CN113037141A - Anti-falling method for gravity load starting of servo motor - Google Patents
Anti-falling method for gravity load starting of servo motor Download PDFInfo
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- CN113037141A CN113037141A CN202110260189.8A CN202110260189A CN113037141A CN 113037141 A CN113037141 A CN 113037141A CN 202110260189 A CN202110260189 A CN 202110260189A CN 113037141 A CN113037141 A CN 113037141A
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- servo motor
- falling
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- 230000005484 gravity Effects 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000008569 process Effects 0.000 claims description 13
- 230000009347 mechanical transmission Effects 0.000 claims description 4
- 230000002265 prevention Effects 0.000 claims 2
- 230000000694 effects Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/02—Details of starting control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/34—Arrangements for starting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/36—Arrangements for braking or slowing; Four quadrant control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a method for preventing a servo motor from falling during gravity load starting, which comprises the following steps: when a driver of the servo motor receives a command for disconnecting the servo motor, reading a current speed deviation integral quantity from a speed loop PI controller and caching the integral quantity; releasing a motor brake signal to brake the motor; timing the time after the brake signal is released, stopping the three-loop calculation by the driver after the time reaches the preset delay time, and closing the IGBT module; when the driver receives a motor starting enabling command, the gravity load anti-falling processing unit writes the cached speed deviation integral quantity into a corresponding variable of a speed loop PI controller; the driver starts to perform three-loop calculation and starts the IGBT module; and withdrawing the motor brake signal, and loosening the motor brake. The invention can avoid the instant falling phenomenon of the servo motor under the gravity load and when the driver is firstly electrified to enable the motor, thereby meeting the application requirement.
Description
Technical Field
The invention relates to a servo motor, in particular to a gravity load starting anti-falling method for the servo motor.
Background
When the servo motor is applied to gravity loads, such as robots and lifting devices, a servo motor with a mechanical band-type brake is generally selected. When the servo motor is not enabled, the position of the motor shaft is kept by the mechanical band-type brake, and the load is prevented from falling. After the servo motor is enabled, the servo driver is used for closed-loop control, and the servo motor needs to continuously output torque to counteract the influence of load gravity to keep the position still.
Under the working condition of gravity load, when the motor is switched from a mechanical contracting brake position locking state when the motor is not enabled to a position locking state of motor enabling driver closed-loop control, at the moment when the mechanical contracting brake is released, the holding torque of the contracting brake disappears, the gravity load falls to a section of position to cause position deviation, then the three rings of the servo driver adjust the deviation to establish the holding torque to offset the position deviation, and the gravity load finally returns to the initial position before switching under the adjustment of the servo driver.
During the switching process, the gravity load can have an obvious falling-recovery process to form position jitter. This jitter can have adverse effects in practical applications. For example, for robot application, the shaking may impact the joint reducer, affecting the service life; the robot end effector may shake during switching to cause an unexpected collision. With lifting devices, the jerking can also cause the transmission to be configured to impact, which can also have an adverse effect on the lifted cargo.
The gain of three loops of the servo driver is improved, and the recovery time after falling is shortened, but the gain of the three loops cannot be increased without limit. In addition, since the three-loop adjustment is premised on the existence of deviation, the precedence relationship determines that the drop-recovery process cannot be completely eliminated by increasing the gain.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for preventing a servo motor from falling instantly when the servo motor is enabled under a gravity load and a driver is powered on for the first time to enable the motor, so as to meet application requirements.
In order to solve the technical problems, the invention adopts the following technical scheme.
A servo motor gravity load starting anti-falling method comprises the following steps: step S1, setting a gravity load anti-falling processing unit, a deviation integral cache and a preset deviation integral parameter; step S2, when the driver of the servo motor receives the command to turn off the servo motor, executing the following processing logic: s2.0, the gravity load anti-falling processing unit reads the current speed deviation integral quantity from the speed ring PI controller and caches the integral quantity; s2.1, releasing a motor brake signal by the gravity load anti-falling processing unit to brake the motor; step S2.2, timing the time after the release of the brake signal, and after the timing reaches the preset delay time, indicating that the mechanical brake has reliably locked the motor shaft, stopping the three-loop calculation including the current loop, the speed loop and the position loop by the driver, and closing the IGBT module; in step S3, when the driver receives the command to enable the motor, the following processing logic is executed: s3.0, the gravity load anti-falling processing unit writes the cached speed deviation integral quantity into a corresponding variable of a speed ring PI controller; step S3.1, the driver starts to perform three-loop calculation and starts an IGBT module; and S3.2, the gravity load anti-falling processing unit withdraws a motor brake signal, and the motor brake is released.
