METHOD FOR CONTROLLING AN ACTUATION ASSEMBLY

Abstract

Method for controlling an electric actuation assembly (1), the method comprising the following steps:

applying a plurality of known first output forces and recording a plurality of first input intensities for a first movement direction of the output;

establishing, by interpolation, a first characteristic function;

applying a plurality of second known output torques and recording (2) a plurality of second input currents for a second movement direction of the output opposite to the first direction;

establishing, by interpolation, a second characteristic function;

establishing, on the basis of the first characteristic function, the second characteristic function, a magnetic constant of the motor (11) and a reduction ratio of a gearbox (12), and a control correction coefficient;

controlling the actuation assembly (1) by applying the control correction coefficient.

Claims

1. Method for controlling an electric actuation assembly (1), comprising a current controller (2) connected to an actuator (10), the actuator (10) comprising a motor (11) coupled with a gearbox (12) having a known reduction ratio, the actuation assembly (1) being provided with an output (13), the method comprising the following steps: applying a plurality of first known output forces on the output (13) of the actuation assembly and recording using the current controller (2), a plurality of associated first input intensities to be applied at the input of the actuation assembly (1) to obtain a balance of the actuation assembly (1) in a first direction of the output (13); establishing, by interpolation, a first characteristic function of the actuation assembly (1) linking a controlled intensity at the input of the actuation assembly (1) and a force obtained at the output of the actuation assembly (1); applying a plurality of second known output sources on the output (13) of the actuation assembly (1) and recording, using the current controller (2), a plurality of associated second input intensities to be applied at the input of the actuation assembly (1) to obtain a balance of the actuation assembly (1) in a second direction of the output (13) opposite to the first direction; establishing, by interpolation, a second characteristic function of the actuation assembly (1) linking a controlled current at the input of the actuation assembly (1) and a force obtained at the output (13) of the actuation assembly (1); establishing, on the basis of the first characteristic function of the actuation assembly (1), the second characteristic function of the actuation assembly (1) of a magnetic constant of the motor (11) and of the reduction ratio of the gearbox (12), a control correction coefficient intended to be applied by multiplication to a control input value; controlling the actuation assembly (1) by applying the control correction coefficient.

2. Method according to claim 1, wherein, the first characteristic function being a linear function which is written in the form
Csd(Ie)=a1*Ie+b1 Where: a1 and b1 are constants determined by interpolation, Csd is the force obtained at the output of the actuation assembly (1) for a movement of the output (13) in the first direction, Ie is an intensity applied at the input of the actuation assembly (1), the second characteristic function being a linear function which is written in the form:
Csi(Ie)=a2*Ie+b2 Where: a2 and b2 are constants determined by interpolation, Csi is the force obtained at the output of the actuation assembly (1) for a rotation of the output (13) in the second direction, Ie is an intensity applied at the input of the actuation assembly (1), the step of establishing a control correction coefficient comprises the calculation of the correction coefficient as follows: $\begin{matrix} = \frac{i^{- 1} * \sqrt{B^{- 1} * (a 1 * a 2)}}{K} & [Math 1] \end{matrix}$ Where: B is a skewness coefficient which is calculated as follows: $\begin{matrix} B = \frac{R d}{R i} & [Math 2] \end{matrix}$ with Rd: theoretical yield of the gearbox when the output charge of the gearbox is resistant; Ri: theoretical yield of the gearbox when the output charge of the gearbox is motive i is the reduction ratio K is the electromagnetic constant is the control input correction coefficient.

