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MOTION CONTROL TAKING ENERGY RECYCLING INTO ACCOUNT

考虑能量回收的运动控制

基本信息

批准号：
12650292
负责人：
OHNISHI Kouhei
金额：
$ 1.66万
依托单位：
Keio University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2000
资助国家：
日本
起止时间：
2000 至 2001
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-12650292/
关键词：
Recycling Motion Control Connection Reachable Matrix Energy Flow Interactive Kinematics Inverter Power Converter

项目摘要

The industry is spending almost half of the total energy used in Japan. It is necessary and important to save energy in production and assembling. In spite of COP3 agreement in Kyoto protocol, C02 emission in Japan is exceeding the agreed value in the year of 2010. The seven items have been determined to accomplish above requirement. Some of them are related to the efficient management of energy. However industry tends to introduce the automation devices to reduce the number of workers in the production lines. Such automation devices will save workers, however, they need more energy. In general the supplied energy in production is consumed in the motion control, and finally it turns to heat. The total efficiency of energy is not so high. This causes the lower efficient usage of energy and as a result the energy consumption in automated factory is going up and up. To overcome this problem, this project is proposing the efficient usage of energy in motion control.The research of this pro … More ject was done in the following schedule.1. Proposal of the efficient control of energy in motion systems2. Analysis of energy exchange3. Design methodology of controller4. Implementation of the proposed system5. Future prospectThe idea of this project is based on recycling of regenerative power in motion systems. A robot with plural degrees-of-freedom is actuated by the same numbers of electric motors. Their energy is supplied with inverters, however all of them do not convert the electric power to mechanical power. Some of them are operated in regenerative mode. In production line, there are a lot of robots which are making their motion synchronously. Since one motor is connected to one inverter, there are many inverters which are operated in regenerative mode. However, in most of the cases, the regenerative power is consumed in the resistor installed in inverter. This generates the necessary braking, however deteriorates the efficiency of motion systems. If the regenerative power is used in other joint, which will improve the total efficiency. The principle is not limited to drive of joint of robot. It is needless to say that this principle is applicable to general motion systems if interactive kinematics is sufficiently taken into account.The energy transfer from the inverters in regenerative mode to the inverters in motoring mode is automatically done if they are connected to the same DC link line. This means they should have common DC link. To realize the smooth transfer of energy, it is necessary to control not only timing of switching from regenerative mode to motoring mode, but also balancing the power flow. This control should be carried out in hard real-time manner based on the connection matrix which is derived from the mechanical power flow. The reachable matrix is easily calculated from connection matrix which shows the overall energy flow. This research intends to show the feasibility of the system in robotic systems. In 2000 and 2001 academic year, the effort was concentrated to the design of controller for FTP based motion control.The numerical arid preliminary experiments has shown that the improvement of the efficiency of the energy consumption is attained by controlling the alignment of starting time to starting and braking. The algorithm is applied to walking machine, since it has plural degrees-of-freedom. RT-Linux is employed as a real-time operating system of controller. To minimize the delay of communications, the RT-messenger developed in another research group is used. Thanks to such a hard real-time system, the controller of timing of each motion system can be synchronized.In conclusions, this research project has shown the viability of hard real-time system to realize recycling of energy in motion systems. The energy transfer from regenerated power supply to motoring power supply is smoothly realized. Less

该行业的能源消耗几乎占日本总能源消耗的一半。在生产和装配过程中节能是十分必要和重要的。尽管在《京都议定书》中有COP3协议，但日本在2010年的二氧化碳排放量已经超过了商定的值。这七个项目是为了满足上述要求而确定的。其中一些与能源的有效管理有关。然而，工业倾向于引入自动化设备来减少生产线上的工人数量。这种自动化设备将节省工人，然而，他们需要更多的能源。一般来说，生产中供给的能量在运动控制中消耗掉，最后转化为热能。能源的总效率并不是很高。这导致能源的使用效率较低，因此自动化工厂的能源消耗越来越高。为了克服这个问题，本项目提出了在运动控制中有效利用能量的方法。这个项目的研究…更多的项目在接下来的时间表中完成。运动系统能量高效控制的提出[j]。能量交换分析3。控制器的设计方法拟议制度的实施未来展望这个项目的想法是基于在运动系统中回收再生能源。多自由度机器人是由相同数量的电动机驱动的。它们的能量由逆变器提供，但它们都不将电力转换为机械能。其中一些以再生模式运行。在生产线上，有很多同步运动的机器人。由于一个电机连接到一个逆变器，因此有许多逆变器以再生模式运行。然而，在大多数情况下，再生功率被消耗在安装在逆变器中的电阻中。这产生了必要的制动，但恶化了运动系统的效率。如果将再生动力用于其他关节，将提高总效率。该原理并不局限于机器人关节的驱动。不用说，如果充分考虑到相互作用运动学，这一原理适用于一般运动系统。能量从处于再生模式的逆变器转移到处于运动模式的逆变器是自动完成的，如果它们连接到同一直流链路。这意味着它们应该有共同的直流链路。为了实现能量的平稳传递，不仅需要控制从再生模式切换到电机模式的时机，还需要平衡潮流。这种控制应基于从机械潮流中导出的连接矩阵，以硬实时的方式进行。可达矩阵可以很容易地由连接矩阵计算得到，连接矩阵表示整体的能量流。本研究旨在证明该系统在机器人系统中的可行性。在2000和2001学年，重点研究了基于FTP的运动控制控制器的设计。数值和初步试验表明，通过控制起动时间与起动和制动时间的对齐，可以提高能耗效率。该算法适用于具有多个自由度的步行机。采用RT-Linux作为控制器的实时操作系统。为了最大限度地减少通信延迟，使用了另一个研究组开发的RT-messenger。由于采用了硬实时系统，各运动系统的定时控制器可以同步。总之，本研究项目显示了硬实时系统在运动系统中实现能量回收的可行性。实现了从再生电源向动力电源的能量传递。少