CN101667029A - Method for calibrating zeroing of servo mechanism - Google Patents
Method for calibrating zeroing of servo mechanism Download PDFInfo
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- CN101667029A CN101667029A CN200810213451A CN200810213451A CN101667029A CN 101667029 A CN101667029 A CN 101667029A CN 200810213451 A CN200810213451 A CN 200810213451A CN 200810213451 A CN200810213451 A CN 200810213451A CN 101667029 A CN101667029 A CN 101667029A
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Abstract
The invention relates to a method for calibrating the zeroing of a servo mechanism, which comprises the following steps: driving a servo motor in a low rotation speed mode to drive a moving part to move to a first extreme position and a second extreme position respectively; in the moving process of the moving part, continuing to detect whether the motor control energy of the servo motor exceeds afirst threshold value or a second threshold value; acquiring a motor coordinate value corresponding to the first or second extreme position when the motor control energy is increased to exceed the first threshold value or the second threshold value when the moving part reaches the first or second extreme position; and finally, calculating a conversion function of the motor coordinate and the actual coordinate by utilizing an actual coordinate value of the first extreme position, an actual coordinate value of the second extreme position, the motor coordinate value corresponding to the first extreme position and the motor coordinate value corresponding to the second extreme position. The method can simplify the structure of the servo mechanism and avoiding the use of an additional detectiondevice for determining whether the moving part reaches the extreme position.
Description
Technical field
The present invention relates to a kind of servo, particularly a kind of method for calibrating zeroing of servo mechanism that need not add detection means.
Background technology
Consult shown in Figure 1, the movement parts 3 that servo 1 comprises servo motor 2 and driven by servo motor 2.Servo 1 must be through overcorrect, so that servo motor 2 output each time can arrive preposition or turn to predetermined angular by actuation movement part 3.
No matter servo 1 is linear output or rotates output that movement parts 3 all can have two extreme positions, is positioned at the two ends of motion path.If the motion path of movement parts 3 is a linear path, be movably ultimate range of movement parts 3 between two extreme positions then.If the motion path of movement parts 3 is for rotating, then two extreme positions are the maximum angle that movement parts 3 is just being changeed and reversed.
When carrying out servo 1 correction flyback action, on the extreme position detection means 4 such as inductor or limit switch must be set, judge for control end whether movement parts 3 reaches the limit of the position with the passback interrupt trigger signal.When servo motor 2 actuation movement parts 3 reach the limit of the position, and after the contact detection device 4, detection means 4 is sent interrupt trigger signal to control end, makes control end stop the action of servo motor 2, writes down the motor coordinate figure of this moment and the actual coordinate value of corresponding extreme position simultaneously.Then servo motor 2 again actuation movement part 3 move to another extreme position, contact another detection means 4 after, servo motor 2 is stopped once again, and the motor coordinate figure of record this moment and the actual coordinate value of corresponding another extreme position.Servo motor 2 can be fed back to control end with respect to the anglec of rotation of presetting central point with output shaft in the output rotating process, this rotational angle is the motor coordinate figure.Actual amount of movement (displacement or the anglec of rotation) between two extreme positions also can be obtained in the design parameter by servo 1, and the mobile range that is to say movement parts 2 is just determined in servo 1 design process.Thus just can be by the actual coordinate value and the corresponding motor coordinate figure of two extreme positions, pairing movement parts 3 amount of movements of conversion servo motor 2 amounts of exercise, and further obtain the relation function of motor coordinate and actual coordinate, with the actual coordinate of motor coordinate Mapping to movement parts.Servo motor 2 needs only feedback motor coordinate afterwards, and control end can converse the actual coordinate of movement parts 3.
Yet, in the aforesaid zero-in method, must use detection means 4 to judge whether the movement parts 3 of servo 1 is moved to extreme position, to calculate the peak exercise of servo 1.Detection means 4 the number of elements that has increased servo 1 is set, promote manufacturing cost.Simultaneously in the limited servo 1 in space, detection means 4 is set and has difficulty of construction, produce the problem that servo 1 is difficult for assembling.
Summary of the invention
In view of the above problems, the invention provides a kind of method for calibrating zeroing of servo mechanism, do not need to add detection means, just can carry out the zero-in of servo, simplified the structure of servo, and reduce manufacturing cost.