3. Method according to claim 1, wherein, the first gearbox (12) comprising a strain wave gearing (30) defined by first construction parameters which comprise a first deformable outer ring shape, a first number of deformable outer ring teeth, a first toothing profile, a second number of inner ring teeth, the method comprises a preliminary calibration step comprising the following steps: selecting a second gearbox (40) defined by second construction parameters identical to the first construction parameters; establishing a third characteristic function of the second gearbox (40) linking a force applied at the input of the second gearbox (40) and a force obtained at the output of the second gearbox (40) for a movement of an output of the second gearbox (40) in a third direction; establishing a fourth characteristic function of the second gearbox (40) linking a force applied at the input of the second gearbox (40) and a force obtained at the output of the second gearbox (40) for a movement of an output of the second gearbox (40) in a fourth direction opposite to the third direction; determining a plurality of pairs of values such that:
x1-(1/i)*F3(x1)=F4(x2)-i*x2 wherein x1 is a first abscissa x2 is a second abscissa i is the reduction ratio F3 (x1) is the third characteristic function; F4 (x2) is the fourth characteristic function; interpolating a fifth function for determining the second abscissa according to the first abscissa in the form of a polynomial function of degree 2 being written:
x2=*x1.sup.2+*x1+, Where , and are constants determined by interpolation, the first characteristic function being established in the form of a polynomial function of degree 2 which is written in the form
Csd(Ie)=a1*Ie.sup.2+b1*Ie+c1 Where: a1, b1 and c1 are constants determined by interpolation; Csd is the forced obtained at the output of the actuation unit (1) for a movement of the output of the second gearbox (40) in the third direction, Ie is an intensity applied at the input of the actuator, the second characteristic function being established in the form of a polynomial function of degree 2 which is written in the form
Csi(Ie)=a2*Ie.sup.2+b2*Ie+c2 Where: a2, b2 and c2 are constants determined by interpolation; Csi is the force obtained at the output of the actuation unit (1) for a movement of the output of the second gearbox (40) in the fourth direction, Ie is a current applied at the input of the actuator, the step of establishing a control correction coefficient comprises a step of adjusting the control coefficient so as to minimise the following sum of squares of deviations between the sixth and the seventh function: $\begin{matrix} F 6 (X) = a^{} 2 * X^{2} + b^{} 2 * X + c^{} 2 & [Math 3] \end{matrix}$ $\begin{matrix} F 7 (X) = (* i -^{- 1} *^{- 1} * a^{} 1) * X + 0.5 *^{- 1} * (i +^{- 1} * *^{- 2} * a^{} 1 -^{- 1} * b^{} 1) * (\sqrt{^{2} - 4 * * (- * X)} -) +^{- 1} *^{- 2} * a^{} 1 * - c^{} 1 & [Math 4] \end{matrix}$ Where: i is the reduction ratio is the control input correction coefficient.

4. Method according to any one of the preceding claims, wherein the actuator (10) is a rotary output actuator (13).

5. Method according to any one of claims 1 to 3, wherein the actuator (10) is a linear output actuator (13).

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Reference will be made to the accompanying drawings, among which:

[0065] FIG. 1 is a schematic representation of an actuation assembly according to a first embodiment of the invention;

[0066] FIG. 2 is a schematic representation of a first table and a second table of output torque values of the actuation assembly of FIG. 1 according to an input intensity;

[0067] FIG. 3 is a schematic representation of a transfer diagram of the actuation assembly of FIG. 1;

[0068] FIG. 4 is a schematic representation of a third table and a fourth table of output torque values of the actuation assembly of FIG. 1 according to a corrected input intensity;

[0069] FIG. 5 is a schematic representation of a second strain wave gearing gearbox according to a second embodiment of the invention;

[0070] FIG. 6 is a schematic representation of a test bench;

[0071] FIG. 7 is a schematic representation of a fifth table of output torque values for a first movement direction of the output of an actuation assembly according to a second embodiment of the invention according to an input intensity;

[0072] FIG. 8 is a schematic representation of a sixth table of output torque values for a second movement direction of the output of an actuation assembly according to a second embodiment of the invention according to an input intensity;

[0073] FIG. 9 is a schematic representation of a seventh table of first abscissa values according to the second indirect abscissa.

DETAILED DESCRIPTION OF THE INVENTION

[0074] In reference to FIGS. 1 to 4, the control method according to the invention will be described in application to an actuation assembly generally referenced 1 and which comprises a digital servoamplifier 2 which is connected, on the one hand, to a current source 3 and, on the other hand, to an input 4 of an actuator 10. The servoamplifier 2 comprises a keypad 5 to enter a current setpoint and a setpoint display screen 6. The servoamplifier 2 also comprises an auxiliary socket making it possible to connect the servoamplifier 2 to a microcomputer-type electronic control unit 8.

