KR101642757B1 - Servo motor control apparatus and metho thereof - Google Patents

Abstract

In order to facilitate simultaneous drive and individual drive of a plurality of servomotors according to the present invention, the present invention provides a dc supply unit for converting and outputting an input signal into a dc signal of a predetermined level, A plurality of switching elements for switching on and off dc signals inputted to each of the plurality of servo motors to apply the converted at least one pulse and a plurality of switching elements for switching the plurality of servo motors based on the plurality of motor shaft positions sensed by each of the plurality of servo motors And a motor driver for controlling a switching on time and an off time of each of the plurality of switch elements so that a pulse width for the at least one pulse applied to each servo motor of the plurality of switch elements is adjusted.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a servo motor control apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control apparatus, and more particularly, to a servo motor control apparatus for simultaneously driving a plurality of servo motors.

A servo motor is a control machine configured to control the position, orientation, posture, etc. of an object as a control amount and follow an arbitrary change in a target value. Among the servomotors, the RC servomotor is simple to operate and is used where it needs to rotate about 180 degrees without rotating 360 degrees. Because of these characteristics, the RC servo motor is used to control the steering of the front wheel of the RC car or the rotor and rear wing of the RC helicopter. The RC servo motor can be adjusted in angle by the pulse width. As for these control signals, PWM control signals used for general DC motor control are somewhat different from each other but widely referred to as PWM control signals. Depending on the width of the pulse, the corresponding angles vary from 0 degrees to 180 degrees. 1 is a state diagram showing the angular value of the servo motor according to the pulse width. The numerical values in Fig. 1 may vary depending on the apparatus.

A plurality of servomotors are used for various robots, machine tools, model cars and airplanes. In order to collectively control a plurality of servo motors by the central controller, a plurality of PWM control signals are required. However, the PWM control signal generator is expensive and generally uses a time division driving method. In the time division mode, only one server motor is controlled for a predetermined time. The control signals for controlling the respective servomotors are time-divisionally provided in a time-division manner, or the IDs are assigned to the servomotors in the same manner as disclosed in Japanese Patent Registration No. 10-0710838, A method of recognizing a command signal subsequent to the ID signal as a control signal may be used.

However, since the time division control is dependent on the pulse period and the maximum pulse width, there are restrictions on the number of ports (channels), and there is a limitation on the number of servo motors that can be controlled by time division. Further, when it is necessary to control the servo motor at the same time for complex operation control, the time division control system can not simultaneously control the servo motor.

SUMMARY OF THE INVENTION An object of the present invention is to provide a system and method for controlling a plurality of servomotors simultaneously or individually in accordance with the above-mentioned necessity and facilitating repair and maintenance in the event of a failure by parallel communication, efficiently utilizing hardware resources, And a servo motor control unit.

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According to an aspect of the present invention, there is provided a method of controlling a plurality of servo motors rotating by an angle corresponding to a pulse width applied by a servo motor control device, the method comprising: Receiving a command signal including a plurality of pulse widths; Recording a plurality of pulse widths and identification information corresponding to each other among the plurality of pulse widths and the plurality of pieces of identification information, sorting a plurality of records based on the pulse widths and generating a table; Synchronously closing a plurality of switches connected to each of the plurality of servo motors for turning on and off a reference voltage applied to the plurality of servo motors; And turning off the first switch connected to the first motor having the first identification information of the first record when counted by the time corresponding to the first pulse width of the first one of the plurality of records And to provide a servo motor control method.

Wherein when counting the time corresponding to the second pulse width of the second record of the plurality of records, the second switch of the plurality of switches connected to the second motor having the second identification information of the second record Wherein the first pulse width is smaller than the second pulse width, and the first pulse width is time-counted, and then the second pulse width is accumulated and time-counted.

The method may further include the step of turning off all of the plurality of switches when the total count value after the step of synchronizing and closing is equal to or greater than a predetermined value.

