CN104796060A - Speed control method of servo drive - Google Patents
Speed control method of servo drive Download PDFInfo
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- CN104796060A CN104796060A CN201510233950.3A CN201510233950A CN104796060A CN 104796060 A CN104796060 A CN 104796060A CN 201510233950 A CN201510233950 A CN 201510233950A CN 104796060 A CN104796060 A CN 104796060A
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Abstract
The invention discloses a speed control method of a servo drive. The speed control method comprises the following steps: I, selecting a speed instruction on the servo drive; II, sequentially setting an analog input parameter, an analog speed instruction maximum rotation speed parameter, an internal speed provided parameter, a control signal parameter and a deceleration mode parameter according to the speed instruction, thereby enabling a motor to operate along with the parameters; III, when the motor is operated, detecting the speed of the motor in real time by using a speed encoder, filtering the detected speed signals of the motor, feeding back to a speed ring of the servo drive, adjusting the speed ring gain in real time through the speed ring of the servo drive according to the speed signals which are fed back, outputting speed ring signals, and adjusting the speed of the motor in real time through the servo drive according to the speed ring gain, thereby achieving the speed control method of a servo drive motor. By adopting the speed control method, the hysteresis quality of feedback signals can be avoided, and furthermore the control precision can be improved.
Description
Technical field
The present invention relates to servo-driver technical field, more particularly, particularly a kind of method for control speed of servo-driver.
Background technology
The control performance of servo-driver is decided by the combination property of Position Control ring, speeds control ring and direct torque ring.Positioner, speed control and torque controller, generally based on feedback signal, adopt pid control algorithm to realize closed-loop control.Because existing feedback signal has certain hysteresis quality, and precision is poor, and therefore servo system cannot realize responding fast.So, be necessary to design a kind of new method for control speed.
Summary of the invention
The object of the present invention is to provide the method for control speed of the servo-driver that a kind of precision is high.
In order to achieve the above object, the technical solution used in the present invention is as follows:
A method for control speed for servo-driver, described method for control speed comprises the following steps,
The first step, on a servo-driver, select speed command;
Second step, set analog input parameter, analog rate instruction maximum (top) speed parameter, internal speed given parameters, control signal parameter and acceleration and deceleration mode parameter successively according to speed command, thus motor starts to follow above-mentioned parameter runs;
3rd step, in motor operation course, the speed of motor is detected in real time by a speed encoder, and feed back in the speed ring of servo-driver after the rate signal of the motor detected is carried out filtering, the speed ring of servo-driver to be regulated the speed ring gain in real time according to the rate signal of feedback, and output speed ring signal, servo-driver adjusts the speed of motor in real time according to speed ring gain, namely forms a kind of method for control speed of servo driver drives motor.
Preferably, before velocity information feedback, also comprise the step of adjustment instruction feedforward gain and adjustment instruction feedforward filtering successively, and speed ring is carried out to the step of integration, and the velocity information after feedovered by above-mentioned speed command filtered velocity information and speed ring integration is added on the speed ring signal of output jointly, to form a kind of method for control speed of servo driver drives motor.
Preferably, described analog input parameter comprises the speed command feedforward time constant filter of filtering and bias voltage parameter, and the time constant filter of feedback speed signal filtering and bias voltage parameter.
Preferably, described analog rate instruction maximum (top) speed parameter comprise on the occasion of, 0 and negative value; Described internal speed given parameters comprises seven command value; Described control signal parameter comprises selection speed SP1, selects speed SP2 and select speed SP3; Described acceleration and deceleration mode parameter comprise constant deceleration time, deceleration time constant and S curve section scale parameter.
Compared with prior art, the invention has the advantages that: control method of the present invention is by adopting speed encoder, and before rate signal feedback, the step of the instruction feedforward gain that gathers way and speed command feedforward filtering, and speed ring is carried out to the step of integration, the speed command velocity information after filtered velocity information and speed ring integration that feedovers is added on the speed ring signal that exports jointly, avoids the hysteresis quality of feedback signal, and then improves the precision of control.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the control block diagram of the method for control speed of servo-driver of the present invention.
Fig. 2 is the method for control speed medium velocity control model counterdie analog quantity torque input of servo-driver of the present invention and the winding diagram of analog quantity speed restriction.
Fig. 3 is the IO winding diagram of servo-driver in the method for control speed of servo-driver of the present invention.
Fig. 4 is the graph of a relation between the input voltage of analog quantity speed command (VC) in the method for control speed of servo-driver of the present invention and the rotating speed of servomotor.
