CN101944870A - Control method and circuit of servo motor - Google Patents
Control method and circuit of servo motor Download PDFInfo
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- CN101944870A CN101944870A CN2009100887423A CN200910088742A CN101944870A CN 101944870 A CN101944870 A CN 101944870A CN 2009100887423 A CN2009100887423 A CN 2009100887423A CN 200910088742 A CN200910088742 A CN 200910088742A CN 101944870 A CN101944870 A CN 101944870A
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Abstract
The invention relates to control method and circuit of a servo motor. The method comprises the following steps of: generating a starting signal when a control command is a starting command; generating a starting speed pulse sequence by a speed pulse sequence generator, and outputting the starting speed pulse sequence to the starting signal input end and the speed signal output end of a servo driver. The method can also be a control method when the control command is a braking command and a speed regulating command. The circuit comprises a braking command processing unit, a speed pulse sequence generator, a braking timer, a detection computation module and a storage unit. The circuit can also be a control circuit for controlling the speed regulating command. The control method and circuit of the servo motor overcome the phenomenon of the time sequence asynchronism caused by sequential execution in the control process of servo motor software, simultaneously solves the problem that the speed change is uneven in the speed regulation process, reduces the noise of the speed changing process of a main shaft and prolongs the service life of the main shaft.
Description
Technical field
The present invention relates to a kind of control method and circuit of servomotor, relate in particular to a kind of control method and circuit of the embroidery machine servomotor based on the hardware logic gate circuit.
Background technology
The control of embroidery machine servomotor is to be realized by the combination of the sequential logic control signal of complexity, control signal is divided into output control signal and input control signal, wherein export control signal and comprise enabling signal, brake signal and rate signal, input signal comprises A phase pulse signal, B phase pulse signal and the Z phase pulse signal of the encoder that is installed in the servomotor side.Control system is monitored A phase pulse signal, B phase pulse signal and Z phase pulse signal in real time, these input signals are handled the constraints of back as output control logic according to certain logical relation and mathematical formulae, the sequential and the combination of control output logic, the logical combination of the control signal of output realize to the embroidery machine servomotor startup, stop, locking main shaft, unclamp main shaft, the control of actions such as main shaft brake and speed adjustment.Wherein, speed adjustment and the brake control that puts in place is main points and difficult point in the embroidery machine servomotor control, and the soften of speed adjustment will influence whole embroidery and make work and embroidery quality, and can brake put in place and will influence embroidery machine and carry out next step work.
The logical combination of control signal and output control are that mode by software realizes that program is exported control signal according to the structure that control relation and order are carried out successively according to current constraints in the prior art.Different control signals mode in order is set up.
Fig. 1 is that servomotor speed is adjusted flow chart in the prior art.The speed adjustment of servomotor realizes that by the output frequency of the control signal of regulating the speed output signal frequency is high more, and the servomotor rotating speed is fast more.Speed control signal is responsible for output by timer, when changing speed, need reset the break period of timer at every turn, the output logic of control rate control signal in interrupt handling routine again, and its workflow is as shown in Figure 1.
Prior art also is that mode by software interrupt realizes to the detection of A phase pulse signal, B phase pulse signal and Z phase pulse signal.Send interrupt requests when pulse signal is effective, the control system response is interrupted, and enters interrupt handling routine, constraints is set and feeds back to output control.
The servomotor brake puts in place and is meant when servomotor stops operating, and the position of servomotor is within the high level at the significant level of the Z phase pulse of encoder output.Fig. 2 is put in place the flow chart of control of prior art servomotor brake, as shown in Figure 2, earlier will A phase pulse-break with Z mutually pulse-break be set to invalidly, reduce the output frequency of servomotor speed control signal then, promptly reduce the speed of servomotor.Because the original rotating speed of servomotor is very fast, the speed that distance drops to setting needs the long period, so need carry out pre-brake operation earlier, is about to enabling signal and is set to invalidly, and brake signal is set to effectively, and the certain hour of delaying time.When timer regularly overflowed, enabling signal was set to effectively, and brake signal is set to invalid, the significant level of cycle detection Z phase pulse signal.Slowly slip into when servomotor within the significant level of Z phase pulse signal, and passed through a certain number of A phase pulse signal, illustrate that servomotor has entered within the significant level of Z phase pulse signal fully, enabling signal is set to invalid, brake signal is set to effectively, main shaft stops operating, and so far, brake puts in place to control and finishes.
In the software implementing course that the logical combination and the output of control signal are controlled, because the sequential organization of software flow itself, the output of control signal must be that order is carried out, thereby cause being controlled at of servomotor to occur nonsynchronous phenomenon on the sequential, especially when other interrupt sources or detection put in place, export control signal again, can't reach synchronous.Do not use interruption during pulse mutually at the pulse of software detection A phase and Z, can reduce the breakpoint of program, still, the speed of detection and degree of stability can be subjected to very big restriction.