[0075] The actuator 10 comprises a motor 11 connected to a gearbox 12, the rotary output 13 of which is connected to a drum 14. As is generally the case, the motor 11 and the gearbox 12 are delivered already assembled in the form of an assembly also called geared motor. The motor 11 has an indicative electromagnetic constant K.sub.11 and the gearbox 12 is, according to a first embodiment of the invention, a linear transfer characteristic gearbox, in this case, a gear train gearbox, of known reduction ratio i.

[0076] According to a first step of the method, a first known mass Md1 is applied at the end 20 of a cable 21 wound over the drum 14. The input intensity of the servoamplifier 2 is then adjusted to obtain a balance of the actuation unit 1, namely a movement of the output 13 in a first direct direction Sd (in this case, a clockwise direction according to the representation of FIG. 1) at a constant speed considered as low. A speed is considered as low in the sense of the patent application, when it is less than or equal to a top speed above which the speed starts to have a detectable impact on the friction. By definition, below this speed, the friction only depends on the charge on the parts which are movable in contact (therefore, on the force transmitted). Typically, a speed is considered low when it is less than 10% of the nominal speed of the gearbox. The first direct direction corresponds, in this case, to an energy transfer of the motor 11 to the charge (first mass Md1). The first input intensity Id1 corresponding to the mass Md1i.e. to a known torque Cd1is recorded.

[0077] The first step is repeated with different first masses Md2, Md3, Md4 and Md5. The first intensities Id2, Id3, Id4 and Id5 associated with the torques Cd2, Cd3, Cd4 and Cd5 are recorded. Thus, a first table 30 is obtained, giving the output torque Csd in the direct direction according to an input intensity read on the servoamplifier 2.

[0078] According to a second step, and using known interpolation methods, a first direct characteristic interpolated function Csd is established on the basis of first input intensities Id1 to Id5 and of first output torques Cd1 to Cd5 (FIG. 3).

[0079] In the case of a linear transfer characteristic actuator, the first direct characteristic interpolated function Csd can be written in the form of a linear function, as follows:

Csd(Ie)=a1*Ie+b1(1) [0080] Where: [0081] a1 and b1 are constants determined by interpolation,

[0082] Csd is the torque obtained at the output 13 of the actuator 10 in the direct direction,

[0083] Ie is an intensity applied at the input of the actuator and measured by the servoamplifier 2.

[0084] The third step of the method of the invention is similar to the first step, as it comprises the application of second known masses Mi1 to Mi5 at the end 20 of the cable 21 and the measurement of the input intensities of the servoamplifier 2 required to obtain a balance of the actuation unit 1, namely a movement of the output 13 in a second indirect direction Si (in this case, an anticlockwise direction according to the representation of FIG. 1) at a constant speed considered as low. The first input intensities Ii1 to Ii5 corresponding to the second masses Mi1 to Mi5i.e. to known torques Ci1 to Ci5are recorded. Thus, a second table 31 is obtained, giving the output torque Csi in the indirect direction according to an input intensity read on the servoamplifier.

[0085] According to a fourth step, and using known interpolation methods, a second indirect characteristic interpolated function Csi is established on the basis of second input intensities Ii1 to Ii5 and second output torques Ci1 to Ci5 (FIG. 3).

[0086] In the case of a linear transfer characteristic actuator, the second indirect characteristic interpolated function Csi can be written in the form of a linear function, as follows:

Csi(Ie)=a2*Ie+b2 [0087] Where: [0088] a2 and b2 are constants determined by interpolation, [0089] Csi is the torque obtained at the output of the actuator in the indirect direction, [0090] Ie is an intensity applied at the input of the actuator,

[0091] According to a fifth step, a correction coefficient is calculated as follows:

[00004] $\begin{matrix} = \frac{i^{- 1} * \sqrt{B^{- 1} * (a 1 * a 2)}}{K_{11}} & [Math 1] \end{matrix}$ [0092] Where: [0093] B is a skewness coefficient which is calculated as follows:

[00005] $\begin{matrix} B = \frac{R d}{R i} & [Math 2] \end{matrix}$ [0094] with [0095] Rd: theoretical yield of the gearbox when the output charge of the gearbox is resistant; [0096] Ri: theoretical yield of the gearbox when the output charge of the gearbox is motive; [0097] i is the reduction ratio of the first gearbox 12 [0098] K.sub.11 is the electromagnetic constant indicative of the motor 11 [0099] is the control input correction coefficient.