Servo comprises servo motor and movement parts, movement parts by servo motor driven and displacement between first extreme position and second extreme position, and the motion path of movement parts constitutes actual coordinate, the amount of exercise of servo motor and direction of motion constitute the motor coordinate.According to method for calibrating zeroing of servo mechanism provided by the invention, with slow-speed of revolution mode activated servo motor, move with the direction of actuation movement part toward first extreme position, simultaneously, whether continue to detect the motor control energy of servo motor above first threshold.When movement parts arrives first extreme position, the motor control energy is raised above first threshold, can obtain this moment motor coordinate figure that should first extreme position.Then again with slow-speed of revolution mode activated servo motor, the actuation movement part moves toward the direction of second extreme position, obtains the motor coordinate figure of corresponding second extreme position in the same manner.At last, just can utilize motor coordinate figure, and the motor coordinate figure of corresponding second extreme position of the actual coordinate value of first extreme position, the actual coordinate value of second extreme position, corresponding first extreme position, calculate the conversion function of motor coordinate and actual coordinate.Follow-up carrying out just can be learnt the pairing movement parts actual coordinate of each motor coordinate at servo when operation.
The present invention can simplify the structure of servo, does not need extra detection means to confirm whether movement parts reaches the limit of the position.By the detection of motor control energy, just can detect movement parts and whether reach the limit of the position.
Description of drawings
Fig. 1 is the servo synoptic diagram of prior art.
Fig. 2 and Fig. 3 are for using the servo synoptic diagram of the embodiment of the invention.
Fig. 4 be in the embodiment of the invention motor coordinate and actual coordinate concern synoptic diagram.
Fig. 5 is the system block diagrams of servo in the embodiment of the invention.
Fig. 6 is the variation synoptic diagram of motor control energy in the embodiment of the invention.
Fig. 7 A and Fig. 7 B are method flow diagram of the present invention.
Wherein, description of reference numerals is as follows:
Prior art
1 servo
2 servo motors
3 movement parts
4 detection means
The embodiment of the invention
100 servies
110 servo motors
120 movement parts
130 gearings
150 location aware devices
160 counters
170 controllers
The S motion path
The S0 initial point
S1 first extreme position
S2 second extreme position
C0 motor coordinate central point
The motor coordinate figure of corresponding first extreme position of C1
The motor coordinate figure of corresponding second extreme position of C2
S210 control servo motor turns to the central point of location aware device, obtains initial motor coordinate figure
S220 moving movement spare connects the output shaft of servo motor to the initial point of actual coordinate
S230 is with slow-speed of revolution mode activated servo motor, and the actuation movement part moves toward the first extreme position direction
S240 detects the motor control energy and whether surpasses first threshold
S250 obtains the motor coordinate figure of corresponding first extreme position
S260 moves movement parts with slow-speed of revolution mode activated servo motor toward the second extreme position direction
S270 detects the motor control energy and whether surpasses second threshold value
S280 obtains the motor coordinate figure of corresponding second extreme position
S290 calculates motor coordinate and movement parts actual coordinate conversion function with the motor coordinate figure of the first extreme position coordinate, the second extreme position coordinate, correspondence
S300 writes down conversion function
Embodiment
See also Fig. 2 and shown in Figure 3, it is the disclosed a kind of method for calibrating zeroing of servo mechanism of the embodiment of the invention, in order to obtaining the relation of servo motor 110 amounts of exercise and movement parts 120 amount of movements, and reaches the correction operation of servo 100.
Consult Fig. 2 and shown in Figure 3, it is the synoptic diagram of two kinds of multi-form servies 100.Each servo 100 comprises servo motor 110 and movement parts 120.Servo motor 110 moves along motion path S in order to actuation movement part 120.This motion path S can be linear path, also can be rotational angle.When motion path S is linear path, the output shaft of servo motor 110 connects movement parts 120 with gearings such as screw rod or belt 130, the rotation output of servo motor 110 is converted to linear output, to order about movement parts 120 in pedestal 140 enterprising line linearity displacements.Movement parts 120 is motion path S, as shown in Figure 1 in the path that pedestal 140 moves.When motion path S was rotational angle, the output shaft of servo motor 110 directly connected or connects movement parts 120 by speed change gear indirectly, back and forth rotates to order about movement parts 120, and the rotational angle of movement parts 120 is motion path S, as shown in Figure 2.
Consult shown in Figure 4ly, two end points of motion path S are the first extreme position S1 and the second extreme position S2, and movement parts 120 can only be displaced between the first extreme position S1 and the second extreme position S2.Distance between the first extreme position S1 and the second extreme position S2, that is the length of motion path S, decision when servo 100 designs.The direction of extending along motion path S constitutes the coordinate system of one dimension, and in order to the actual coordinate as movement parts 120, the unit of actual coordinate is linear range or angle (kenel of apparent motion path S is decided).Generally speaking, the initial point S0 of actual coordinate is positioned at the stage casing of motion path S, and the size of motion path S is the absolute value of (S1-S2).Aforementioned S0, S1, S2 are design parameter, therefore can directly be obtained by design parameter after servo 100 completes, and can certainly measure to obtain more accurate actual numerical value by reality.