In addition, when the speed of servomotor is adjusted, because sequential is asynchronous, the frequency of speed control signal can not linear change, make that the velocity variations of servomotor is inhomogeneous, the noise when causing main shaft speed change is very big, influences the useful life of servomotor.
Summary of the invention
The control method and the circuit that the purpose of this invention is to provide a kind of servomotor, be used for solving in the prior art servomotor control procedure the asynchronous and speed adjustment process medium velocity of sequential and change uneven problem, noise when reducing main shaft speed change improves main shaft useful life.
The invention provides a kind of control method of servomotor, the control command that control circuit sends according to the computer that receives, servo-driver is controlled, described servo-driver comprises enabling signal input, rate signal input, brake signal input, described servo-driver is controlled a servomotor, and described method comprises:
When described control command was starting command, described control circuit generated an enabling signal, and the toggle speed value that sets in advance is sent to a velocity pulse sequence generator;
Described velocity pulse sequence generator produces a toggle speed pulse train according to the described toggle speed value of input, and the frequency of described toggle speed pulse train is corresponding with described toggle speed value;
Enabling signal input to described servo-driver is exported described enabling signal, exports described toggle speed pulse train to the rate signal input of described servo-driver.
The present invention also provides a kind of control method of servomotor, the control command that control circuit sends according to the computer that receives, servo-driver is controlled, described servo-driver comprises enabling signal input, rate signal input, brake signal input, described servo-driver is controlled a servomotor, and described method comprises:
When described control command is braking commands, generate a brake signal, extract the brake parameter, and the brake speed value is sent to a velocity pulse sequence generator;
Described velocity pulse sequence generator generates a brake speed pulse train according to the described brake speed value of input, and the frequency of described brake speed pulse train is corresponding with described brake speed value;
According to the first timing parameters setting and start one the brake timer, the count cycle of described brake timer is described first timing parameters;
Stop enabling signal input output enabling signal to described servo-driver;
Brake signal input to described servo-driver is exported described brake signal, and exports described brake speed pulse train to the rate signal input of described servo-driver;
When described brake timer overflows, enabling signal input to described servo-driver is exported described enabling signal, stop to export described brake signal, stop to export described brake speed pulse train to the rate signal input of described servo-driver to the brake signal input of described servo-driver;
By being arranged on the encoder of described servomotor side, detect the speed of current servomotor, whether the speed of judging described current servomotor reaches the bit rate of braking, if, then carry out and stop to export described enabling signal to the enabling signal input of described servo-driver, the operation of exporting described brake signal to the brake signal input of described servo-driver, otherwise, then carry out and continue the operation that detects and judge.
The present invention provides a kind of control method of servomotor again, the control command that control circuit sends according to the computer that receives, servo-driver is controlled, described servo-driver comprises enabling signal input, rate signal input, brake signal input, described servo-driver is controlled a servomotor, and described method comprises:
When described control command is speed adjustment order, adding and send to a velocity pulse sequence generator the speed increment that comprises in current servomotor velocity amplitude and the described speed adjustment order;
Described velocity pulse sequence generator according to the described current servomotor velocity amplitude of input and described speed increment add and the speed that generates is adjusted pulse train, the frequency that described speed is adjusted pulse train adds with corresponding with described current servomotor velocity amplitude and described speed increment;
According to the second timing parameters setting and start a speed and adjust timer, the count cycle that described speed is adjusted timer is described second timing parameters;
When described speed adjustment timer overflows, execution is according to the operation that adds and generate speed adjustment pulse train and restart described speed adjustment timer of current servomotor velocity amplitude and described speed increment, repeat this operation, up to current servomotor velocity amplitude and described speed increment add and with target regulate the speed equate till.
The invention provides a kind of control circuit of servomotor, comprising:
The braking commands processing unit, be used for after receiving braking commands, generate and send brake signal and give the brake signal input of servo-driver, extract the brake parameter, toggle speed pulse train maker and brake timer, and to the control of the startup of the signal that sends to described servo-driver in the brake process/stop;
Described velocity pulse sequence generator is used for producing a velocity pulse sequence according to the velocity amplitude of input, and exports to the rate signal input of described servo-driver;
Described brake timer is connected with described braking commands processing unit, is used for when described brake timer overflows, and sends an operation indication to described braking commands processing unit;
The detection computations module is used to detect the pulse of A phase, the pulse of B phase and the Z pulse mutually of encoder output, and calculates the number of described A phase pulse in the significant level of described Z phase pulse;
Memory cell, be used for storing the corresponding mapping table of described brake parameter that comprises with described braking commands, described mapping table comprises the brake speed value corresponding with described brake parameter and first timing parameters, and described first timing parameters is corresponding with the count cycle of described brake timer.
