Motor velocity control apparatus and method

A method of controlling a velocity of a motor to drive a joint of a robot comprising:

• generating a velocity profile of the motor based on velocity profile generation data received from a user;
• judging whether or not one velocity section selected from velocity sections divided from the generated velocity profile corresponds to a high velocity region, the velocity sections including an acceleration section, an acceleration compensation section, a constant velocity section, a deceleration compensation section, and a deceleration section, where the high velocity region corresponds to the acceleration compensation section in which the acceleration section transitions to the constant velocity section;
• estimating an acceleration corresponding to the current velocity of the motor, upon judging that the velocity section corresponds to the high velocity region, the acceleration corresponding to the current velocity is estimated using an acceleration-velocity graph in the acceleration compensation section or the deceleration compensation section;
• compensating for the velocity profile using the estimated acceleration;
• and
• driving the motor using the compensated velocity profile,
• wherein, in the compensation of the velocity profile, the velocity of the motor is calculated using the following equation and the velocity profile is compensated for using the calculated velocity of the motor, if the high velocity region corresponds to the acceleration compensation section:
• (
• a
• +
• 1
• )
• n
• -
• 1
• ⁢
• (
• V
• r
• +
• b
• a
• )
• -
• b
• a
• where Vr represents an acceleration compensation start/escape velocity, a represents a first acceleration compensation graph constant, b represents a second acceleration compensation graph constant, and n represents a sampling time.

A method of controlling a velocity of a motor to drive a joint of a robot comprising:

• generating a velocity profile of the motor based on velocity profile generation data received from a user;
• judging whether or not one velocity section selected from velocity sections divided from the generated velocity profile corresponds to a high velocity region, the velocity sections including an acceleration section, an acceleration compensation section, a constant velocity section, a deceleration compensation section, and a deceleration section;
• estimating an acceleration corresponding to the current velocity of the motor, upon judging that the velocity section corresponds to the high velocity region;
• compensating for the velocity profile using the estimated acceleration;
• and
• driving the motor using the compensated velocity profile,
• wherein the high velocity region corresponds to the deceleration compensation section in which the constant velocity section transitions to the deceleration section, and
• wherein, in the compensation of the velocity profile, the velocity of the motor is calculated using the following equation and the velocity profile is compensated for using the calculated velocity of the motor, if the high velocity region corresponds to the deceleration compensation section:
• (
• 1
• -
• a
• )
• n
• ⁢
• (
• V
• g
• +
• b
• a
• )
• -
• b
• a
• here, Vg represents a final velocity, a represents a first acceleration compensation graph constant, b represents a second acceleration compensation graph constant, and n represents a sampling time.

A method of controlling a velocity of a motor to drive a joint of a robot comprising:

• generating a velocity profile of the motor based on velocity profile generation data received from a user;
• judging whether or not one velocity section selected from velocity sections divided from the generated velocity profile corresponds to a high velocity region, the velocity sections including an acceleration section, an acceleration compensation section, a constant velocity section, a deceleration compensation section, and a deceleration section;
• estimating an acceleration corresponding to the current velocity of the motor, upon judging that the velocity section corresponds to the high velocity region;
• compensating for the velocity profile using the estimated acceleration;
• and
• driving the motor using the compensated velocity profile,
• wherein the high velocity region corresponds to the deceleration compensation section in which the constant velocity section transitions to the deceleration section,
• wherein, in the estimation of the acceleration corresponding to the current velocity, the acceleration corresponding to the current velocity is estimated using an acceleration-velocity graph in the acceleration compensation section or the deceleration compensation section, and
• wherein the acceleration-velocity graph is a pattern table in which the acceleration corresponding to the current velocity is stored in advance using the fact that the acceleration is directly proportional to a torque of the motor.

A motor velocity control apparatus comprising:

• a motor to drive a joint of a robot;
• a velocity profile generation unit to generate a velocity profile of the motor based on velocity profile generation data received from a user;
• an acceleration estimation unit to estimate an acceleration in a high velocity region of the generated velocity profile;
• a velocity profile compensation unit to compensate the velocity profile using the estimated acceleration;
• a motor drive unit to drive the motor using the compensated velocity profile;
• and
• a motor control unit to judge whether or not one velocity section selected from velocity sections divided from the generated velocity profile corresponds to the high velocity region, to estimate the acceleration corresponding to the current velocity of the motor, upon judging that
• the velocity section corresponds to the high velocity region, to calculate the velocity of the motor using the estimated acceleration, and to compensate for the velocity profile using the calculated velocity of the motor,
• the velocity sections divided from the generated velocity profile include an acceleration section, an acceleration compensation section, a constant velocity section, a deceleration compensation section, and a deceleration section,
• wherein the motor control unit judges the acceleration compensation section in which the acceleration section transitions to the constant velocity section or the deceleration compensation section in which the constant velocity section transitions to the deceleration section to be the high velocity region, and
• wherein the motor control unit calculates the velocity of the motor using the following equation and compensates for the velocity profile using the calculated velocity of the motor, if the acceleration compensation section is judged to be the high velocity region:
• (
• a
• +
• 1
• )
• n
• -
• 1
• ⁢
• (
• V
• r
• +
• b
• a
• )
• -
• b
• a
• where Vr represents an acceleration compensation start/escape velocity, a represents a first acceleration compensation graph constant, b represents a second acceleration compensation graph constant, and n represents a sampling time.

A motor velocity control apparatus comprising:

• a motor to drive a joint of a robot;
• a velocity profile generation unit to generate a velocity profile of the motor based on velocity profile generation data received from a user;
• an acceleration estimation unit to estimate an acceleration in a high velocity region of the generated velocity profile;
• a velocity profile compensation unit to compensate the velocity profile using the estimated acceleration;
• a motor drive unit to drive the motor using the compensated velocity profile;
• and
• a motor control unit to judge whether or not one velocity section selected from velocity sections divided from the generated velocity profile corresponds to the high velocity region, to estimate the acceleration corresponding to the current velocity of the motor, upon judging that the velocity section corresponds to the high velocity region, to calculate the velocity of the motor using the estimated acceleration, and to compensate for the velocity profile using the calculated velocity of the motor,
• the velocity sections divided from the generated velocity profile include an acceleration section, an acceleration compensation section, a constant velocity section, a deceleration compensation section, and a deceleration section,
• wherein the motor control unit judges the acceleration compensation section in which the acceleration section transitions to the constant velocity section or the deceleration compensation section in which the constant velocity section transitions to the deceleration section to be the high velocity region, and
• wherein the motor control unit calculates the velocity of the motor using the following equation and compensates for the velocity profile using the calculated velocity of the motor, if the deceleration compensation section is judged to be the high velocity region:
• (
• 1
• -
• a
• )
• n
• ⁢
• (
• V
• g
• +
• b
• a
• )
• -
• b
• a
• where Vg represents a final velocity, a represents a first acceleration compensation graph constant, b represents a second acceleration compensation graph constant, and n represents a sampling time.