Preferably, when the driver is powered on for the first time, the controller of the servo motor actively assigns a value to the deviation integral buffer memory, and then the power-on initialization step is completed.
Preferably, the power-on initialization step includes: step S10, the controller calculates the corresponding shaft end load moment according to the corresponding parameters; step S11, combining the motor output torque constant to process to obtain the torque current that the motor needs to output when the motor position is kept; and step S12, the controller reversely calculates the speed loop deviation integral quantity by combining the speed loop integral gain parameter, and the deviation integral quantity is used as a preset value of the deviation integral when the motor is powered on for the first time and is written into the driver before the motor is enabled.
Preferably, in step S10, the controller calculates the shaft end load moment by using parameters including, but not limited to, mechanical transmission structure parameters, start position and load size.
Compared with the prior art, the gravity load starting anti-falling method for the servo motor has the advantages that the gravity load starting anti-falling method can avoid the instant falling of the servo motor when the servo motor is started and enabled under the gravity load, and meanwhile, when a driver is powered on for the first time to enable the motor, the upper controller is used for setting the torque for counteracting the gravity, so that the load is prevented from falling when the driver is powered on. In addition, the gravity load starting anti-falling method can automatically store the torque for offsetting the gravity when the motor is repeatedly switched on and off after the driver is powered on, does not need to set parameters, has simple and reliable realization process and better meets the application requirement.
Drawings
FIG. 1 is a schematic block diagram of a servo motor driver;
FIG. 2 is a process flow diagram of the present invention when the motor is off enabled;
FIG. 3 is a flowchart illustrating the process of the present invention when the motor is enabled;
FIG. 4 is a torque/speed/position/band-type brake control signal graph of a conventional control method when the motor is enabled under a gravity load;
figure 5 is a torque/speed/position/brake control signal graph of the method of the present invention with the motor enabled under gravity load.
Detailed Description
The invention is described in more detail below with reference to the figures and examples.
The invention discloses a method for preventing a servo motor from falling when being started by a gravity load, which is shown by combining figures 1 to 3 and comprises the following steps:
step S1, setting a gravity load anti-falling processing unit, a deviation integral cache and a preset deviation integral parameter;
step S2, when the driver of the servo motor receives the command to turn off the servo motor, executing the following processing logic:
s2.0, the gravity load anti-falling processing unit reads the current speed deviation integral quantity from the speed ring PI controller and caches the integral quantity;
s2.1, releasing a motor brake signal by the gravity load anti-falling processing unit to brake the motor;
step S2.2, the gravity load anti-falling processing unit times the time after the brake signal is released, after the time reaches a preset delay time, the mechanical brake is indicated to be reliably locked with the motor shaft, the driver stops performing three-loop calculation including a current loop, a speed loop and a position loop, and the IGBT module is turned off;
in step S3, when the driver receives the command to enable the motor, the following processing logic is executed:
s3.0, the gravity load anti-falling processing unit writes the cached speed deviation integral quantity into a corresponding variable of a speed ring PI controller;
step S3.1, the driver starts to perform three-loop calculation and starts an IGBT module;
and S3.2, the gravity load anti-falling processing unit withdraws a motor brake signal, and the motor brake is released.
In the above-described step S1 and step S2, the speed deviation integral amount and deviation integral parameter are explained as follows: the speed deviation integral quantity is a variable in the speed loop PI controller, and the preset deviation integral parameter is a preset value of the speed deviation integral quantity.
Compared with the prior art, the gravity load starting anti-falling method has the advantages that the instant falling of the servo motor during the starting and enabling of the gravity load can be avoided, and meanwhile, when the driver is powered on to enable the motor for the first time, the torque for offsetting the gravity is set by the upper controller, so that the load falling during the enabling is prevented. In addition, the gravity load starting anti-falling method can automatically store the torque for offsetting the gravity when the motor is repeatedly switched on and off after the driver is powered on, does not need to set parameters, has simple and reliable realization process and better meets the application requirement.
When the driver is powered on for the first time, the deviation integral buffer value is not effective, so that the controller is required to assign the deviation integral buffer value actively in the system initialization process. In contrast, in this embodiment, when the driver is initially powered on, the controller of the servo motor actively assigns a value to the deviation integral buffer, thereby completing the power-on initialization step.