The present invention also provides a kind of control circuit of servomotor, comprising:
Speed is adjusted the command process unit, be used for after receiving speed adjustment order, extraction rate is adjusted parameter, and toggle speed pulse train maker and speed adjustment timer, and the indication of overflowing of in the speed adjustment process, adjusting timer according to described speed, carry out and restart the operation that described speed is adjusted timer and adjusted described velocity pulse sequence generator;
Described velocity pulse sequence generator is used for producing a velocity pulse sequence according to the velocity amplitude of input, and exports to the rate signal input of described servo-driver;
Described speed is adjusted timer, adjusts the command process unit with described speed and is connected, and is used for adjusting the command process unit to described speed and sending an operation indication when described speed adjustment timer overflows;
Memory cell, be used for storing the speed that comprises with described speed adjustment order and adjust the parameter corresponding mapping table, described mapping table comprises speed increment, second timing parameters and the target corresponding with described speed adjustment parameter regulates the speed, and described second timing parameters is corresponding with the count cycle that described speed is adjusted timer.
The control method of servomotor provided by the invention and circuit are based on the realization of hardware logic gate circuit, in stability to servomotor control, all be higher than software configuration on the reaction speed, and a plurality of logic control signals input and output simultaneously, and input signal is very short with respect to the output logic cycle to the delay of feedback of output signal, can ignore, so the control method of servomotor provided by the invention and circuit can satisfy the requirement of servomotor to output signal and input signal synchronism, overcome nonsynchronous phenomenon on sequential that the order execution causes in the servomotor software control process, solve speed adjustment process medium velocity simultaneously and changed uneven problem, reduced the noise in the main shaft speed change process, the useful life of having improved main shaft.
Description of drawings
Fig. 1 is that servomotor speed is adjusted flow chart in the prior art;
Fig. 2 is the flow chart that the brake of prior art servomotor puts in place and controls;
Fig. 3 is the flow chart of an embodiment of the control method of servomotor of the present invention;
Fig. 4 is the flow chart of another embodiment of the control method of servomotor of the present invention;
Fig. 5 is the flow chart of another embodiment of the control method of servomotor of the present invention;
Fig. 6 is the structural representation of an embodiment of the control circuit of servomotor of the present invention;
Fig. 7 (a) is the brake process control signal output waveform figure that the present invention is based on FPGA;
Fig. 7 (b) is the oscillogram that the present invention is based on the brake process speed adjustment of FPGA;
Fig. 7 (c) is the detection waveform figure that the present invention is based on the brake process encoder output of FPGA.
Embodiment
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Fig. 3 is the flow chart of an embodiment of the control method of servomotor of the present invention, and control circuit is controlled servo-driver according to the starting command that the computer that receives sends, and described servo-driver is controlled a servomotor.As shown in Figure 3, controller receives the starting command from computer, as described in Fig. 3 step S31.Then, step S32, control circuit produces an enabling signal, control circuit obtains the toggle speed value that sets in advance and sends to the velocity pulse sequence generator simultaneously, control circuit obtains the toggle speed value according to starting command in the present embodiment in a memory cell, and described toggle speed value is solidificated in the memory cell in advance.The velocity pulse sequence generator produces toggle speed pulse train according to the toggle speed value of input, as described in Fig. 3 step S33.Because the control method that present embodiment provides is based on the realization of hardware logic gate circuit, a plurality of control signals can be exported simultaneously, and routine step S32 and step S33 realize simultaneously.Then, control circuit is exported enabling signal and toggle speed pulse train respectively to the enabling signal input and the rate signal input of servo-driver, as described in Fig. 3 step S34, at this moment servo-driver can change into the two path control signal that receives AC signal and flow to servomotor, the startup of control servomotor.
The control method that present embodiment provides is based on the realization of hardware logic gate circuit, compare with software implementation method of the prior art, the method of present embodiment is in stability, all to be higher than software configuration on the response speed, simultaneously because the precision of hardware circuit internal clocking reference data is very high, the sequential output of control logic is highly stable, a plurality of logic control signals can be exported and import simultaneously, and the time-delay that input signal feeds back to output control logic can be ignored with respect to the output logic cycle, satisfy the synchronous requirement of Electric Machine Control output signal and input signal, therefore overcome nonsynchronous phenomenon on sequential that the order execution causes in the servomotor software control process, improved control precision the servomotor main shaft.
Fig. 4 is the flow chart of another embodiment of the control method of servomotor of the present invention, embroiders one and may need at any time in the work process to do servomotor to slow down or quit work, and this computer-chronograph can send deceleration command and braking commands to control circuit.
