CN101741312A - Method for controlling servo motor driving system - Google Patents
Method for controlling servo motor driving system Download PDFInfo
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- CN101741312A CN101741312A CN201010104629A CN201010104629A CN101741312A CN 101741312 A CN101741312 A CN 101741312A CN 201010104629 A CN201010104629 A CN 201010104629A CN 201010104629 A CN201010104629 A CN 201010104629A CN 101741312 A CN101741312 A CN 101741312A
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Abstract
The invention belongs to the technical field of servo driving and provides a method for controlling a servo motor driving system. In the method, an acquired feedback signal of a sensor at an output end of an actuator is compared with a target value, the motion of a motor is adjusted to realize the closed-loop servo control, so that the requirement of control instructions can be accurately met, an error in a transmission chain is eliminated, and the problems of servocontrol moment, speed, precision and cost are solved.
Description
Technical field
The present invention relates to a kind of digital control servo-drive technology, specifically a kind of control method of servo motor driving system.
Background technology
Along with the application of microprocessor, new digital signal processor (DSP), numerical control system occurred in recent years, control section can be undertaken by software fully.The servo-drive technology has had outstanding development, the famous electric manufacturer in various countries release one after another separately servomotor and servo-driver, and constantly improve and upgrade.Servo system has become the main developing direction of contemporary high-performance numerical control, the commercialization of existing countries in the world servo system adopts is that the sinusoidal wave motor servo of digital control drives.The U/V/W three-phase electricity of servo-driver control forms electromagnetic field, rotor rotates under the effect in this magnetic field, servo in the normal speed scope, its torque is very stable, its working method is to give driver by the position sensor feedback signal that servomotor carries, and driver compares according to value of feedback and desired value, and has or not step-out according to its feedback signal judgement, thereby replenish, adjust the angle of rotor rotation.
On the other hand, the current servo Driving technique uses the scale on automatic industrial manufacturing line increasing, and the numerical control device major part all adopts the servo-drive technology, and its power trend maximizes, for obtaining suitable rotating speed and torque, adopt motor to add the mode of deceleration or speeder usually.Therefore the servo reductor of using, perhaps booster engine are arranged.But the deceleration or the speeder of machinery are because reasons such as manufacturing and heating exist the gap and the mechanical deformation of transmission.Therefore cause accurate closed loop servo control to become open loop control, and strengthen with driving-chain, even might be out of control fully because of the driving-chain fault, do not satisfy accurate control moment, speed, precision and the requirement that reduces cost.
Summary of the invention
Purpose of the present invention is exactly in order to overcome the weak point of above-mentioned background technology, a kind of control method of servo motor driving system to be provided, and it can accurately realize the requirement of control command, eliminate the error in the driving-chain, solve SERVO CONTROL moment, speed, the requirement of the precision and the aspect that reduces cost.
The control method of a kind of servo motor driving system provided by the invention, the hardware components of use comprise the position transducer of servo-driver, servomotor, actuator and actuator's output, and this method may further comprise the steps successively:
(1) monitor the position of actuator's output in real time, the physical location that will collect from the position transducer of actuator's output is sent into servo-driver;
(2) after servo-driver receives position command, compare, produce site error, then site error is sent into position regulating unit with the output of actuator output end position transducer;
(3) position regulating unit converts site error to speed command, and the difference between the servomotor actual speed of this speed command and speed detection unit output is a velocity error, and velocity error is sent into the rotational speed regulation unit;
(4) in the rotational speed regulation unit, servo-driver is according to the position of rotor, velocity error is converted to a, b, the instruction of c three-phase current, difference between the servomotor actual current of the current-order of rotational speed regulation unit output and current sensor output is a current error, and this current error is sent into current regulation unit;
(5) current regulation unit converts current error the three-phase voltage control command of servomotor to, sends into voltage source inverter;
(6) voltage is controlled in voltage inverter output, is applied to the three phase excitation unit of servomotor, orders about servomotor and rotates;
(7) driven by servomotor actuator.
In technique scheme, be to adopt the position transducer that is arranged on actuator's output that actuator is carried out position monitoring in the step (1), the position transducer of described actuator output links to each other with the input of servo-driver.