The step of synchronously closing the plurality of switches may be periodic, and the predetermined value may be the same as the period of synchronizing the plurality of switches.

In addition, when the table has third and fourth identification information having the same third pulse width, the third record including the third pulse width includes the third and fourth identification information .

According to another aspect of the present invention, there is provided a method of controlling a plurality of servo motors rotating by an angle corresponding to a pulse width applied by a servo motor control device, the method comprising: Receiving a command signal including a plurality of pulse widths; The pulse width and the identification information corresponding to each other among the plurality of pulse widths and the plurality of pieces of identification information are recorded to sort a plurality of records based on the pulse width, Rewriting the pulse width as a relative value of the pulse width of the upper row of the record to generate a table; Synchronously closing a plurality of switches connected to each of the plurality of servo motors for turning on and off a reference voltage applied to the plurality of servo motors; And turning off the first switch connected to the first motor having the first identification information of the first record when down counting is completed by the time corresponding to the first pulse width of the first record among the plurality of records And to provide a servo motor control method including the servo motor control method.

The method of claim 1, further comprising the step of turning off all of the plurality of switches when the total count value after the synchronizing and closing step is equal to or greater than a predetermined value, wherein the step of synchronizing and closing the plurality of switches is periodic, And may be equal to a value that synchronously closes the plurality of switches.

According to another aspect of the present invention, there is provided a servo motor control apparatus for controlling a plurality of servo motors rotating by an angle corresponding to a pulse width to be applied, the servo motor control apparatus comprising: A receiving unit for receiving a command signal including a plurality of pulse widths; A table generating unit for recording a plurality of pulse widths and identification information corresponding to each other among the plurality of pulse widths and the plurality of pieces of identification information to generate a table by arranging a plurality of records based on the pulse width; A storage unit for storing the generated table; A counter for counting time; And a plurality of switches connected to each of the plurality of servomotors for turning on and off a reference voltage applied to the plurality of servomotors in synchronization with each other, And a switch controller for turning off the first switch connected to the first motor having the first identification information of the first record when the counter is counted.

According to another aspect of the present invention, there is provided a servo motor control apparatus for controlling a plurality of servo motors rotating by an angle corresponding to a pulse width to be applied, the servo motor control apparatus comprising: A receiving unit for receiving a command signal including a plurality of pulse widths; The pulse width and the identification information corresponding to each other among the plurality of pulse widths and the plurality of pieces of identification information are recorded to sort a plurality of records based on the pulse width, A table generating unit for re-determining a pulse width as a relative value of a pulse width of an upper row of the record to generate a table; A storage unit for storing the table; A counter for counting down time; And a plurality of switches connected to each of the plurality of servomotors for turning on and off a reference voltage applied to the plurality of servomotors in synchronization with each other, And a switch controller for turning off the first switch connected to the first motor having the first identification information of the first record when down counting is completed in the counter.

The servo motor control apparatus according to the present invention is arranged between one motor driver and a plurality of servo motors and controls switch on / off times for each of a plurality of switch elements corresponding to the plurality of servo motors, Control pulses can be supplied to each motor simultaneously and individually.

In addition, the servo motor control apparatus according to the present invention can drive a plurality of servo motors at the same time, thereby improving the efficiency.

Further, the servo motor control apparatus according to the present invention can perform repair and maintenance easily in the event of failure of any one of a plurality of servomotors, by performing parallel communication with a plurality of servo motors instead of serial communication.

Further, the servo motor control apparatus according to the present invention can lower the specification and lower the manufacturing cost by generating at least one pulse of the dc signal in accordance with the switching on and off operations of the switching element.

FIG. 1 is a diagram showing the angle value of the servo motor according to the pulse width,
2 is a block diagram of a servo motor control apparatus according to an embodiment of the present invention;
3 shows a table generated by the table generating unit 30,
4 is a signal diagram illustrating control signals applied to a servo motor according to an embodiment of the present invention.
5 is a flowchart of a servo motor control method according to an embodiment of the present invention, and Fig.
6 is a flowchart of a servo motor control method according to another embodiment of the present invention.