When computer when control circuit sends braking commands, the workflow of the control method that this enforcement provides as shown in Figure 4, after step S40 control circuit receives the braking commands of computer transmission, start a brake signal, it is the described generation brake signal of Fig. 4 step S42, and the brake speed value sent to the velocity pulse sequence generator, the velocity pulse sequence generator generates a brake speed pulse train according to the brake speed value of input, as described in Fig. 4 step S43, the speed of servomotor is reduced to a creep speed earlier, and this moment, the frequency of brake speed pulse train was corresponding with creep speed; Because this moment, servomotor was in the normal operation state, need enabling signal be set to invalidly, promptly Fig. 4 step S41 is described, stops enabling signal; Control circuit sends to the respective input of servo-driver respectively with it when producing above-mentioned signal or order, be the rate signal input that brake speed pulse train is input to servo-driver, the brake signal input of brake signal input servo-driver.
Step S44, control circuit starts a brake timer when producing aforesaid operations, because the speed of servomotor when operate as normal is very fast, its speed is reduced to creep speed needs the regular hour, so start timer time-delay a period of time, purpose is the speed of servomotor is reduced rapidly.But because the uncertainty of load and servomotor magnetic hysteresis, the delay time of every machine is different, but the delay time of each machine is fixed.All timers adopt the basic clock of 2ms in the present embodiment, and delay time can be set flexibly by data/address bus, and scope arrives 512ms at 2ms.For embroidery machine, half second is enough to make the main shaft of slow motion to stop operating, so necessarily can be so that main shaft arrives the creep speed of setting in this scope.And step S41, S42, S43, S44 realize simultaneously as seen from Figure 4, because the control method that present embodiment provides is based on the realization of hardware logic gate circuit, the input and output simultaneously of multichannel logic control signal, so above-mentioned control operation can be carried out simultaneously, avoided the asynchronous adverse effect that the operation of servomotor is brought.
Then, when delay time arrives the timer that promptly brakes and overflows, simultaneously to the enabling signal input output enabling signal of servo-driver, as described in Fig. 4 step S45; Stop brake signal input output brake signal, as described in Fig. 4 step S46 to servo-driver; Stop rate signal input output brake speed pulse train to servo-driver.Simultaneously, step S47, control circuit begins to detect A phase pulse signal and the Z phase pulse signal in the output signal of encoder, counting enters the number that Z phase pulse signal significant level is the A phase pulse signal in the high level simultaneously, and judge whether more than or equal to pre-set threshold, be, illustrate when servomotor stops operating, the position of servomotor is within the output level scope of the Z of encoder phase pulse, the speed that is the current servo motor has reached the speed that brake puts in place, execution in step S48 then, step S49, otherwise, the operation that continues detection and judge then carried out; Promptly stop to export enabling signal when carrying out step S48 to the enabling signal input of servo-driver, step S49 is promptly when the brake signal input of servo-driver is exported brake signal, very low of the frequency of the speed control signal of servo-driver this moment, the rotating speed of servo host is also very low, can stop fully.
The control method that present embodiment provides is based on the realization of hardware logic gate circuit, compare with software implementation method of the prior art, the method of present embodiment is in stability, all to be higher than software configuration on the response speed, simultaneously because the precision of hardware circuit internal clocking reference data is very high, the sequential output of control logic is highly stable, a plurality of logic control signals can be exported and import simultaneously, and the time-delay that input signal feeds back to output control logic can be ignored with respect to the output logic cycle, satisfy the synchronous requirement of Electric Machine Control output signal and input signal, therefore overcome nonsynchronous phenomenon on sequential that the order execution causes in the servomotor software control process, improved control precision the servomotor main shaft.
Fig. 5 is the flow chart of another embodiment of the control method of servomotor of the present invention, this computer-chronograph is to control circuit transmission speed adjustment order, its workflow as shown in Figure 5, step S51, after receiving the speed adjustment order of computer transmission, control circuit execution in step S52 adjusts pulse train according to current motor speed value and speed increment generation speed, send into the rate signal input of servo-driver, the FREQUENCY CONTROL servomotor of adjusting pulse train according to present speed by servo-driver carries out the speed adjustment, step S53, toggle speed is adjusted timer simultaneously, the timing parameters that described speed is adjusted timer can be in the mapping table that is stored in advance in the memory cell with speed adjustment order in the corresponding speed of speed increment adjust timing parameters, but be not limited to this.
After speed adjustment timer overflows, carry out and judge the operation whether present speed and target velocity equate, if equate, explanation speed is adjusted task and is finished, and the velocity pulse sequence generator can be adjusted pulse train and export to the rate signal input of servo-driver with this velocity amplitude generation speed; Otherwise, execution in step S54, calculate current servomotor velocity amplitude and speed increment and, form new current servomotor velocity amplitude, and according to new current servomotor velocity amplitude generation speed adjustment pulse train, and toggle speed is adjusted timer again, equates with target velocity until present speed, as described in Fig. 5 step S55, S56.The velocity pulse sequence generator is realized by a frequency divider in the present embodiment, the frequency dividing ratio of frequency divider is set according to the present speed value, produce the speed adjustment pulse train that has the frequency that adapts with the present speed value, export to the rate signal input of servo-driver, make the speed of its control servomotor.