Fig. 5 is the winding diagram removing torque restriction in the method for control speed of servo-driver of the present invention in servo lock.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Consult shown in Fig. 1 to Fig. 3, the invention provides a kind of method for control speed of servo-driver, described method for control speed comprises the following steps:
The first step, on a servo-driver, select speed command;
Second step, set analog input parameter A, analog rate instruction maximum (top) speed parameter B, internal speed given parameters C, control signal parameter D and acceleration and deceleration mode parameter E successively according to speed command, thus motor starts to follow above-mentioned parameter runs;
3rd step, in motor operation course, the speed of motor is detected in real time by a speed encoder, and feed back in the speed ring of servo-driver after the rate signal H of the motor detected is carried out filtering, the speed ring of servo-driver to be regulated the speed ring gain F in real time according to the rate signal of feedback, and output speed ring signal G, servo-driver adjusts the speed of motor in real time according to speed ring gain F, namely forms a kind of method for control speed of servo driver drives motor.
In order to improve precision, before rate signal feedback, the present invention also comprises the step of speed command feedforward gain J and speed command feedforward filtering K successively, and speed ring is carried out to the step of integration I, and the velocity information after feedovered by above-mentioned speed command filtered velocity information and speed ring integration is added on the speed ring signal G of output jointly, to form a kind of method for control speed of servo driver drives motor.
In the present invention, described analog input parameter comprises the speed command feedforward time constant filter of filtering and bias voltage parameter, and the time constant filter of feedback speed signal filtering and bias voltage parameter.
In the present invention, described analog rate instruction maximum (top) speed parameter comprise on the occasion of, 0 and negative value; Described internal speed given parameters comprises seven command value; Described control signal parameter comprises selection speed SP1, selects speed SP2 and select speed SP3; Described acceleration and deceleration mode parameter comprise constant deceleration time, deceleration time constant and S curve section scale parameter.
In use, after service conditions meets, motor starts to follow analog quantity speed command and runs in the present invention; And motor speed can be watched by panel or daemon software, understand motor operating state.
1, Speed Setting, speed command and velocity of rotation motor run with the velocity of rotation of the applying voltage sets of the velocity of rotation set in parameter or analog quantity speed command (VC).Relation between the input voltage of analog quantity speed command (VC) and the rotating speed of servomotor as shown in Figure 4; The corresponding maximal rate of ± 10V.In addition, ± 10V time corresponding velocity of rotation can set as required.
Direction of rotation is controlled as shown in table 1 below by rotating forward enabling signal (ST1) and reversion enabling signal (ST2):
Table 1
If remove torque restriction in servo lock, due to the position deviation amount of response to the location of instruction, servomotor may rotate rapidly.Generally please carry out wiring by the mode of Fig. 5 wiring.
2, speed selects 1 (SP1), and speed selects 2 (SP2), and speed selects the use of 3 (SP3) and speed value.
Operating speed selects 1 (SP1), and speed selects 2 (SP2), and speed selects 3 (SP3) to select internal speed instruction 1-7 or analog quantity speed command (VC) as setting speed.Concrete selection is as shown in table 2 below.
Table 2
Can switch speed in rotation.Now, the Acceleration and deceleration time constant according to setting is carried out acceleration and deceleration.When using internal speed instruction, the change of ambient temperature can not cause the change of speed.
Control method of the present invention is by adopting speed encoder, and before velocity information feedback, the step of the instruction feedforward gain that gathers way and speed command feedforward filtering, and speed ring is carried out to the step of integration, the speed command velocity information after filtered velocity information and speed ring integration that feedovers is added on the speed ring signal that exports jointly, i.e. FEEDBACK CONTROL, avoids the hysteresis quality of feedback signal, and then improves the precision of control.
Although describe embodiments of the present invention by reference to the accompanying drawings; but patent owner can make various distortion or amendment within the scope of the appended claims; as long as be no more than the protection range described by claim of the present invention, all should within protection scope of the present invention.
Claims (4)
1. a method for control speed for servo-driver, is characterized in that: described method for control speed comprises the following steps,
The first step, on a servo-driver, select speed command;
Second step, set analog input parameter, analog rate instruction maximum (top) speed parameter, internal speed given parameters, control signal parameter and acceleration and deceleration mode parameter successively according to speed command, thus motor starts to follow above-mentioned parameter runs;
3rd step, in motor operation course, the speed of motor is detected in real time by a speed encoder, and feed back in the speed ring of servo-driver after the rate signal of the motor detected is carried out filtering, the speed ring of servo-driver to be regulated the speed ring gain in real time according to the rate signal of feedback, and output speed ring signal, servo-driver adjusts the speed of motor in real time according to speed ring gain, namely forms a kind of method for control speed of servo driver drives motor.
