CN101995851A - Device and method for controlling motor - Google Patents
Device and method for controlling motor Download PDFInfo
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- CN101995851A CN101995851A CN2009100562205A CN200910056220A CN101995851A CN 101995851 A CN101995851 A CN 101995851A CN 2009100562205 A CN2009100562205 A CN 2009100562205A CN 200910056220 A CN200910056220 A CN 200910056220A CN 101995851 A CN101995851 A CN 101995851A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a device and a method for controlling a motor. The device for controlling the motor comprises a man-machine interface for inputting at least one parameter, a central processing unit with a module, and a plurality of communication interfaces, wherein the module receives and operates the parameter to generate a command; the central processing unit sends the command to control at least one servo motor; and the plurality of communication interfaces are respectively connected with the man-machine interface, the central processing unit and the servo motor. The device and the method have the advantages that: the servo motor is directly and more quickly controlled, and the cost is saved.
Description
Technical field
The present invention relates to a kind of devices and methods therefor of controlling motor, relate in particular to a kind of devices and methods therefor of controlling servo motor.
Background technology
Because automatic technology is to quicken industrial upgrading and promote one of key of competitiveness technology.Particularly, precision positioning and control system in the robotization industry come into one's own gradually, are the part of most critical with motor and relevant control part thereof again wherein.
Motor is the motor that industry member is commonly called as, and comparatively extensively is that industry member is used with the servo motor (servo motor) of tool feed-back type (feedback) again wherein.
The method of tradition control servo motor mainly is divided into two kinds, and the first is controlled with computing machine (PC), as shown in Figure 1.Computing machine 10 sees through general bus/communication interface 12 (being generally RS232) and carries out communication with axle control card 14 (claiming the servo motor control card again), with control servo motor 20.In other words, computing machine 10 carries out the functions such as modification of parameter setting or target position data via communication interface 12 and axle control card 14, again by computing machine 10 real-time communications and monitor the motion of servo motor 10.Furthermore, by computing machine 10 input parameters and issue an order, issue an order to servo-driver 18 by axle control card 14 again, with monitoring servo motor 20 to behind the axle control card 14.Wherein really control servo motor 20 and be servo-driver 18, yet be able to be an axle control card 14, so computing machine 10 only needs to carry out communication with axle control card 14 and gets final product with servo-driver 18 intelligencers.It two is with programmable logic controller 10 (Programmable Logic Controller; PLC) control.Programmable logic controller 10 must carry out communication via exclusive programmable logic controller axle control card 14 and servo-driver 18, with control servo motor 20.In other words, programmable logic controller 10 is by the functions such as modification of carrying out parameter setting or target position data through axle control card 14, and carries out communication with servo-driver 18.In embodiment as shown in Figure 1, programmable logic controller 10 also is connected with axle control card 14 with communication interface 12 (being generally RS232).Wherein programmable logic controller 10 be with axle control card 14 carry out various parameters and target location etc. after the setting value, issue an order to servo-driver 18 by axle control card 14 again, utilize the I/O control function by programmable logic controller 10 again, with control servo motor 20.
In addition, computing machine/programmable logic controller 10 is can be one to one or the mode of one-to-many, for the single or multiple servo motors 20 of control.Though can reach the purpose of controlling with computing machine 10 control servo motors 20, but computing machine 10 is issued an order to servo motor 20, need through axle control card 14 and servo-driver 18, delay on action is free is therefore if control 20 inevitable free puzzlements that postpone of several servo motors simultaneously.With programmable logic controller 10 control servo motors 20, be axle control card 14 control servo-drivers 18 with special use, though can be more quick than computer operation, its control mode is subject to its I/O control function relatively, so the diversity deficiency.
Summary of the invention
The technical issues that need to address of the present invention have provided a kind of device of controlling motor, are intended to solve the above problems;
The present invention also provides the control method that adopts said apparatus.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
The device of control motor of the present invention comprises: a man-machine interface, at least one parameter of input; One CPU (central processing unit) has a module, and this module receives this parameter and operation produces an order, and this CPU (central processing unit) more comprises this order of transmission, to control at least one servo motor; And a plurality of communication interfaces, connect this man-machine interface, this CPU (central processing unit) and this servo motor respectively.
Method of the present invention realizes by following steps:
Import at least one parameter;
Receive this parameter and operation generation one order;
Send this order, and according at least one servo motor of this order control.
Compared with prior art, the invention has the beneficial effects as follows: direct and faster control servo motor; Has cost-effective advantage.