The control method that present embodiment provides is based on the realization of hardware logic gate circuit, its control timing is by hard-wired, since hardware circuit stability and reaction speed on all than software configuration height, make the input in the control logic can realize simultaneously with output, satisfy the motor requirement synchronous to control signal, so in the speed adjustment process, the frequency change that the speed of output is adjusted pulse train is linear, uniformity peace and degree that speed adjustment process medium velocity changes have been guaranteed, noise when having reduced electrical motor gearshift, the useful life of having improved motor.
Fig. 6 is the structural representation of an embodiment of the control circuit of servomotor of the present invention, as shown in Figure 6, control circuit 60 is used to export the logic control sequential of the action of controlling servomotor, reception is from the control command of computer 90 and the output signal of encoder 80, the control command that computer 90 sends can be starting command, braking commands or speed adjustment order, the output signal of encoder 80 is A phase pulse signal, B phase pulse signal and Z phase pulse signal, is used to judge the angle and the rotation direction of servomotor main shaft.The output control servo-driver 70 of control circuit 60, servo-driver 70 comprises enabling signal input, rate signal input, brake signal input, by being connected to form closed control circuit with encoder 80, with the control servomotor.
The control circuit 60 that provides in the present embodiment comprises starting command processing unit 62, be connected with velocity pulse sequence generator 65 with memory cell 66, be used for the starting command that receiving computer 90 sends, and generate an enabling signal, the enabling signal that generates is outputed to the enabling signal input of servo-driver 70, and the toggle speed value that will obtain from memory cell 66 sends to velocity pulse sequence generator 65 simultaneously; Velocity pulse sequence generator 65 produces a velocity pulse sequence according to the velocity amplitude of input, and outputs it to the rate signal input of servo-driver 70, is gone to control the startup of servomotor according to the velocity pulse sequence that receives by servo-driver 70.
The control circuit of the servomotor that present embodiment provides is programmable gate array (Field-Programmable Gate Array at the scene; Hereinafter to be referred as: FPGA) upward realize, can also be at CPLD (Complex Programmable Logic Device; Hereinafter to be referred as: CPLD) go up realization, concrete can be the frequency divider that frequency dividing ratio is set according to the toggle speed value as velocity pulse sequence generator 65, and the frequency of the pulse signal of frequency divider output is corresponding with the toggle speed value.Characteristics based on the FPGA circuit, the control circuit that present embodiment provides all is higher than software configuration on stability, reaction speed, and a plurality of logic control signals input and output simultaneously, and input signal can be ignored with respect to the output logic cycle to the delay of feedback of output signal, so the control circuit that present embodiment provides can satisfy the requirement of servomotor to output signal and input signal synchronism, the asynchrony phenomenon that has existed on the sequential when having overcome existing software and realizing has improved the control precision to the servomotor main shaft.
The control circuit 60 of the servomotor of further embodiment of this invention comprises braking commands processing unit 63, is connected with brake timer 67, detection computations module 68, memory cell 66 and velocity pulse sequence generator 65, as shown in Figure 6.
Braking commands processing unit 63, be used for the braking commands that receiving computer 90 sends, generate a brake signal, the brake signal that is generated is exported to the brake signal input of servo-driver 70, extract the brake parameter in the braking commands, toggle speed pulse train maker 65 and brake timer 67, and to the control of the startup of the signal that sends to servo-driver 70 in the brake process/stop, be in particular: during the brake beginning, stop enabling signal input output enabling signal to servo-driver 70, and to brake signal input output brake signal, to rate signal input output brake speed pulse train; When the brake timer overflowed, the enabling signal input output enabling signal to servo-driver stopped respectively to brake signal input and rate signal input output brake signal and brake speed pulse train.
Velocity pulse sequence generator 65 effect among the last embodiment that coexists, difference are the frequency difference of the velocity pulse sequence exported, so be not repeated.
