA.2018.8460768
LIU WEIYING: "Design of Series Elastic Actuator System for the Assistive Limb", CHINESE MASTER'S THESES FULL-TEXT DATABASE, 1 June 2014 (2014-06-01), pages 1 - 70, XP055961612
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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