In technique scheme, comprise position regulating unit, rotational speed regulation unit, current regulation unit, voltage source inverter in the described servo-driver, above-mentioned each unit connects successively.
In technique scheme, described servomotor carries position transducer.
The control method of servo motor driving system of the present invention not only has applied widely, easy to operate, fail safe and reliability advantages of higher, and utilize the actuator's output feedback signal that collects, and compare with desired value, adjust the motion of motor, the control of realization closed loop servo, can accurately satisfy the requirement of control command, eliminate the error in the driving-chain, solve SERVO CONTROL moment, speed, the requirement of the precision and the aspect that reduces cost.In addition, the hardware system that this control method is used is a complete system, and positional error compensation is finished in servo-driver inside, and this process is to user transparent, and it is convenient, simple therefore to use.The inventive method is particularly suitable for the servo-drive of brushless electric machine band decelerator.
Description of drawings
Fig. 1 is the control mode schematic diagram of embodiment of the invention servo drive system.
Embodiment
The invention will be further described below in conjunction with drawings and Examples, and the actuator that uses in the present embodiment is deceleration device.
As shown in Figure 1, the hardware components that present embodiment adopted comprises the position transducer of servo-driver, permanent-magnet servo motor (PMSM), deceleration device and deceleration device output, and the position transducer of described deceleration device output links to each other with the input of servo-driver.
Comprise position regulating unit, rotational speed regulation unit, current regulation unit, voltage source inverter in the described servo-driver, above-mentioned each unit connects successively.
Described servomotor carries position transducer.
The control method that the present embodiment servo drive system is adopted is as follows:
(1) monitor the position of deceleration device output in real time, the physical location that will collect from the position transducer of deceleration device output is sent into servo-driver;
(2) after servo-driver receives position command, compare, produce site error, then site error is sent into position regulating unit with the output of deceleration device output end position transducer;
(3) position regulating unit utilizes mode such as PID adjuster to convert site error to speed command, and the difference between the servomotor actual speed of this speed command and speed detection unit output is a velocity error, and velocity error is sent into the rotational speed regulation unit;
(4) in the rotational speed regulation unit, servo-driver is according to the position of rotor, velocity error is converted to a, b, the instruction of c three-phase current, be electric current I a*, current Ib *, electric current I c*, difference between the servomotor actual current electric current I a of the current-order of rotational speed regulation unit output and current sensor output, current Ib, electric current I c is a current error, and this current error is sent into current regulation unit;
(5) current regulation unit is voltage Sa, voltage Sb, voltage Sc with the three-phase voltage control command that current error converts servomotor to, sends into voltage source inverter;
(6) voltage inverter is exported control voltage by modes such as PWM, is applied to the three phase excitation unit of servomotor, orders about servomotor and rotates;
(7) mechanical deceleration device such as driven by servomotor gear box is finished whole driving process.
In traditional servo drive system, servomotor and servo-driver have been formed a closed-loop control, motor executing location instruction accurately.But the mechanical deceleration device of motor rear end is not in the closed-loop control scope, promptly because the site error that mechanical deceleration device produces can not be perceiveed and effectively control.For example, general speed ratio is that the output sideshake of 1000: 1 planetary reducers can reach more than the 10 arcs branch, greatly reduces the positioning accuracy of system; Control this error complex process, cost height from machinery.
Use control method of the present invention to increase the position transducer of deceleration device output, mechanical deceleration device is included in the position closed loop control of servo-driver, the trueness error of deceleration device is by position closed loop braking compensation.2 arcs divide with interior position transducer, and price only is that its use cost is lower about 100～200 yuan, simultaneously, whole control process is a complete system, and positional error compensation is finished in internal drive, this process is to user transparent, and it is convenient, simple therefore to use.