[0100] As an example, a gearing gearbox has a skewness coefficient B which is equal to 1. In the case of a gearbox comprising a screw/nut assembly, the skewness coefficient B is written as follows:

[00006] $\begin{matrix} B = \frac{R d}{R i} = \frac{\frac{(1 - * \tan^{})}{(1 + * \tan^{- 1}^{})}}{\frac{(1 - * \tan^{- 1}^{})}{(1 + * \tan^{})}} & [Math 5] \end{matrix}$ [0101] With [0102] : the sliding friction coefficient of the pair of materials of the screw and of the nut, or the bearing friction coefficient for a ball screw or roller screw; [0103] : the thread angle of the screw/nut assembly

[0104] According to a sixth step, a first direct corrected characteristic F1 is established. To do this, the intensities appearing in the first table 30 are corrected, by multiplication by the control input correction coefficient . A third corrected table 32 is obtained, which matches input intensity values applied by the servoamplifier 2 with an output torque Csd in the direct direction. It is thus possible to control the application of an accurate output torque of the actuation assembly 1 by the application of a determined current value. The correction made on the input axis makes it possible to have a more accurate direct direction corrected characteristic. The inaccuracies linked to the value of the electromagnetic constant K.sub.11 and to the inaccuracies of the servoamplifier 2 are compensated for by the control input correction coefficient . Thus, by using the first direct correct characteristic F1, it is possible to accurately associate an input intensity value with a balance torque applied at the output of the actuation assembly 1, and reciprocally.

[0105] According to a seventh step, a first indirect corrected characteristic F2 is established. To do this, the intensities appearing in the second table 31 are corrected, by multiplication by the control input correction coefficient . A fourth corrected table 31 is obtained, which matches input intensity values applied by the servoamplifier 2 with an output torque Csd in the indirect direction.

[0106] According to an eighth step, the first direct corrected characteristic F1 and the second indirect corrected characteristic F2 are utilised to control the actuation assembly 1, for example to compensate for the friction resulting from the charge and to obtain a quasi-proportional torque amplification law. According to a preferred embodiment, the first direct corrected characteristic F1 and the second indirect corrected characteristic F2 are entered into the control unit 8.

[0107] The elements identical or similar to those described above will have a numerical reference identical to that in the description below of a second embodiment of the invention.

[0108] According to a second embodiment of the invention, the first gearbox 12 comprises a strain wave gearing 30. The gearing 30 comprises an outer ring 31 comprising a first number of teeth Z31 having a first toothing profile. The gearing 30 comprises an inner ring 32 having a second number of teeth Z32. The first number of teeth Z31, the second number of teeth Z32 and the first toothing profile define the first construction parameters of the first gearbox 12.

[0109] According to a first step of a preliminary calibration phase, a second gearbox 40 defined by second construction parameters identical to the first construction parameters (same strain gearing form, same toothing profile, same number of inner ring teeth, same number of outer ring teeth) is placed on a test bench 60. The input shaft 41 and the output shaft 42 of the second gearbox 40 are respectively provided with an input drum 43 and an output drum 44.

[0110] According to a second step of the preliminary calibration phase, a third known mass Mds1 is applied at the end 50 of a cable 51 wound over the output drum 44. The fourth mass Mde1 to be applied to the end 52 of a cable 53 wound over the input drum 43 is thus experimentally determined, to obtain a balance of the second gearbox 40, namely a rotation of the output shaft 42 in a first direct direction Sd at a constant speed considered as low. The fourth direct input torque Cde1 generated by the fourth input mass Med1 and which corresponds to the third mass Msd1 (that is a third direct output torque Cds1) is recorded.

[0111] According to a third step of the preliminary calibration phase, the second step of the preliminary calibration phase is repeated with different third masses Msd2, Msd3, Msd4 and Msd5. The fourth direct input torques Ced2, Ced3, Ced4 and Ced5 associated with the third direct output torques Csd2, Csd3, Csd4 and Csd5 are recorded. Thus, a fifth table 34 is obtained, giving the third output torque Csd in the direct direction according to a fourth input torque Ced (FIG. 7).