2. the method for control speed of servo-driver according to claim 1, it is characterized in that: before rate signal feedback, also comprise the step of speed command feedforward gain and speed command feedforward filtering successively, and speed ring is carried out to the step of integration, and the velocity information after feedovered by above-mentioned speed command filtered velocity information and speed ring integration is added on the speed ring signal of output jointly, to form a kind of method for control speed of servo driver drives motor.
3. the method for control speed of servo-driver according to claim 2, it is characterized in that: described analog input parameter comprises the speed command feedforward time constant filter of filtering and bias voltage parameter, and the time constant filter of feedback speed signal filtering and bias voltage parameter.
4. the method for control speed of servo-driver according to claim 1, is characterized in that: described analog rate instruction maximum (top) speed parameter comprise on the occasion of, 0 and negative value; Described internal speed given parameters comprises seven command value; Described control signal parameter comprises selection speed SP1, selects speed SP2 and select speed SP3; Described acceleration and deceleration mode parameter comprise constant deceleration time, deceleration time constant and S curve section scale parameter.
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| CN201510233950.3A CN104796060A (en) | 2015-05-08 | 2015-05-08 | Speed control method of servo drive |
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| CN201510233950.3A CN104796060A (en) | 2015-05-08 | 2015-05-08 | Speed control method of servo drive |
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| CN201510233950.3A Pending CN104796060A (en) | 2015-05-08 | 2015-05-08 | Speed control method of servo drive |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647339A (en) * | 2015-10-28 | 2017-05-10 | 株式会社安川电机 | Servo system and servo controller |
| CN108121201A (en) * | 2017-12-18 | 2018-06-05 | 北京和利时电机技术有限公司 | A kind of interior location method of servo-controlling |
| CN111198561A (en) * | 2019-12-05 | 2020-05-26 | 浙江大华技术股份有限公司 | Motion control method and device for target tracking, computer equipment and storage medium |
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| JPH09107693A (en) * | 1995-07-04 | 1997-04-22 | Samsung Electron Co Ltd | Speed control method of revolution motor and its device |
| CN1448815A (en) * | 2002-03-29 | 2003-10-15 | 松下电器产业株式会社 | Position controller for motor |
| CN101477330A (en) * | 2008-01-04 | 2009-07-08 | 发那科株式会社 | Servo motor controller with gain automatic adjusting function |
| CN101722981A (en) * | 2008-10-15 | 2010-06-09 | 株式会社捷太格特 | Vehicle steering apparatus |
| CN101782760A (en) * | 2009-01-21 | 2010-07-21 | 苏州御能动力科技有限公司 | Anti-vibration control method of computerized knitting machine controlled by automatic servo controller |
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2015
- 2015-05-08 CN CN201510233950.3A patent/CN104796060A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09107693A (en) * | 1995-07-04 | 1997-04-22 | Samsung Electron Co Ltd | Speed control method of revolution motor and its device |
| CN1448815A (en) * | 2002-03-29 | 2003-10-15 | 松下电器产业株式会社 | Position controller for motor |
| CN101477330A (en) * | 2008-01-04 | 2009-07-08 | 发那科株式会社 | Servo motor controller with gain automatic adjusting function |
| CN101722981A (en) * | 2008-10-15 | 2010-06-09 | 株式会社捷太格特 | Vehicle steering apparatus |
| CN101782760A (en) * | 2009-01-21 | 2010-07-21 | 苏州御能动力科技有限公司 | Anti-vibration control method of computerized knitting machine controlled by automatic servo controller |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647339A (en) * | 2015-10-28 | 2017-05-10 | 株式会社安川电机 | Servo system and servo controller |
| CN108121201A (en) * | 2017-12-18 | 2018-06-05 | 北京和利时电机技术有限公司 | A kind of interior location method of servo-controlling |
| CN111198561A (en) * | 2019-12-05 | 2020-05-26 | 浙江大华技术股份有限公司 | Motion control method and device for target tracking, computer equipment and storage medium |
| CN111198561B (en) * | 2019-12-05 | 2021-10-22 | 浙江大华技术股份有限公司 | Motion control method and device for target tracking, computer equipment and storage medium |
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Application publication date: 20150722 |