The control circuit of the servomotor that present embodiment provides is realized on FPGA, can also realize on CPLD certainly.Based on the simulation waveform of the brake control procedure of FPGA shown in Fig. 7 (a), Fig. 7 (b), Fig. 7 (c), wherein Fig. 7 (a) is the brake process control signal output waveform figure that the present invention is based on FPGA, shown in Fig. 7 (a), it is invalid that enabling signal is that low level promptly is set to, brake signal is a high level, i.e. the brake signal that is produced by the braking commands processing unit; Fig. 7 (b) is the oscillogram that the present invention is based on the brake process speed adjustment of FPGA, shown in Fig. 7 (b), enabling signal is re-set as effectively in the brake process, brake signal is set to invalid, from the speed oscillogram as can be seen, the frequency of velocity pulse sequence obviously reduces, and illustrates that the speed of servomotor this moment reduces, and begins to detect the significant level of Z phase pulse signal; Fig. 7 (c) is the detection waveform figure that the present invention is based on the brake process encoder output of FPGA.The mechanical structure of every machine there are differences, the number of counting A phase pulse signal is also variant, comprising 14 A phase pulse signals in the present embodiment among the Z phase pulse signal of encoder 80, only after entering the Z phase pulse signal again through 7 A phase pulse signals, the arrival destination locations that main shaft ability is real shown in Fig. 7 (c), comprises 7 A phase pulse signals in the significant level of Z phase pulse signal, illustrate that servomotor has reached the bit rate of braking, can thoroughly brake.The user can be according to actual conditions, and the counting number that by bus the A phase pulse signal is set before brake is a threshold value, is not limited to the numerical value in the present embodiment.
The control circuit of the servomotor that present embodiment provides all is higher than software configuration on stability, reaction speed, and a plurality of logic control signals input and output simultaneously, and input signal almost can be ignored with respect to the output logic cycle to the delay of feedback of output signal, so the control circuit that present embodiment provides can satisfy the requirement of servomotor to output signal and input signal synchronism, the asynchrony phenomenon that has existed on the sequential when having overcome existing software and realizing has improved the control precision to the servomotor main shaft.
The control circuit 60 of further embodiment of this invention comprises speed adjustment command process unit 61, and the speed that is connected with is adjusted timer 64, velocity pulse sequence generator 65 and memory cell 66, as shown in Figure 6.
Speed is adjusted command process unit 61, after being used to receive the speed adjustment order that computer 90 sends, parameter in the extraction rate adjustment order, toggle speed pulse train maker 65 and speed are adjusted timer 64, and the indication of overflowing of in the speed adjustment process, adjusting timer 64 according to speed, restart speed and adjust timer 64 and velocity pulse sequence generator 65.
Velocity pulse sequence generator 65 effect in the foregoing description that coexists, difference are the frequency difference of the velocity pulse sequence exported, so be not repeated.
Speed is adjusted timer 64, be used for when speed adjustment timer 64 overflows, adjust command process unit 61 to speed and send an operation indication, speed is adjusted command process unit 61 and is carried out next step control operation according to this indication, be in particular:, send out the instruction that toggle speed is adjusted the timer 64 and the pulse train maker 65 of regulating the speed when the adding and regulate the speed when unequal of current servomotor velocity amplitude and speed increment with target.
The control circuit of the servomotor that present embodiment provides is realized by FPGA, also can on CPLD, realize, its control timing is to be realized by concrete gate circuit, since hardware circuit stability and reaction speed on all than software configuration height, make the input in the control logic can realize simultaneously with output, satisfy the motor requirement synchronous to control signal, so in the speed adjustment process, the frequency change that the speed of output is adjusted pulse train is linear, uniformity and gentle degree that speed adjustment process medium velocity changes have been guaranteed, noise when having reduced electrical motor gearshift, the useful life of having improved motor.
More than the control circuit of servomotor among each embodiment be a kind of selection embodiment, the present invention is not limited to this.Those skilled in the art can make up as required arbitrarily, for example, with receiving the control circuit and the combining form in twos that the control circuit that receives braking commands makes up of starting command, also can be that the circuit that will receive startup, brake, speed adjustment order respectively makes up.Certainly, the unit that will have same or similar function in anabolic process merges that to handle be that those skilled in the art are easy to expect, for example the memory cell of using in memory cell of using in the starting command and the speed adjustment order is set to one, and a plurality of mapping tables are merged into one etc.When hardware circuit makes up, the control corresponding method can be made up simultaneously, make its phase coadaptation.
More than the control circuit of servomotor of each embodiment realize by logic gates, for example the velocity pulse sequence generator can be the frequency divider that frequency dividing ratio is set according to the toggle speed value, and the frequency of the pulse signal of frequency divider output is corresponding with the toggle speed value.The characteristics of logic-based gate circuit, the control circuit that present embodiment provides is in stability, all be higher than software configuration on the reaction speed, and a plurality of logic control signals input and output simultaneously, and input signal almost can be ignored with respect to the output logic cycle to the delay of feedback of output signal, so the control circuit that present embodiment provides can satisfy the requirement of servomotor to output signal and input signal synchronism, the asynchrony phenomenon that has existed on the sequential when having overcome existing software and realizing, simultaneously, the frequency change that the speed of output is adjusted pulse train is linear, uniformity and gentle degree that speed adjustment process medium velocity changes have been guaranteed, noise when having reduced electrical motor gearshift, the useful life of having improved servomotor.