Claims (4)
1. the control method of servo motor driving system, the hardware components that this method is used comprises the position transducer of servo-driver, servomotor, actuator and actuator's output, it is characterized in that this method may further comprise the steps successively:
(1) monitor the position of actuator's output in real time, the physical location that will collect from the position transducer of actuator's output is sent into servo-driver;
(2) after servo-driver receives position command, compare, produce site error, then site error is sent into position regulating unit with the output of actuator output end position transducer;
(3) position regulating unit converts site error to speed command, and the difference between the servomotor actual speed of this speed command and speed detection unit output is a velocity error, and velocity error is sent into the rotational speed regulation unit;
(4) in the rotational speed regulation unit, servo-driver is according to the position of rotor, velocity error is converted to a, b, the instruction of c three-phase current, difference between the servomotor actual current of the current-order of rotational speed regulation unit output and current sensor output is a current error, and this current error is sent into current regulation unit;
(5) current regulation unit converts current error the three-phase voltage control command of servomotor to, sends into voltage source inverter;
(6) voltage is controlled in voltage inverter output, is applied to the three phase excitation unit of servomotor, orders about servomotor and rotates;
(7) driven by servomotor actuator.
2. the control method of servo motor driving system according to claim 1, it is characterized in that: be to adopt the position transducer that is arranged on actuator's output that actuator is carried out position monitoring in the step (1), the position transducer of described actuator output links to each other with the input of servo-driver.
3. the control method of servo motor driving system according to claim 1, it is characterized in that: comprise position regulating unit, rotational speed regulation unit, current regulation unit, voltage source inverter in the described servo-driver, above-mentioned each unit connects successively.
4. the control method of servo motor driving system according to claim 1, it is characterized in that: described servomotor carries position transducer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201010104629A CN101741312A (en) | 2010-01-29 | 2010-01-29 | Method for controlling servo motor driving system |
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| CN201010104629A CN101741312A (en) | 2010-01-29 | 2010-01-29 | Method for controlling servo motor driving system |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103499932A (en) * | 2013-10-17 | 2014-01-08 | 北京经纬恒润科技有限公司 | Full closed-loop servo control method, device and system |
| CN103941646A (en) * | 2014-04-09 | 2014-07-23 | 苏州汇川技术有限公司 | Servo positioning control system and method |
| CN104779875A (en) * | 2015-05-04 | 2015-07-15 | 奇瑞汽车股份有限公司 | Closed-loop control system for direct current servo motor |
| CN105459108A (en) * | 2015-07-31 | 2016-04-06 | 宁夏巨能机器人系统有限公司 | Driving device of servo motor for robot hand and driving method for driving device |
| CN106357170A (en) * | 2015-06-09 | 2017-01-25 | 罗伯特·博世有限公司 | Characteristic curve determination for a brushless DC motor |
| CN108021100A (en) * | 2017-12-08 | 2018-05-11 | 武汉菲仕运动控制系统有限公司 | The control device and control method of a kind of forcing press |
| CN108123655A (en) * | 2016-11-26 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | Dicode coil motor control system |
| CN108762117A (en) * | 2018-05-22 | 2018-11-06 | 北京因时机器人科技有限公司 | A kind of servo-driver control method and device |
| CN109019089A (en) * | 2018-07-24 | 2018-12-18 | 重庆安卡自动化工程有限公司 | Roller-way servo-control system for corrugated paper box printing machine tool |
| CN109245664A (en) * | 2017-11-22 | 2019-01-18 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of adjustment method of transmission mechanism turntable |
| CN110417181A (en) * | 2019-06-23 | 2019-11-05 | 大国重器自动化设备(山东)股份有限公司 | A kind of magnetic suspension bearing and high performance servo motor |