In describing the components of the embodiment, different reference numerals may be assigned to components having the same name in accordance with the drawings, and the same reference numerals may be given thereto even though they are different from each other. However, even in such a case, it does not mean that the corresponding component has different functions according to the embodiment, or does not mean that the different components have the same function. It should be judged based on the description of each component in the example.

In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot; Also, the fact that the first component and the second component on the network are connected or connected means that data can be exchanged between the first component and the second component by wire or wirelessly. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

In addition, suffixes "module" and " part "for the components used in the following description are given merely for convenience of description, and do not give special significance or role in themselves. Accordingly, the terms "module" and "part" may be used interchangeably.

When such components are implemented in practical applications, two or more components may be combined into one component, or one component may be divided into two or more components as necessary.

Hereinafter, necessary parts for understanding the operation and operation of the thermo-motor control apparatus according to the embodiment will be described in detail with reference to the drawings.

2 is a block diagram of a servo motor control apparatus according to an embodiment of the present invention. Referring to FIG. 2, the servo motor control apparatus according to an embodiment of the present invention will be described in terms of components according to functions.

2, the servo motor control apparatus includes a plurality of servomotors M1, M2, Mn, a plurality of switches SW1, SW2, SWn, a switch control section 10, a receiving section 20, a table generating section 30 ), A storage unit 40, a counter 50, and a dc supply unit 60.

Each of the plurality of servomotors M1, M2, and Mn may be operated so that the rotation angle varies corresponding to the applied pulse width. The plurality of servomotors M1, M2, and Mn may have respective identification information (ID).

The dc supply unit 60 may provide a reference voltage Vref corresponding to the magnitude (peak level) of the pulse applied to the servo motor.

Each of the plurality of switches SW1, SW2 and SWn is connected to each of the plurality of servomotors M1, M2 and Mn so as to turn on the reference voltage Vref applied to each of the plurality of servomotors M1, Off. The plurality of switches SW1, SW2, and SWn may have the same identification information as the plurality of servo motors M1, M2, and Mn connected thereto. The plurality of switches SW1, SW2, and SWn can be switched in accordance with the control signal of the switch control section 10. [ Each of the switches may be composed of a power semiconductor switch element such as a relay, an OP-Amp, or an FET, but is not limited thereto.

The receiving section 20 can receive a command signal for controlling each servo motor. The receiving unit 20 can communicate with a server (not shown) that transmits a command signal in a wired or wireless manner. The receiving unit 20 may be configured as a short-range communication module for short-range communication. Bluetooth, radio frequency identification (RFID), infrared data association (IrDA), ultra wideband (UWB), ZigBee, and the like can be used as the short distance communication technology.

The command signal may include identification information of the plurality of servomotors M1, M2, and Mn and an angle value (pulse width) to be controlled by each servo motor.

The table generating unit 30 can generate a table based on the received command signal. The table generating unit 30 may form a record of the pulse width corresponding to the identification information and the identification information.

FIG. 3 shows a table generated by the table generating unit 30. FIG.

Referring to FIG. 3A, the table generating unit 30 records ID information of each servo motor provided in the command signal and corresponding pulse width data, and generates a table. In order for the servo motor control device to simultaneously control the plurality of servomotors M1, M2, and Mn, the command signal may include control signals for all of the plurality of servomotors M1, M2, and Mn. The command signal may be aligned regardless of the magnitude of the pulse width.

Referring to FIG. 3 (b), the table generator 30 may sort each record based on the pulse width. The table generating unit 30 can regenerate the table with one record of the motor identification information having the same pulse width among the sorted tables.

