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CN-121984379-A - Cooperative control system and method for executing mechanism

CN121984379ACN 121984379 ACN121984379 ACN 121984379ACN-121984379-A

Abstract

The invention relates to a cooperative control system and method of an actuating mechanism, wherein the system comprises a controller, a first motor driving module, a second motor driving module, a current sampling module, a position feedback module and a load driving module, wherein the controller is configured to allow the load driving module to start pumping after determining that the first motor enters a target mechanical clamping state based on a current signal of the first motor, continuously monitor disturbance characteristics introduced by pumping operation in the current signal of the first motor during pumping operation, dynamically correct the confidence coefficient of the target mechanical clamping state based on a consistency relation between the disturbance characteristics and a reference response formed in the target mechanical clamping state, and control to stop pumping operation when the corrected confidence coefficient is lower than a maintenance threshold value, and further restrict the pumping operation state based on position information and working current of the second motor. By adopting the scheme, the operation reliability, the safety and the overall stability can be improved.

Inventors

  • LIU HUAN

Assignees

  • 溯洄(宁波)智能科技有限公司

Dates

Publication Date
20260505
Application Date
20260122

Claims (10)

  1. 1. An actuator coordinated control system, comprising: A controller; A first motor driving module for driving the first motor to form a target mechanical clamping state; the second motor driving module is used for driving the second motor to execute displacement action or be in a stressed standby state; The current sampling module is used for collecting working currents of the first motor and the second motor and outputting current signals to the controller; the position feedback module is used for acquiring the position information of the second motor; the load driving module is used for controlling the running state of the pump; The controller is configured to allow the load driving module to start pumping after determining that a first motor enters the target mechanical clamping state based on a current signal of the first motor, continuously monitor disturbance characteristics introduced by the pumping operation in the current signal of the first motor during the pumping operation, dynamically correct the confidence that the first motor is in the target mechanical clamping state based on a consistency relation between the disturbance characteristics and a reference response formed in the target mechanical clamping state, and control the load driving module to stop the pumping operation when the corrected confidence is lower than a maintenance threshold value, and restrict the pumping operation state based on position information and working current of a second motor during the pumping operation.
  2. 2. The actuator coordinated control system of claim 1, wherein the controller continuously samples the operating current of the first motor and extracts time series characteristics reflecting current transient and steady state change characteristics over at least two different time scales, and when the transient characteristics are detected to occur prior in time to the steady state characteristics and the steady state characteristics exhibit a continuous upward shift relative to a no-load current baseline of the first motor and remain within a preset fluctuation range, determining that the first motor transitions from a no-load motion state to a steady-force target mechanical clamping state.
  3. 3. The actuator coordinated control system of claim 1, wherein after allowing the pump operation, the controller is configured to perform time-domain or frequency-domain feature extraction on a disturbance response of a first motor operating current based on a disturbance introduced by the pump operation and construct a feature vector representing a current disturbance response, project the feature vector into a disturbance response reference subspace established in advance in a target mechanical clamping state, and calculate a projected energy ratio of the feature vector in the reference subspace, and determine that the current dynamic response of the first motor has deviated from maintaining the dynamic consistency of the target mechanical clamping state when the projected energy ratio is lower than a preset proportional threshold, and accordingly reduce the reliability of the first motor maintaining the target mechanical clamping state.
  4. 4. The actuator cooperative control system of claim 1, wherein the controller calculates an electrical energy input variable and a corresponding mechanical displacement variable of the second motor during the pumping operation in a continuous period of time, determines a mechanical stress transfer efficiency of the second motor based on an energy conversion relationship between the electrical energy input variable and the mechanical displacement variable, and generates an operation risk index representing an abnormal mechanical stress accumulation tendency when the mechanical stress transfer efficiency is non-physically abrupt, continuously decreased, or inconsistent with a historical operation model in the continuous period of time.
  5. 5. The cooperative control system of claim 1, wherein the controller determines a cooperative steady state reflecting a cooperative operation capability of the first motor, the second motor, and the pump based on a confidence level of the first motor in a target mechanical clamping state and an abnormal risk assessment result of the second motor, and synchronously adjusts a clamping maintenance strategy of the first motor and an operation strength of the pump with the cooperative steady state as an intermediate control variable, forming a coupled negative feedback control relationship with the cooperative steady state as a core among the plurality of actuators.
  6. 6. The actuator cooperative control system according to claim 5, wherein the controller is configured to determine an effective gripping capacity level of the first motor based on a confidence level of the target mechanical gripping state, and determine a disturbance level of the pump output stability by the second motor operation abnormality based on the abnormality risk evaluation result, and determine a theoretical gripping function output that the first motor can provide under a current condition based on the effective gripping capacity level, and determine an actual available power supply that the pump can stably output under the influence of the abnormality risk of the second motor based on the disturbance level, input the theoretical gripping function output and the actual available power supply into a preset function-supply matching model as a function realization margin, acquire a history sequence of the function realization margin within a latest time window, calculate a trend and a fluctuation strength of the margin based on the sequence, obtain a trend stability factor, synthesize the function realization margin and the trend stability factor under the current condition, and generate the first cooperative operation index and the second cooperative operation stability index.
  7. 7. The actuator coordinated control system of claim 1, wherein the pump is a fluid pump driven by the second motor, the fluid pump, when operated, introducing a fluid pressure or mechanical counter force as an external disturbance source affecting the gripping state and operational stability of the first motor; The load driving module comprises a power switching device, and the power switching device is used for driving a motor corresponding to the pump at a high side or a low side so as to control the start-stop or operation intensity of the pump.
  8. 8. The actuator cooperative control system according to claim 1, wherein the first motor driving module and/or the second motor driving module includes an H-bridge driving circuit for implementing forward and reverse rotation control and driving strength adjustment of the first motor and/or the second motor; The current sampling module comprises a sampling resistor arranged in the first motor and/or the second motor driving loop and an amplifying circuit electrically connected with the sampling resistor, and the amplifying circuit is used for amplifying voltage signals at two ends of the sampling resistor and outputting the voltage signals to the controller.
  9. 9. The actuator coordinated control system of claim 1, further comprising: The power management module is used for respectively converting an external input power source into power sources for driving the first motor, the second motor and the pump, and logic power sources for the controller, the current sampling module and the position feedback module so as to realize isolation power supply between the power level and the control level.
  10. 10. A cooperative control method for an actuator, applied to the cooperative control system for an actuator according to any one of claims 1 to 9, the method comprising: driving a first motor to operate, and sampling the working current of the first motor; Determining whether the first motor enters a target mechanical clamping state based on a current signal of the first motor; After the first motor is judged to enter a target mechanical clamping state, pumping is allowed to start; continuously monitoring disturbance characteristics introduced by the pumping operation in a current signal of the first motor during the pumping operation, and dynamically correcting the confidence level of the first motor in a target mechanical clamping state based on a consistency relation between the disturbance characteristics and a reference response in the target mechanical clamping state; Stopping the pumping operation when the corrected confidence level is lower than a maintenance threshold value; During operation of the pump, the operating state of the pump is constrained based on the position information of the second motor and the operating current.