Description of drawings
Fig. 1 is the control calcspar of control servo motor in the prior art;
Fig. 2 A controls the block schematic diagram of servo motor device for the present invention;
Fig. 2 B controls another block schematic diagram of servo motor device for the present invention;
Fig. 3 controls the concise and to the point control flow synoptic diagram of servo motor method for the present invention; And
Fig. 4 controls the preferable schematic flow sheet of servo motor method for the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:
The present invention is a kind of device of controlling servo motor, comprises man-machine interface, CPU (central processing unit) and a plurality of communication interface.Wherein man-machine interface system is at least one parameter of input.CPU (central processing unit) has module, and module receives parameter and operation produces order.CPU (central processing unit) more comprises to send orders, to control at least one servo motor.A plurality of communication interfaces connect man-machine interface, CPU (central processing unit) and servo motor respectively.
In preferred embodiment, CPU (central processing unit) is with man-machine interface and puts maybe and can be integrated into counter.Servo motor more comprises servomotor drive, for receiving the order of sending from CPU (central processing unit).Module is preferably program/software, be at certain/modular program that some specific servo motor is write.In addition, communication interface more comprises first communication interface and second communication interface, and first communication interface system connects man-machine interface and CPU (central processing unit) respectively, and second communication interface then connects CPU (central processing unit) and servo motor respectively.
The present invention also provides a kind of method of control servo motor, and it comprises following steps: import at least one parameter; Receive parameter and operation and produce an order; And send order, and according at least one servo motor of order control.
In preferred embodiment, input parameter is the I/O function input by man-machine interface, and is stored in the internal memory.In other preferred embodiment, the input of parameter also can be continued to use the parameter of last time memory, i.e. may command servo motor.After producing order when the input parameters and via the module of CPU (central processing unit), can start, actions such as location positioning, delay or condition monitoring servo motor.
The present invention is a kind of modular program that is input into the programmable logic controller that provides, for the control servo motor devices and methods therefor of direct and servomotor drive communication.In preferred embodiment, servo motor is to comprise dc servomotor (DC Servo Motor) (claiming brushless motor again).Yet in other different embodiment, also can comprise AC servomotor (AC Servo Motor), alternating current impression motor (AC Reaction Motor), inverter motor (Frequency Conversion Motor), d.c. motor (DCMotor), step motor (Stepping Motor), magnetic resistance motor (Reluctance Motor) or other motor etc.In addition, the present invention develops written program language control servo motor voluntarily with programmable logic controller (PLC) input, and does not limit the running of controlling any machinery and equipment.In other words, the present invention can control at the various machinery and equipment that are equiped with the different field of servo motor.
Fig. 2 A is depicted as the block schematic diagram that the present invention controls the servo motor device.Control servo motor device in the present embodiment comprises man-machine interface 100, CPU (central processing unit) 110 and a plurality of communication interface 200,300.Man-machine interface 100 is to import at least one parameter.Be meant kind, brand, model or other relevant data of various servo motors in this parameter of saying.In man-machine interface 100, this parameter will be converted to some data, such as: instructions such as torsion, rotating speed, electric current, deceleration.In the present embodiment, man-machine interface 100 preferable programmable logic controller (the Programmable LogicController that are meant; PLC).The programmable logic controller can see through numeral or analog input/output module control machinery and equipment, manufacturing treatment scheme, reach the electronic system of other control module.In other words, the programmable logic controller can receive/import and send/export the electric or electric signal of multiple kenel, and use them to control or supervise the machinery and the electrical system of almost all kinds.Have module (figure does not illustrate) in the CPU (central processing unit) 110 (being CPU), module receives parameter and operation produces order.In this module of saying, be preferably to compiling program/software of writing voluntarily, be to write at the various servo motor of specific operating mode to form.In brief, module promptly is to write the program software that forms according to each former factory's servo motor parameter decided at the higher level but not officially announced.Module is the processing by parameter, and above-mentioned parameter is inserted each address of servomotor drive, according to the principle (being output command) of servomotor drive control servo motor, controls each servo motor 500 again.CPU (central processing unit) 110 more comprises to send orders, in order to control at least one servo motor 500.A plurality of communication interfaces 200,300 connect man-machine interface 100, CPU (central processing unit) 110 and each servo motor 500 respectively.
In the embodiment shown in Fig. 2 A, communication interface is preferably and comprises first communication interface 200 and second communication interface 300.First communication interface 200 is to connect man-machine interface 100 and CPU (central processing unit) 110 respectively; 300 of second communication interfaces connect CPU (central processing unit) 110 and servo motor 500 respectively.Be preferably RS232 at this first communication interface 200 of saying.Second communication interface 300 is preferable then to be RS485.RS232 and RS485 support many instrument and equipments at present widely, and often are used in device to be measured (device under test for early communications protocol in test or the metrology applications; DUT) diagnosis or control port.Yet in other different embodiment, first communication interface 200 or second communication interface 300 also can comprise USB, IEEE1394 or other different communication interface.In addition, servo motor 500 more comprises servomotor drive 400, and servomotor controller 400 comes down to really to control the assembly of servo motor 500, and for the order that receives from CPU (central processing unit) 110.In other words, in be stored in the preferable system of module and servomotor drive 400 communications of CPU (central processing unit) 110, to control servo motor 500.