Further, the power-on initialization step includes:
step S10, the controller calculates the corresponding shaft end load moment according to the corresponding parameters; in step S10, the controller calculates the shaft end load moment with reference to parameters including, but not limited to, mechanical transmission parameters, start position, and load size.
Step S11, combining the motor output torque constant to process to obtain the torque current that the motor needs to output when the motor position is kept;
and step S12, the controller reversely calculates the speed loop deviation integral quantity by combining the speed loop integral gain parameter, and the deviation integral quantity is used as a preset value of the deviation integral when the motor is powered on for the first time and is written into the driver before the motor is enabled.
The invention discloses a method for preventing a servo motor from falling when starting a gravity load, which can refer to the following embodiments in the practical application process:
example one
Referring to fig. 1 to 3, in a servo drive standard three-ring structure, a gravity load anti-drop processing module, a deviation integral buffer memory, and a preset deviation integral parameter are added.
The gravity load anti-falling processing module executes a series of action processes when the servo motor is disconnected and enabled and when the servo motor is started and enabled, and the gravity load at the output end of the motor is prevented from falling. When the driver receives the off motor enable command, the processing flow of the unit is as shown in fig. 2, and the flow is executed only once:
1. reading the current speed deviation integral quantity from a speed loop PI controller, and storing the current speed deviation integral quantity in a deviation integral cache;
2. releasing a motor brake signal to brake the motor;
3. and timing the time after the brake signal is released, after the counting reaches the delay time, the mechanical brake reliably locks the motor shaft, at the moment, the three-loop calculation of the driver is stopped, and the IGBT is closed.
When the driver receives the enable command of the motor, the processing flow of the unit is as shown in fig. 3, and the flow is executed only once:
1. writing the saved deviation integral buffer amount when the motor is disconnected from the power supply into the deviation integral of the speed loop PI controller;
2. starting three-loop calculation of a driver, and starting the IGBT;
3. and withdrawing the motor brake signal, and loosening the brake by the motor.
In the application environment such as robot, the motor can be repeatedly switched on and off to enable the system in the whole electrifying process, the gravity counteracting moment can be automatically stored in the processing mode when the system is disconnected from the power supply, and the system can be prevented from falling when the system is started again.
For the case that the driver is enabled after being powered on for the first time, no effective deviation integral cache value exists at this time, and the controller needs to assign a value to the deviation integral cache value actively in the system initialization process. Specifically, the controller calculates the corresponding shaft end load moment according to parameters such as a mechanical transmission structure, a starting position, load size and the like. And the torque current required to be output by the motor when the position is kept can be obtained by combining the output torque constant of the motor. Since the motor is basically kept still when the position is kept, the speed deviation is 0, the torque current instruction at the moment is completely derived from the integral part of the speed loop, and the integral quantity of the speed loop deviation can be calculated reversely by combining the integral gain parameter of the speed loop. The value is calculated by the controller and is used as a preset value of deviation integral when the motor is powered on for the first time, and the preset value is written into a preset deviation integral parameter before the motor is enabled. And if the driver judges that the motor is enabled for the first time after being electrified, reading a preset deviation integral parameter and writing a value into a deviation integral cache.
A combination of fig. 4 and 5 shows that: in the traditional control method, under the condition of gravity load (please refer to fig. 4), the position/torque/band-type brake control signal/speed curve when the motor is enabled shows that after the motor is enabled, a remarkable drop and adjustment are realized. In the method, under the condition of gravity load (please refer to fig. 5), the position/torque/band-type brake control signal/speed curve when the motor is enabled has no obvious change after the motor is enabled. Compared with the traditional control method, the method has better technical effect.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the technical scope of the present invention should be included in the scope of the present invention.
Claims (4)
1. A servo motor gravity load starting anti-falling method is characterized by comprising the following steps:
step S1, setting a gravity load anti-falling processing unit, a deviation integral cache and a preset deviation integral parameter;
step S2, when the driver of the servo motor receives the command to turn off the servo motor, executing the following processing logic:
s2.0, the gravity load anti-falling processing unit reads the current speed deviation integral quantity from the speed ring PI controller and caches the integral quantity;
s2.1, releasing a motor brake signal by the gravity load anti-falling processing unit to brake the motor;
step S2.2, the gravity load anti-falling processing unit times the time after the brake signal is released, after the time reaches a preset delay time, the mechanical brake is indicated to be reliably locked with the motor shaft, the driver stops performing three-loop calculation including a current loop, a speed loop and a position loop, and the IGBT module is turned off;
in step S3, when the driver receives the command to enable the motor, the following processing logic is executed:
s3.0, the gravity load anti-falling processing unit writes the cached speed deviation integral quantity into a corresponding variable of a speed ring PI controller;
step S3.1, the driver starts to perform three-loop calculation and starts an IGBT module;
and S3.2, the gravity load anti-falling processing unit withdraws a motor brake signal, and the motor brake is released.