[0112] According to a fourth step of the preliminary calibration phase, a third direct characteristic interpolated function F3 of the second gearbox 40 linking a torque Ced applied at the input of the second gearbox 40 and a torque Csd obtained at the output of the second gearbox 40 for a first direct direction Sd is established, based on the information from the fifth table 34.

[0113] According to a fifth step of the preliminary calibration phase, homologously and for an indirect rotation direction Si of the output shaft 42 opposite to the direct direction Sd, a sixth table 35 is established 30 by measurement, which associates fifth indirect output torques Csi1, Csi2, Csi3, Csi4 and Csi5 with sixth indirect input torques Cei2, Cei3, Cei4 and Cei5 (FIG. 8).

[0114] According to a sixth step of the preliminary calibration phase, a fourth indirect characteristic interpolated function F4 of the second gearbox 40 linking a torque Cei applied at the input of the second gearbox 40 and a torque Csi obtained at the output of the second gearbox 40 for a second indirect direction Si opposite to the first direct direction Sd is established, based on the information from the sixth table 35.

[0115] According to a seventh step of the preliminary calibration phase, a plurality of torques is determined, of values such that:

x1(1/i)*F3(x1)=F4(x2)i*x2 [0116] wherein [0117] x1 is a first direct abscissa [0118] x2 is a second indirect abscissa [0119] i is the first reduction ratio, identical to the second reduction ratio of the second gearbox 40. [0120] F3(x1) is the third direct characteristic interpolated function; [0121] F4(x2) is the fourth indirect characteristic interpolated function.

[0122] Thus, a seventh table 36 is obtained, giving the first direct abscissa x1 according to the second indirect abscissa x2 (FIG. 9).

[0123] According to an eighth step of the preliminary calibration phase, a fifth interpolated function for determining the second indirect abscissa x2 according to the first direct abscissa x1 is established, based on the information from the seventh table 36, in the form of a polynomial function of degree 2 being written:

X2=*x1.sup.2+*x1+, [0124] Where , and y are constants determined by interpolation.

[0125] The reproduction of the first and second steps of the method according to the first embodiment described above makes it possible to establish the first direct function interpolated function Csd in the form of a polynomial function of degree 2 which is written in the form

Csd(Ie)=a1*Ie.sup.2+b1*Ie+c1 [0126] Where: [0127] a1, b1 and c1 are constants determined by interpolation; [0128] Csd is the torque obtained at the output of the actuator in the direct direction, [0129] Ie is an intensity applied at the input of the actuator,

[0130] The reproduction of the third and fourth steps of the method according to the first embodiment described above makes it possible to establish the third indirect characteristic interpolated function in the form of a polynomial function of degree 2 which is written in the form

Csi(Ie)=a2*Ie.sup.2+b2*Ie+c2 [0131] Where: [0132] a2, b2 and c2 are constants determined by interpolation; [0133] Csi is the torque obtained at the output of the actuator in the indirect direction, [0134] Ie is an intensity applied at the input of the actuator.

[0135] According to a fifth step, the value of the control correction coefficient is established, by performing, using methods known per se, an adjustment of the control coefficient so as to minimise the following sum of the squares of the deviations between the following sixth and seventh functions:

[00007] $\begin{matrix} F 6 (X) = a^{} 2 * X^{2} + b^{} 2 * X + c^{} 2 & [Math 3] \end{matrix}$ $\begin{matrix} F 7 (X) = (* i -^{- 1} *^{- 1} * a^{} 1) * X + 0.5 *^{- 1} * (i +^{- 1} * *^{- 2} * a^{} 1 -^{- 1} * b^{} 1) * (\sqrt{^{2} - 4 * * (- * X)} -) +^{- 1} *^{- 2} * a^{} 1 * - c^{} 1 & [Math 4] \end{matrix}$ [0136] Where: i is the reduction ratio [0137] is the control input correction coefficient

[0138] Then, the sixth, seventh and eighth steps described in line with the first embodiment of the invention are reproduced to control the actuation assembly 1.