Referring to FIG. 3 (c), the table generating unit 30 may regenerate the table arranged on the pulse width basis with a relative value of the pulse width. Since the topmost record (100, 1) does not have an upper record, the topmost record value retains its original value. The other records are modified in the pulse width of the record by the difference from the pulse width of the record ranked at the top. The table generating unit 30 can reproduce a table having a record whose motor identification information is 2 or more by merging a record having a relative value of '0' with an upper record.

The storage unit 40 may store a program for processing and controlling the switch control unit 10 and may perform a function for temporarily storing input or output data. The storage unit 40 may store the table generated by the table generation unit 30. [

The storage unit 40 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory) A RAM, and a ROM.

The counter 50 may count the time. The counter 50 may provide a signal to the switch control unit 10 indicating that the counting is completed at a designated time, or may provide a signal to the switch control unit 10 to inform the switch control unit 10 of the counted number of times. However, the present invention is not limited to this, and the time counted by the counter 50 can be directly used by the switch control unit 10.

The switch control unit 10 typically controls the operation of each of the above units to control the overall operation of the servo motor control unit. The switch control section 10 outputs a signal for switching on / off to each of the plurality of switches SW1, SW2, SWn based on the table stored in the storage section 40 and the signal provided by the counter 50 or the counted time .

4 is a signal diagram illustrating control signals applied to a servo motor according to an embodiment of the present invention.

The switch control unit 10 may provide a synchronization signal to the first and second switches SW1 and SW2 so that the first and second servomotors M1 and M2 periodically apply a control signal . The first and second switches SW1 and SW2 are closed and the reference voltage Vref is applied to the first and second servomotors M1 and M2 when a synchronizing signal is applied to the first and second switches SW1 and SW2, . The switch control section 10 can provide an OFF signal to each of the first and second switches SW1 and SW2 based on the time counted in the table and counter 50 stored in the storage section 40. [ When the OFF signal is applied to the first and second switches SW1 and SW2, the switch is opened. The first and second servomotors M1 and M2 can be supplied with the intended pulse width in the command signal in accordance with the on / off state of the first and second switches SW1 and SW2 according to the synchronizing signal and the off signal .

5 is a flowchart of a servo motor control method according to an embodiment of the present invention. See FIG.

Referring to FIG. 5, the receiving unit 20 receives a command signal (S210). The command signal may include identification information of each servo motor and an angle (pulse width) to be controlled. The command signal may be periodically received.

The table generating unit 30 generates a table by recording each identification information and each pulse width of the received command signal (S220). The table generating unit 30 can regenerate the generated table as a table arranged in ascending order based on the pulse width of each record. The table generating unit 30 can merge records having the same pulse width into records having a plurality of pieces of identification information. The final table may be stored in storage 40.

The switch control unit 10 provides a synchronization signal to all the switches SW1, SW2, and SWn (S240). The switch control section 10 can periodically provide the synchronization signal to all the switches at the same time. This period may be the same as the period of receiving the command signal in the receiving unit 20. [

The counter 50 counts time (S250).

The switch control unit 10 compares the counted time with the pulse width of the table (S260). If the pulse width and the count value are the same, the switch control unit 10 provides an off signal to the switch corresponding to the identification information of the record of the pulse width to turn off the switch (S270). If not, the switch control unit 10 continuously checks the counted time (S250, S2640).

If an OFF signal is provided to the switch, the switch control unit 10 determines whether the counted time is greater than a predetermined value (S280). When the counted time is equal to or greater than the predetermined value, the switch control unit 10 turns off all the switches (S290) and can provide an environment in which each servo motor operates normally in the next period. In this case, the switch control unit 10 may control the error signal to be transmitted to the server that sends the command signal. If the counted time is less than the preset value, the switch control unit 10 checks the counted time and compares the counted value with the pulse width of the next record (S250, S260).

The switch control unit 10 firstly compares the pulse width of the top row of the table with the count value. If the OFF signal is supplied to the switch corresponding to the identification information of the highest-order record, the switch control unit 10 compares the pulse widths of the next record in the order in which they are arranged in the table.