Consult Fig. 4 and shown in Figure 5, also comprise location aware device 150 in the servo 100 usually, in order to detect the motor coordinate figure of current servo motor 110 output shafts.The motor coordinate figure is angle and the rotation direction that servo motor 110 current output shafts rotate with respect to original state.That is to say that can select free position carries out after servo 100 assembling as the original state of servo motor 110, the output shaft angle of this original state is defined as motor coordinate central point, that is the motor coordinate figure is 0 state.After output was rotated in servo motor 110 outputs, output shaft was current motor coordinate figure by the angle that original state arrives the required rotation of current state.This motor coordinate figure can adopt footpath degree, the number of degrees or self-defined unit, and location aware device 150 then is used for 110 motions of perception servo motor and record amount of exercise, and obtains the motor coordinate figure.Location aware device 150 is generally rotary encoder, can be triggered when servo motor 110 rotates and produces count signal, the angle of record servo motor 110 rotation directions and rotation.Behind the moving special angle of servo motor 110 revolutions, location aware device 150 is that an exportable count signal is to control circuit, counter 160 is added up or its count value of successively decreasing according to rotation direction, this count value can be considered the self-defined unit of the anglec of rotation, as the numerical value of motor coordinate.When assembling servo 100, but the output shaft of servo motor 110 rests on the central point C0 of location aware device 150 sensing ranges, and this state is defined motor coordinate central point.Movement parts 120 is moved into the initial point S0 of actual coordinate, connects the output shaft of servo motor 110.
Consult Fig. 5 and shown in Figure 6, after servo motor 110 is accepted the motor control energy, begin to rotate output.The motor control energy is usually with pulse width variation signals (Pulse Width Modulation, form output PWM).Pwm signal only makes servo motor 110 rotate when high level, and each pwm signal cycle only drive servo motor 110 low-angles and rotate, therefore can obtain comparatively accurate servo motor output quantity.When servo motor 110 continue to rotate output with the slow-speed of revolution, and movement parts 120 is interrupted and only be subjected to the fixed friction resistance, and movement parts 120 continues to move with the constant speed rate.This moment, the motor control energy of servo motor 110 also maintained non-loaded output power.When movement parts 120 was subjected to resistance, when servo motor 110 was subjected to the resistance increase, then motor control energy size will rise along with resistance.Move when arriving the first extreme position S1 or the second extreme position S2 at servo motor 110 actuation movement parts 120, can stop that in the structure of the first extreme position S1 or the second extreme position S2 movement parts 120 continues to advance, and the feedback resistance is to servo motor 110.Because the first extreme position S1 or the second extreme position S2 are fixed, therefore resistance can be considered infinitely great, and make the motor power controlling be raised rapidly, and descend slightly behind the arrival ceiling capacity point, then controller 170 stops energize to servo motor 110.Observation place perceptron 150 values of reading in this process, the value of reading of location aware device also can rise gradually, and when the motor power controlling is raised rapidly, stop to change, representing movement parts 120 to reach the limit of the position can't move on, and this moment, location aware device 150 values of reading were exactly the motor coordinate figure that corresponds to extreme position.Therefore in the middle of servo 100 trimming processes, movement parts 120 there is no the external force load, when having only movement parts 120 to arrive the first extreme position S1 or the second extreme position S2, can make the motor control energy produce moment surging and rest on maximum output.Therefore, the moment surging that the moment lifting of motor control energy produces can be considered the signal that movement parts 120 arrives first, second extreme position S1, S2, is fed back to controller 170, makes controller 170 stop the output of motor control energy.Therefore, whether actuation movement part 120 arrives first, second extreme position S1, S2 in order to understand servo motor 110, must continue to monitor the motor control energy, and whether monitoring motor control energy surpasses the first threshold or second threshold value.This first threshold and second threshold value can be the maximum output of motor control energy, also can be less than maximum output, greater than the numerical value between the non-loaded output power.
Consult shown in Fig. 7 A and Fig. 7 B, it is the process flow diagram of method for calibrating zeroing of servo mechanism of the present invention.