2. The servo motor gravity load starting fall prevention method according to claim 1, wherein when the driver is powered on for the first time, the deviation integral buffer value is assigned by a servo motor controller actively, and further a power-on initialization step is completed.
3. The servo motor gravity load start fall prevention method according to claim 2, wherein the power-on initialization step comprises:
step S10, the controller calculates the corresponding shaft end load moment according to the corresponding parameters;
step S11, combining the motor output torque constant to process to obtain the torque current that the motor needs to output when the motor position is kept;
and step S12, the controller reversely calculates the speed loop deviation integral quantity by combining the speed loop integral gain parameter, and the deviation integral quantity is used as a preset value of the deviation integral when the motor is powered on for the first time and is written into the driver before the motor is enabled.
4. The servo motor gravity load starting fall-prevention method as claimed in claim 3, wherein in the step S10, the controller calculates the shaft end load moment with reference to parameters including but not limited to mechanical transmission structure parameters, starting position and load size.
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| CN202110260189.8A CN113037141A (en) | 2021-03-10 | 2021-03-10 | Anti-falling method for gravity load starting of servo motor |
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| CN202110260189.8A CN113037141A (en) | 2021-03-10 | 2021-03-10 | Anti-falling method for gravity load starting of servo motor |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6057661A (en) * | 1993-02-10 | 2000-05-02 | Fanuc Ltd. | Method of detecting an abnormal load on a servomotor and controlling the same in such an abnormal condition |
| TW495653B (en) * | 1999-11-29 | 2002-07-21 | Yaskawa Denki Seisakusho Kk | Servo control method |
| CN101651444A (en) * | 2008-08-12 | 2010-02-17 | 大隈株式会社 | motor controller |
| CN101895252A (en) * | 2010-07-09 | 2010-11-24 | 上海新时达电气股份有限公司 | Automatic regulating apparatus for controller parameters of servo driver of motor and method thereof |
| CN106411188A (en) * | 2016-11-16 | 2017-02-15 | 天津动核芯科技有限公司 | Industrial robot intelligent driving system |
| CN108352774A (en) * | 2015-12-25 | 2018-07-31 | Thk株式会社 | The control device and control method of linear motor |
| CN108604878A (en) * | 2016-03-29 | 2018-09-28 | 松下知识产权经营株式会社 | Motor control assembly |
| CN109313420A (en) * | 2017-11-02 | 2019-02-05 | 深圳配天智能技术研究院有限公司 | Robot system, driver, storage device and control model switching method |
| GB202006782D0 (en) * | 2017-09-15 | 2020-06-24 | Illinois Tool Works | Braking system for electromagnetic motors |
-
2021
- 2021-03-10 CN CN202110260189.8A patent/CN113037141A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6057661A (en) * | 1993-02-10 | 2000-05-02 | Fanuc Ltd. | Method of detecting an abnormal load on a servomotor and controlling the same in such an abnormal condition |
| TW495653B (en) * | 1999-11-29 | 2002-07-21 | Yaskawa Denki Seisakusho Kk | Servo control method |
| CN101651444A (en) * | 2008-08-12 | 2010-02-17 | 大隈株式会社 | motor controller |
| CN101895252A (en) * | 2010-07-09 | 2010-11-24 | 上海新时达电气股份有限公司 | Automatic regulating apparatus for controller parameters of servo driver of motor and method thereof |
| CN108352774A (en) * | 2015-12-25 | 2018-07-31 | Thk株式会社 | The control device and control method of linear motor |
| CN108604878A (en) * | 2016-03-29 | 2018-09-28 | 松下知识产权经营株式会社 | Motor control assembly |
| CN106411188A (en) * | 2016-11-16 | 2017-02-15 | 天津动核芯科技有限公司 | Industrial robot intelligent driving system |
| GB202006782D0 (en) * | 2017-09-15 | 2020-06-24 | Illinois Tool Works | Braking system for electromagnetic motors |
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Application publication date: 20210625 |