| CN110761624A (en) * | 2019-09-18 | 2020-02-07 | 珠海格力电器股份有限公司 | Bolt control method and door lock system |
| CN111756289A (en) * | 2020-06-23 | 2020-10-09 | 西安航天精密机电研究所 | Control method suitable for portable turntable |
| CN112265863A (en) * | 2020-09-02 | 2021-01-26 | 浙江力创自动化科技有限公司 | Programmable controller capable of realizing synchronous control and configuration method |
| CN112290836A (en) * | 2020-09-02 | 2021-01-29 | 浙江力创自动化科技有限公司 | Cooperative control servo drive controller and configuration method |
| CN112332727A (en) * | 2020-10-27 | 2021-02-05 | 恒大新能源汽车投资控股集团有限公司 | Motor control method, vehicle and vehicle-mounted electronic equipment |
| CN115185224A (en) * | 2022-08-26 | 2022-10-14 | 深圳市软赢科技有限公司 | Force control motion control method and system with precision and high efficiency |
-
2010
- 2010-01-29 CN CN201010104629A patent/CN101741312A/en active Pending
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103499932B (en) * | 2013-10-17 | 2015-10-07 | 北京经纬恒润科技有限公司 | A kind of full closed-loop servo control, Apparatus and system |
| CN103499932A (en) * | 2013-10-17 | 2014-01-08 | 北京经纬恒润科技有限公司 | Full closed-loop servo control method, device and system |
| CN103941646A (en) * | 2014-04-09 | 2014-07-23 | 苏州汇川技术有限公司 | Servo positioning control system and method |
| CN104779875A (en) * | 2015-05-04 | 2015-07-15 | 奇瑞汽车股份有限公司 | Closed-loop control system for direct current servo motor |
| CN106357170B (en) * | 2015-06-09 | 2021-01-01 | 罗伯特·博世有限公司 | Determination of characteristic curves for brushless DC motors |
| CN106357170A (en) * | 2015-06-09 | 2017-01-25 | 罗伯特·博世有限公司 | Characteristic curve determination for a brushless DC motor |
| CN105459108B (en) * | 2015-07-31 | 2017-07-07 | 宁夏巨能机器人系统有限公司 | A kind of servo motor driving device and its driving method for mechanical hand |
| CN105459108A (en) * | 2015-07-31 | 2016-04-06 | 宁夏巨能机器人系统有限公司 | Driving device of servo motor for robot hand and driving method for driving device |
| CN108123655A (en) * | 2016-11-26 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | Dicode coil motor control system |
| CN109245664A (en) * | 2017-11-22 | 2019-01-18 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of adjustment method of transmission mechanism turntable |
| CN109245664B (en) * | 2017-11-22 | 2021-07-16 | 中国航空工业集团公司北京航空精密机械研究所 | Debugging method for rotary table of transmission mechanism |
| CN108021100A (en) * | 2017-12-08 | 2018-05-11 | 武汉菲仕运动控制系统有限公司 | The control device and control method of a kind of forcing press |
| CN108762117A (en) * | 2018-05-22 | 2018-11-06 | 北京因时机器人科技有限公司 | A kind of servo-driver control method and device |
| CN109019089A (en) * | 2018-07-24 | 2018-12-18 | 重庆安卡自动化工程有限公司 | Roller-way servo-control system for corrugated paper box printing machine tool |
| CN110417181A (en) * | 2019-06-23 | 2019-11-05 | 大国重器自动化设备(山东)股份有限公司 | A kind of magnetic suspension bearing and high performance servo motor |
| CN110761624A (en) * | 2019-09-18 | 2020-02-07 | 珠海格力电器股份有限公司 | Bolt control method and door lock system |
| CN111756289A (en) * | 2020-06-23 | 2020-10-09 | 西安航天精密机电研究所 | Control method suitable for portable turntable |
| CN112265863A (en) * | 2020-09-02 | 2021-01-26 | 浙江力创自动化科技有限公司 | Programmable controller capable of realizing synchronous control and configuration method |
| CN112290836A (en) * | 2020-09-02 | 2021-01-29 | 浙江力创自动化科技有限公司 | Cooperative control servo drive controller and configuration method |
| CN112290836B (en) * | 2020-09-02 | 2022-08-30 | 浙江力创自动化科技有限公司 | Cooperative control servo drive controller and configuration method |
| CN112265863B (en) * | 2020-09-02 | 2022-09-27 | 浙江力创自动化科技有限公司 | Programmable controller capable of realizing synchronous control and configuration method |
| CN112332727A (en) * | 2020-10-27 | 2021-02-05 | 恒大新能源汽车投资控股集团有限公司 | Motor control method, vehicle and vehicle-mounted electronic equipment |
| CN115185224A (en) * | 2022-08-26 | 2022-10-14 | 深圳市软赢科技有限公司 | Force control motion control method and system with precision and high efficiency |
| CN115185224B (en) * | 2022-08-26 | 2023-05-16 | 深圳市软赢科技有限公司 | Force control motion control method and system with precision and high efficiency |
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Open date: 20100616 |