In conjunction with consulting Fig. 4, Fig. 5, reaching Fig. 6, controller 170 is controlled the center position that servo motor 110 turns to location aware device 150 earlier, that is the central point of motor coordinate, sees step S210.Movement parts 120 is moved to the initial point S0 of actual coordinate, connect the output shaft of servo motor 110, see step S220.
With slow-speed of revolution mode activated servo motor 110, actuation movement part 120 moves toward the direction of the first extreme position S1, sees step S230 by controller 170.The motor control energy maintains non-loaded output power in movement parts 120 moving process, and whether the motor control energy that continues to detect servo motor 110 sees step S240 above presetting first threshold.If the motor control energy surpasses first threshold, be considered as the motor control energy and the moment surging occurs, that is movement parts 120 contacts constitute the structure of the first extreme position S1.With this moment surging appearance as look-at-me, controller 170 stops to export the motor control energy, moves and allow servo motor 110 stop actuation movement part 120.Simultaneously, obtain the motor coordinate figure C1 of the corresponding first extreme position S1, see step S250 by location aware device 150.
Then, pass through controller 170 again with slow-speed of revolution mode activated servo motor 110, actuation movement part 120 moves toward the direction of the second extreme position S2, sees step S260.Similarly in the moving process of movement parts 120, whether whether the motor control energy that continues to detect servo motor 110 to judge movement parts 120 arrive second extreme position S2 above second threshold value, sees step S270.After the arrival movement parts arrived the second extreme position S2, controller 170 stopped to export the motor control energy, and allows servo motor 110 stop actuation movement part 120.Obtain the motor coordinate figure C2 of the corresponding second extreme position S2 simultaneously by location aware device 150, see step S280.
Then carry out ratiometric conversion,, calculate the actual coordinate conversion function of motor coordinate and movement parts 120 positions, see step S290 with the actual coordinate value of the first extreme position S1, the actual coordinate value of the second extreme position S2, corresponding motor coordinate figure C1, C2.The record conversion function is seen step S300, finishes correction.As long as obtain the motor coordinate figure, in motor coordinate figure substitution conversion function, can obtain the actual coordinate of movement parts 120 positions afterwards by position sensor 150.
In the zero-in operation, must arrive the moment of first, second extreme position S1, S2 in movement parts 120, stop the running of servo motor 110, and obtain the motor coordinate figure, therefore need to detect movement parts 120 and whether arrive first, second extreme position S1, S2.The present invention does not utilize the detection means that additionally is arranged at servo 100 to detect movement parts 120 and whether reaches the limit of first, second extreme position S1, S2, but directly detects by the variation of control end to the motor control energy of servo motor 110 outputs.Whether break through predetermined threshold value with the motor control energy and judge whether the output of motor control energy the moment surging occurs, arrive the opportunity of first, second extreme position S1, S2 to confirm movement parts 120.Servo 100 inside do not need to increase detection means, reduce the part number of servo 100, and the difficulty when reducing element and installing has more reduced the production cost of servo 100.
Claims (7)
1, a kind of method for calibrating zeroing of servo mechanism, wherein this servo comprises servo motor and movement parts, this movement parts by this servo motor driven and displacement between first extreme position and second extreme position, and the motion path of this movement parts constitutes actual coordinate, the amount of exercise of this servo motor and direction of motion constitute the motor coordinate, and this method comprises the following step:
With this servo motor of slow-speed of revolution mode activated, the direction that drives past this first extreme position of this movement parts moves;
Whether continue to detect the motor control energy of this servo motor above first threshold;
When this motor control energy surpasses this first threshold, obtain motor coordinate figure that should first extreme position;
With this servo motor of slow-speed of revolution mode activated, the direction that drives past this second extreme position of this movement parts moves;
Whether continue to detect the motor control energy of this servo motor above second threshold value;
When this motor control energy surpasses this second threshold value, obtain motor coordinate figure that should second extreme position; And
With the actual coordinate value of the actual coordinate value of this first extreme position, this second extreme position, to motor coordinate figure that should first extreme position, and, calculate the conversion function of this motor coordinate and this actual coordinate to motor coordinate figure that should second extreme position.
2, method for calibrating zeroing of servo mechanism as claimed in claim 1 wherein also comprises a step, and the control servo motor turns to the central point of this motor coordinate earlier, and moves the initial point of this movement parts to actual coordinate, to connect the output shaft of this servo motor.
3, method for calibrating zeroing of servo mechanism as claimed in claim 1, wherein the unit of this actual coordinate is linear range or angle.
4, method for calibrating zeroing of servo mechanism as claimed in claim 1, wherein this motor control energy is with the form output of pulse width variation signals.