Description

Cooperative control system and method for executing mechanism Technical Field The invention relates to the technical field of motor control, in particular to a cooperative control system and method for an actuating mechanism. Background In devices involving fluid ejection, flushing, suction, or pressure delivery, it is often necessary to perform mechanical actions such as clamping, positioning, pushing, etc. by means of a motor-driven actuator, and to implement delivery of fluid energy in conjunction with a high-power load such as a pump. Such systems are widely used in the fields of medical instruments, industrial cleaning equipment, automated end effectors, and the like. In the existing scheme, a common control scheme generally adopts a mode of independently controlling a single motor or a plurality of execution mechanisms, namely, the clamping motor, the displacement motor and the pump are respectively started and stopped or speed-regulating controlled. The scheme often relies on a travel switch, a limit sensor or simple current threshold judgment to realize basic action sequence control, and cannot sense the motor load in real time. Therefore, a technical solution that can cooperatively control multiple actuators and loads in the same control system is needed to realize comprehensive evaluation and dynamic constraint on the clamping state, the displacement state and the pumping operation state, so as to improve the overall safety, stability and reliability. Disclosure of Invention The embodiment of the invention provides a cooperative control system and a cooperative control method for an execution mechanism, which are used for improving the running reliability, the safety and the overall stability. The purpose of the invention is realized in the following way: An actuator coordinated control system comprising: A controller; A first motor driving module for driving the first motor to form a target mechanical clamping state; the second motor driving module is used for driving the second motor to execute displacement action or be in a stressed standby state; The current sampling module is used for collecting working currents of the first motor and the second motor and outputting current signals to the controller; the position feedback module is used for acquiring the position information of the second motor; the load driving module is used for controlling the running state of the pump; The controller is configured to allow the load driving module to start pumping after determining that a first motor enters the target mechanical clamping state based on a current signal of the first motor, continuously monitor disturbance characteristics introduced by the pumping operation in the current signal of the first motor during the pumping operation, dynamically correct the confidence that the first motor is in the target mechanical clamping state based on a consistency relation between the disturbance characteristics and a reference response formed in the target mechanical clamping state, and control the load driving module to stop the pumping operation when the corrected confidence is lower than a maintenance threshold value, and restrict the pumping operation state based on position information and working current of a second motor during the pumping operation. In one embodiment, the controller continuously samples the working current of the first motor, extracts time sequence features reflecting current transient change characteristics and steady state change characteristics under at least two different time scales, and determines that the first motor is converted from a no-load motion state to a target mechanical clamping state with stable stress when the transient features are detected to appear before the steady state features in time and the steady state features continuously move upwards relative to a no-load current baseline of the first motor and are kept in a preset fluctuation range. In one embodiment, after the pumping operation is allowed, the controller is configured to perform time domain or frequency domain feature extraction on the disturbance response of the working current of the first motor based on the disturbance introduced by the pumping operation, and construct a feature vector representing the current disturbance response, project the feature vector into a disturbance response reference subspace which is pre-established in a target mechanical clamping state, calculate the projected energy ratio of the feature vector in the reference subspace, and determine that the current dynamic response of the first motor deviates from the dynamic consistency of maintaining the target mechanical clamping state when the projected energy ratio is lower than a preset proportion threshold, and accordingly reduce the reliability of maintaining the target mechanical clamping state of the first motor. In one embodiment, the controller calculates an electrical energy input variable quantity and a corresponding