[0139] Naturally, the invention is not limited to the embodiment described.

[0140] In particular, [0141] although, in this case, the management of the actuation assembly has been described in line with the balancing of a segment, the invention also applies to other management modes such as estimating a contact force or the proportional amplification of a master force measured by a force or torque sensor; [0142] although, in this case, the actuation assembly comprises a current servoamplifier, the invention also applies to other types of current controllers, such as counter-reaction loopless amplifiers, broadband or narrowband linear amplifiers; [0143] although, in this case, the embodiment has been described in line with a single-phase electric motor, the invention also applies in application of other types of motors, like for example, three-phase motors for which the intensity considered to establish direct and indirect characteristics will be the quadratic (or effective) intensity; [0144] although, in this case, the preliminary calibration phase comprises the establishment of a direct and indirect characteristic interpolated based on a series of measurements taken on a second gearbox, the invention also applies to the utilisation of measurements taken on a plurality of second gearboxes to constitute an average result using known statistical methods; [0145] although, in this case, torques are applied on the output and the input of the gearbox using masses and drums, the invention also applies to other means of applying a known torque, like for example, a known mass suspended at the end of an arm of determined length or the application of a resistant motor torque using a calibrated actuator; [0146] although, in this case, the third direct characteristic interpolated function and the fourth indirect characteristic interpolated function have been established by using experimental results, the invention also applies to an interpolation using results provided by the producer of the gearbox; [0147] although, in this case, the method of the invention has been described in line with a rotary output actuation assembly, the invention also applies to a linear output actuation assembly, such as a jack, the first and second output forces applied thus being forces instead of torques; [0148] although, in this case, the plurality of first forces and the plurality of second forces have been applied discretely, the invention also applies to a continuous application of the plurality of first forces and of the plurality of second forces; [0149] although, in this case, the first characteristic interpolated function is a so-called direct characteristic function corresponding to an energy transfer from the motor to the charge, the invention also applies to a first characteristic interpolated function corresponding to an energy transfer from the charge to the motor which becomes resistant; [0150] although, in this case, the second characteristic interpolated function is a so-called indirect characteristic function, corresponding to an energy transfer from the charge to the motor, the invention also applies to a second characteristic interpolated function corresponding to an energy transfer from the motor to the charge (drive); [0151] although, in this case, the method of the invention has been described in line with a first gearbox comprising a strain wave gearing comprising a closed deformable ring, the invention also applies to other types of first gearboxes comprising a strain wave gearing, the deformable outer ring of which is bell-shaped or flared, even a strip-shaped deformable outer ring comprising a first number of teeth and which is engaged both in a first inner ring of the same number of teeth and in a second inner ring of a second number of teeth, the first inner ring rotating with respect to the second inner ring. The first construction parameters thus also comprise these first additional construction parameters; [0152] although, in this case, mention is made of a first movement direction of the output and of a second movement direction of the output opposite to the first, the invention also applies to the actuation systems comprising a non-reversible gearbox such as a fine thread screw; [0153] although, in this case, the correction of the intensities by the control correction coefficient has been done on the discrete current values measured, the invention also applies to a correction of the intensities by the control correction coefficient done directly on the first and second characteristics; [0154] although, in this case, the characteristic curves have been interpolated by using five operating points, the invention also applies to the interpolation of characteristic curves based on a different number of points, less than or equal to four or greater than five.

METHOD FOR CONTROLLING AN ACTUATION ASSEMBLY

Assignee

Inventors

Cpc classification

Classification Explorer

G05B19/401

PHYSICS

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B66D1/12

PERFORMING OPERATIONS; TRANSPORTING

Classification Explorer

G05B19/4103

PHYSICS

Classification Explorer

G05B13/0215

PHYSICS

Classification Explorer

B66D1/225

PERFORMING OPERATIONS; TRANSPORTING

Classification Explorer

G05B2219/41359

PHYSICS

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G05B19/414

PHYSICS

Classification Explorer

B66D1/485

PERFORMING OPERATIONS; TRANSPORTING

International classification

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G05B19/414

PHYSICS

Classification Explorer

G05B19/4103

PHYSICS

Abstract

Claims

Description