6 is a flowchart of a servo motor control method according to another embodiment of the present invention. See FIG.

Referring to FIG. 6, the receiving unit 20 receives a command signal (S310). The command signal may include identification information of each servo motor and an angle (pulse width) to be controlled. The command signal may be periodically received.

The table generating unit 30 generates a table by recording each identification information and each pulse width of the received command signal (S320). The table generator 30 can rearrange the table by rearranging the generated table in ascending order based on the pulse width of each record, and rewriting the pulse width of each record as a relative value with respect to the pulse width of the upper row. In this case, the topmost record has no record to compare with, and the initial value is maintained. The table generating unit 30 can merge records having the same pulse width into records having a plurality of pieces of identification information. The final table may be stored in storage 40.

The switch control unit 10 provides a synchronization signal to all the switches SW1, SW2, and SWn (S340). The switch control section 10 can periodically provide the synchronization signal to all the switches at the same time. This period may be the same as the period of receiving the command signal in the receiving unit 20. [

The switch control unit 10 resets the counter 50 to the pulse width of the top row of the table in step S350 and sets the reset value to an initial value so that the counter 50 is down-counted in step S355.

The switch control unit 10 determines whether down counting is 0 (S360). If not 0, the switch control unit 10 checks down counting (S335). 0, the switch control unit 10 provides an off signal to the switch corresponding to the identification information of the record of the corresponding pulse width so that the corresponding switch is turned off (S370).

If an OFF signal is provided to the switch, the switch control unit 10 determines whether the counted time is greater than a predetermined value (S380). When the counted time is equal to or greater than the predetermined value, the switch control unit 10 turns off all the switches (S390) and can provide an environment in which each servo motor operates normally in the next period. In this case, the switch control unit 10 may control the error signal to be transmitted to the server that sends the command signal. If the counted time is less than the preset value, the switch control unit 10 resets the counter 50 to the pulse width of the next record (S350).

The present invention can also be embodied as computer-readable codes on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may be implemented in the form of a carrier wave (for example, transmission via the Internet) . The computer readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers skilled in the art to which the present invention pertains.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

10: switch control unit 10 20: receiving unit 20
30: a table generating unit 30; 40: a storing unit 40;
50: counter (50) 60: dc supply unit (60)

Claims (10)