It should be noted that at last: above embodiment is only in order to technical scheme of the present invention to be described but not limit it, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that: it still can make amendment or be equal to replacement technical scheme of the present invention, and these modifications or be equal to replacement and also can not make amended technical scheme break away from the spirit and scope of technical solution of the present invention.
Claims (12)
1. the control method of a servomotor, it is characterized in that, the control command that control circuit sends according to the computer that receives, servo-driver is controlled, described servo-driver comprises enabling signal input, rate signal input, brake signal input, described servo-driver is controlled a servomotor, and described method comprises:
When described control command was starting command, described control circuit generated an enabling signal, and the toggle speed value that sets in advance is sent to a velocity pulse sequence generator;
Described velocity pulse sequence generator produces a toggle speed pulse train according to the described toggle speed value of input, and the frequency of described toggle speed pulse train is corresponding with described toggle speed value;
Enabling signal input to described servo-driver is exported described enabling signal, exports described toggle speed pulse train to the rate signal input of described servo-driver.
2. the control method of servomotor according to claim 1 is characterized in that, also comprises:
When described control command is braking commands, generate a brake signal, extract the brake parameter, and the brake speed value is sent to described velocity pulse sequence generator;
Described velocity pulse sequence generator generates a brake speed pulse train according to the described brake speed value of input, and the frequency of described brake speed pulse train is corresponding with described brake speed value;
According to the first timing parameters setting and start one the brake timer, the count cycle of described brake timer is described first timing parameters;
Stop to export described enabling signal to the enabling signal input of described servo-driver;
Brake signal input to described servo-driver is exported described brake signal, and exports described brake speed pulse train to the rate signal input of described servo-driver;
When described brake timer overflows, enabling signal input to described servo-driver is exported described enabling signal, stop to export described brake signal, stop to export described brake speed pulse train to the rate signal input of described servo-driver to the brake signal input of described servo-driver;
By being arranged on the encoder of described servomotor side, detect the speed of current servomotor, whether the speed of judging described current servomotor reaches the bit rate of braking, if, then carry out and stop to export described enabling signal to the enabling signal input of described servo-driver, the operation of exporting described brake signal to the brake signal input of described servo-driver, otherwise, then carry out and continue the operation that detects and judge.
3. the control method of servomotor according to claim 2, it is characterized in that, also comprise according to the brake parameter that comprises in the described braking commands and from a mapping table that is stored in a memory cell in advance, obtain described brake speed value and described first timing parameters.
4. the control method of servomotor according to claim 2, it is characterized in that, describedly detect the speed of current servomotor by being arranged on the encoder of described servomotor side, whether the speed of judging described current servomotor reaches the bit rate of braking is specially:
Detect the pulse of Z phase and A pulse mutually of described encoder output, and whether the number of judging the described A phase pulse that comprises in the significant level of described Z phase pulse is more than or equal to pre-set threshold, be to illustrate that the speed of described current servomotor reaches the described bit rate of braking.
5. the control method of servomotor according to claim 1 is characterized in that, also comprises:
When described control command is speed adjustment order, adding and send to described velocity pulse sequence generator the speed increment that comprises in current servomotor velocity amplitude and the described speed adjustment order;
Described velocity pulse sequence generator according to the described current servomotor velocity amplitude of input and described speed increment add and the speed that generates is adjusted pulse train, the frequency that described speed is adjusted pulse train adds with corresponding with described current servomotor velocity amplitude and described speed increment;
According to the second timing parameters setting and start a speed and adjust timer, the count cycle that described speed is adjusted timer is described second timing parameters;
When described speed adjustment timer overflows, execution generates the operation that a speed is adjusted pulse train and restarted described speed adjustment timer according to current servomotor velocity amplitude and described speed increment, repeat this operation, up to current servomotor velocity amplitude and described speed increment and with target regulate the speed equate till.
6. the control method of a servomotor, it is characterized in that, the control command that control circuit sends according to the computer that receives, servo-driver is controlled, described servo-driver comprises enabling signal input, rate signal input, brake signal input, described servo-driver is controlled a servomotor, and described method comprises:
When described control command is braking commands, generate a brake signal, extract the brake parameter, and the brake speed value is sent to a velocity pulse sequence generator;
Described velocity pulse sequence generator generates a brake speed pulse train according to the described brake speed value of input, and the frequency of described brake speed pulse train is corresponding with described brake speed value;
According to the first timing parameters setting and start one the brake timer, the count cycle of described brake timer is described first timing parameters;
Stop enabling signal input output enabling signal to described servo-driver;
Brake signal input to described servo-driver is exported described brake signal, and exports described brake speed pulse train to the rate signal input of described servo-driver;
When described brake timer overflows, enabling signal input to described servo-driver is exported described enabling signal, stop to export described brake signal, stop to export described brake speed pulse train to the rate signal input of described servo-driver to the brake signal input of described servo-driver;
By being arranged on the encoder of described servomotor side, detect the speed of current servomotor, whether the speed of judging described current servomotor reaches the bit rate of braking, if, then carry out and stop to export described enabling signal to the enabling signal input of described servo-driver, the operation of exporting described brake signal to the brake signal input of described servo-driver, otherwise, then carry out and continue the operation that detects and judge.