5, method for calibrating zeroing of servo mechanism as claimed in claim 1, wherein the motor control energy of this slow-speed of revolution pattern is non-loaded output power, the motor power controlling lifting that this movement parts contacts this first extreme position and this second extreme position is maximum output.
6, method for calibrating zeroing of servo mechanism as claimed in claim 5, wherein this first threshold and this second threshold value are greater than this maximum output.
7, method for calibrating zeroing of servo mechanism as claimed in claim 5, wherein this first threshold and this second threshold value be greater than this non-loaded output power, and less than this peak power output.
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| CN200810213451A CN101667029A (en) | 2008-09-04 | 2008-09-04 | Method for calibrating zeroing of servo mechanism |
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| CN102419560A (en) * | 2011-12-30 | 2012-04-18 | 北京华航无线电测量研究所 | Servo controller for servo control device of three-dimensional imaging safety detection door |
| CN102426432A (en) * | 2011-12-30 | 2012-04-25 | 北京华航无线电测量研究所 | Three-dimensional imaging security gate servo control device |
| CN104007685A (en) * | 2014-03-21 | 2014-08-27 | 宁波巨匠自动化装备有限公司 | High-speed precise-positioning acquisition trigger card circuit and acquisition method |
| CN105404202A (en) * | 2015-11-30 | 2016-03-16 | 纳恩博（北京）科技有限公司 | Control method and electronic equipment |
| CN105955193A (en) * | 2016-05-10 | 2016-09-21 | 苏州新代数控设备有限公司 | Numerical control system with origin search mechanism and origin search method thereof |
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| CN102426432A (en) * | 2011-12-30 | 2012-04-25 | 北京华航无线电测量研究所 | Three-dimensional imaging security gate servo control device |
| CN102426432B (en) * | 2011-12-30 | 2013-07-03 | 北京华航无线电测量研究所 | Three-dimensional imaging security gate servo control device |
| CN102419560B (en) * | 2011-12-30 | 2013-07-03 | 北京华航无线电测量研究所 | Servo controller for servo control device of three-dimensional imaging safety detection door |
| CN102419560A (en) * | 2011-12-30 | 2012-04-18 | 北京华航无线电测量研究所 | Servo controller for servo control device of three-dimensional imaging safety detection door |
| CN104007685A (en) * | 2014-03-21 | 2014-08-27 | 宁波巨匠自动化装备有限公司 | High-speed precise-positioning acquisition trigger card circuit and acquisition method |
| CN105404202A (en) * | 2015-11-30 | 2016-03-16 | 纳恩博（北京）科技有限公司 | Control method and electronic equipment |
| CN105955193B (en) * | 2016-05-10 | 2019-01-08 | 苏州新代数控设备有限公司 | With the numerical control system for finding origin mechanism and its find origin method |
| CN105955193A (en) * | 2016-05-10 | 2016-09-21 | 苏州新代数控设备有限公司 | Numerical control system with origin search mechanism and origin search method thereof |
| CN107797455B (en) * | 2017-11-09 | 2020-09-18 | 北京航天自动控制研究所 | Nonlinear smooth zeroing method for carrier rocket servo mechanism |
| CN107797455A (en) * | 2017-11-09 | 2018-03-13 | 北京航天自动控制研究所 | A kind of carrier rocket servo control mechanism nonlinear smoothing resetting method |
| CN110316547A (en) * | 2018-03-31 | 2019-10-11 | 浙江大学常州工业技术研究院 | The fly back method of nuclear industry transfer device |
| CN108736125A (en) * | 2018-04-23 | 2018-11-02 | 江苏科技大学 | A kind of mobile communication vehicle mounted antenna auto-collation |
| CN108736125B (en) * | 2018-04-23 | 2022-03-11 | 江苏科技大学 | Automatic calibration method for mobile communication vehicle antenna |
| CN109257002A (en) * | 2018-09-30 | 2019-01-22 | 长沙执先智量科技股份有限公司 | A kind of origin detection control method of the reciprocating motion based on servo-drive |
| CN111982396A (en) * | 2020-08-10 | 2020-11-24 | 博众精工科技股份有限公司 | Pressure detection method and device, electronic equipment and storage medium |
| CN116172698A (en) * | 2021-11-29 | 2023-05-30 | 瑞龙诺赋(上海)医疗科技有限公司 | Mechanical zero calibration method, device, equipment and medium |
| WO2023093601A1 (en) * | 2021-11-29 | 2023-06-01 | 瑞龙诺赋(上海)医疗科技有限公司 | Mechanical zero position calibration method and apparatus, and device and medium |
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Application publication date: 20100310 |