A method for controlling a plurality of servo motors rotating in an angle corresponding to a pulse width applied in a servo motor control device,
Receiving a command signal including identification information of each of the plurality of servo motors and a plurality of pulse widths corresponding to the respective identification information;
Recording a plurality of pulse widths and identification information corresponding to each other among the plurality of pulse widths and the plurality of pieces of identification information, and arranging a plurality of records in ascending order on the basis of the pulse width to generate a table;
Synchronously closing a plurality of switches connected to each of the plurality of servo motors for turning on and off a reference voltage applied to the plurality of servo motors;
Counting time;
Determining whether the counted time is equal to a time corresponding to a first pulse width of a first record of the plurality of records;
Turning off the first switch connected to the first motor having the first identification information of the first record if the counted time is equal to the time corresponding to the first pulse width;
Turning off all of the plurality of switches if the total counted time since the synchronizing and closing step is greater than or equal to a predetermined value;
Determining whether the total counted time is equal to a second pulse width of the second record if the total counting time is less than a predetermined value; And
And turning off the second switch connected to the second motor having the second identification information of the second record if the total counted time is equal to the time corresponding to the second pulse width,
And the second record is the next order of the first record on the table. delete delete The method according to claim 1,
The step of synchronously closing the plurality of switches is periodic,
Wherein the predetermined value is equal to a period of synchronizing the plurality of switches. The method according to claim 1,
The third record including the third pulse width includes the third and fourth identification information, when the table has the third and fourth identification information having the same third pulse width. Motor control method. A method for controlling a plurality of servo motors rotating in an angle corresponding to a pulse width applied in a servo motor control device,
Receiving a command signal including identification information of each of the plurality of servo motors and a plurality of pulse widths corresponding to the respective identification information;
A pulse width and identification information corresponding to each other among the plurality of pulse widths and the plurality of identification information are recorded, and a plurality of records are sorted in ascending order based on the pulse width, Generating a table as a table by rewriting the pulse width to a relative value of a width and a pulse width of an upper row of the corresponding record;
Synchronously closing a plurality of switches connected to each of the plurality of servo motors for turning on and off a reference voltage applied to the plurality of servo motors;
Resetting the counter to a time corresponding to the first pulse width of the first record among the plurality of records and down-counting the counter;
Turning off the first switch connected to the first motor having the first identification information of the first record when down counting is completed by the time corresponding to the first pulse width;
After turning off the first switch, resetting the counter to a second pulse width of a second record that is a lower recorder immediately below the first record and down-counting the counter; And
And turning off the second switch connected to the second motor having the second identification information of the second record when down counting is completed by the time corresponding to the second pulse width. The method according to claim 6,
And turning off all of the plurality of switches if the total count value after the step of synchronizing and closing is equal to or greater than a predetermined value,
Wherein the step of synchronously closing the plurality of switches is periodic, and the preset value is equal to a value that synchronously closes the plurality of switches. A servo motor control apparatus for controlling a plurality of servo motors rotating by an angle corresponding to an applied pulse width,
A receiving unit receiving a command signal including identification information of each of the plurality of servo motors and a plurality of pulse widths corresponding to the respective identification information;
A table generating unit for recording a plurality of pulse widths and identification information corresponding to each other among the plurality of pulse widths and the plurality of pieces of identification information to generate a table by sorting a plurality of records in ascending order based on the pulse width;
A storage unit for storing the generated table;
A counter for counting time; And
A plurality of switches connected to each of the plurality of servo motors for turning on and off a reference voltage applied to the plurality of servo motors are closed synchronously and the plurality of switches are closed by a time corresponding to a first pulse width of a first record of the plurality of records, And a switch control unit for turning off the first switch connected to the first motor having the first identification information of the first record when counted by the counter,
The switch control unit
When the total counted time after synchronous closing is equal to or greater than a predetermined value, all of the plurality of switches are turned off,
Determining whether the total counted time is equal to a second pulse width of the second record if the total counting time is less than a predetermined value,
If the total counted time is equal to the second pulse width, turning off a second switch connected to a second motor having second identification information of the second record,
And the second record is the next order of the first record on the table. A servo motor control apparatus for controlling a plurality of servo motors rotating by an angle corresponding to an applied pulse width,
A receiving unit receiving a command signal including identification information of each of the plurality of servo motors and a plurality of pulse widths corresponding to the respective identification information;
A pulse width and identification information corresponding to each other among the plurality of pulse widths and the plurality of identification information are recorded, and a plurality of records are sorted in ascending order based on the pulse width, A table generating unit for generating a table as a table by rewriting a pulse width with a relative value of a width and a pulse width of an upper row of the corresponding record;
A storage unit for storing the table;
A counter for counting down time; And
And a switch control unit for synchronously closing a plurality of switches connected to the plurality of servo motors for turning on and off the reference voltage applied to the plurality of servo motors,
The switch control unit,
Counting down the counter by a time corresponding to a first pulse width of a first record among the plurality of records,
When the down counting is completed by the time corresponding to the first pulse width, the first switch connected to the first motor having the first identification information of the first record is turned off,
Counting down the counter by resetting the counter to a second pulse width of a second record which is a lower recorder immediately below the first record after turning off the first switch,
And turns off the second switch connected to the second motor having the second identification information of the second record when down counting is completed by the time corresponding to the second pulse width. A computer-readable recording medium storing a program for performing the method of any one of claims 1 to 7.

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