7. the control method of servomotor according to claim 6, it is characterized in that, describedly detect the speed of current servomotor by being arranged on the encoder of described servomotor side, whether the speed of judging described current servomotor reaches the bit rate of braking is specially:
Detect the pulse of Z phase and A pulse mutually of described encoder output, and whether the number of judging the described A phase pulse that comprises in the significant level of described Z phase pulse is more than or equal to pre-set threshold, be to illustrate that the speed of described current servomotor reaches the described bit rate of braking.
8. the control method of a servomotor, it is characterized in that, the control command that control circuit sends according to the computer that receives, servo-driver is controlled, described servo-driver comprises enabling signal input, rate signal input, brake signal input, described servo-driver is controlled a servomotor, and described method comprises:
When described control command is speed adjustment order, adding and send to a velocity pulse sequence generator the speed increment that comprises in current servomotor velocity amplitude and the described speed adjustment order;
Described velocity pulse sequence generator according to the described current servomotor velocity amplitude of input and described speed increment add and the speed that generates is adjusted pulse train, the frequency that described speed is adjusted pulse train adds with corresponding with described current servomotor velocity amplitude and described speed increment;
According to the second timing parameters setting and start a speed and adjust timer, the count cycle that described speed is adjusted timer is described second timing parameters;
When described speed adjustment timer overflows, execution is according to the operation that adds and generate speed adjustment pulse train and restart described speed adjustment timer of current servomotor velocity amplitude and described speed increment, repeat this operation, up to current servomotor velocity amplitude and described speed increment add and with target regulate the speed equate till.
9. the control circuit of a servomotor is characterized in that, comprising:
The braking commands processing unit, be used for after receiving braking commands, generate and send brake signal and give the brake signal input of servo-driver, extract the brake parameter, toggle speed pulse train maker and brake timer, and to the control of the startup of the signal that sends to described servo-driver in the brake process/stop;
Described velocity pulse sequence generator is used for producing a velocity pulse sequence according to the velocity amplitude of input, and exports to the rate signal input of described servo-driver;
Described brake timer is connected with described braking commands processing unit, is used for when described brake timer overflows, and sends an operation indication to described braking commands processing unit;
The detection computations module is used to detect the pulse of A phase, the pulse of B phase and the Z pulse mutually of encoder output, and calculates the number of described A phase pulse in the significant level of described Z phase pulse;
Memory cell, be used for storing the corresponding mapping table of brake parameter that comprises with described braking commands, described mapping table comprises the brake speed value corresponding with described brake parameter and first timing parameters, and described first timing parameters is corresponding with the count cycle of described brake timer.
10. the control circuit of servomotor according to claim 9 is characterized in that, the control circuit of described servomotor is arranged on FPGA or the CPLD.
11. the control circuit of a servomotor is characterized in that, comprising:
Speed is adjusted the command process unit, be used for after receiving speed adjustment order, extraction rate is adjusted parameter, and toggle speed pulse train maker and speed adjustment timer, and the indication of overflowing of in the speed adjustment process, adjusting timer according to described speed, carry out and restart the operation that described speed is adjusted timer and adjusted described velocity pulse sequence generator;
Described velocity pulse sequence generator is used for producing a velocity pulse sequence according to the velocity amplitude of input, and exports to the rate signal input of described servo-driver;
Described speed is adjusted timer, adjusts the command process unit with described speed and is connected, and is used for adjusting the command process unit to described speed and sending an operation indication when described speed adjustment timer overflows;
Memory cell, be used for storing the speed that comprises with described speed adjustment order and adjust the parameter corresponding mapping table, described mapping table comprises speed increment, second timing parameters and the target corresponding with described speed adjustment parameter regulates the speed, and described second timing parameters is corresponding with the count cycle that described speed is adjusted timer.
12. the control circuit of servomotor according to claim 11 is characterized in that, the control circuit of described servomotor is arranged on FPGA or the CPLD.
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| CN200910088742A CN101944870B (en) | 2009-07-10 | 2009-07-10 | Control method and circuit of servo motor |
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| CN200910088742A CN101944870B (en) | 2009-07-10 | 2009-07-10 | Control method and circuit of servo motor |
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