CPU (central processing unit) 110 is preferably with man-machine interface 100 separates setting, and connects with first communication interface 200.Yet in the embodiment shown in Fig. 2 B, CPU (central processing unit) 110 also can and be put with man-machine interface 100 maybe can be integrated into a computing machine 150.In the present embodiment, more comprise at least one internal memory 120 is set, for storing above-mentioned parameter, and be arranged in the man-machine interface 100.Within this says, deposit 120, be preferably and be random access memory (Random Access Memory; RAM).Yet in the embodiment shown in Fig. 2 B, man-machine interface 100 also can be arranged at outside the man-machine interface 100, that is is arranged in the computing machine 150.
In addition, in the embodiment shown in Fig. 2 A and Fig. 2 B,, module carries out communication but being preferably mode and a plurality of servo motor 500 of one-to-many.In other words, after input parameters and module execution, can carry out the actions such as startup, location positioning, delay or condition monitoring servo motor of system via CPU (central processing unit).In addition, each servo motor 500 necessary each servomotor drive 400 of collocation can be controlled the servo motor 500 that is connected.
Below promptly further introduce control servo motor method of the present invention.As shown in Figure 3, the present invention's control servo motor method comprises following steps: at least one parameter of step 510 input.Step 520 receives parameter and operation produces order.Step 530 sends order.According to order control at least one servo motor (being step 540).
Importing at least one parameter is preferably by man-machine interface setting servo motor parameter, the step 700 among the embodiment promptly shown in Figure 4.In addition, the preferable system of the parameter of input is from the input/output interface function input of man-machine interface.At this input parameter of saying, then be meant the inner parameter of servo motor, and the system of the parameter position in the man-machine interface is corresponding mutually with the position of internal memory.In other words, before system start-up, in man-machine interface, import parameters, during these parameters just can memory storage be deposited within man-machine interface.Yet in other different embodiment, also can continue to use last time each stored in internal memory parameter setting.In other words, before system start-up, in man-machine interface, do not change the setting of any parameter, promptly can carry out communication with each servomotor drive, and then control each servo motor according to record in the internal memory.The reception parameter of step 520 also produces order, preferable be meant parameter with in be built in man-machine interface module combine, and send this order (being step 530) to servomotor drive in conjunction with back, control servo motor with step 540 again.
Yet in the embodiment shown in fig. 4, more comprise by communication interface and servomotor drive and carry out communication.In other words, after the servo motor parameter is set in the man-machine interface of step 700, see through first communication interface of step 710 and the module running of step 720 CPU (central processing unit), supply servomotor drive communication with step 740.Wherein among the step 720 between the servomotor drive communication of the module of Central Processing Unit running and step 740 preferable second communication interface that more comprises step 730 be connected.In embodiment as shown in Figure 4, the preferable system of second communication interface of first communication interface of step 710 and step 730 carries out communication with RS232 and RS485 bus respectively.Yet in other different embodiment, can also USB etc. general purpose interface bus carry out communication.At last, via the signal of the servomotor drive communication of step 740, for every running of the servo motor of controlled step 750.
Need special instruction person be to control a plurality of servo motors at this but the module of step 720 CPU (central processing unit) in the present embodiment operates the mode of preferable system one-to-many.In other words, write in the program of module and at first to define each servo motor, the mode of writing with variable defines each servo motor again, can reach the purpose of controlling a plurality of servo motors.Yet in other different embodiment, also can man-to-man mode operate servo motor.
The present invention is described by above-mentioned related embodiment, yet the foregoing description is only for implementing example of the present invention.It must be noted that the embodiment that has disclosed does not limit the present invention's scope.On the contrary, being contained in the modification of the spirit of claim and scope and equalization is provided with and all is contained in the scope of the present invention.
Claims (18)
1. a device of controlling motor is characterized in that comprising: a man-machine interface, at least one parameter of confession input; One CPU (central processing unit) has a module, and this module receives this parameter and operation produces an order, and this CPU (central processing unit) more comprises this order of transmission, to control at least one servo motor; And a plurality of communication interfaces, connect this man-machine interface, this CPU (central processing unit) and this servo motor respectively.
2. the device of control motor according to claim 1 is characterized in that: this module comprises a program software.
3. the device of control motor according to claim 1 is characterized in that: this CPU (central processing unit) system and this man-machine interface are also put.
4. the device of control motor according to claim 1 is characterized in that: this man-machine interface more comprises at least one internal memory, and this internal memory is for storing this parameter.
5. the device of control motor according to claim 4 is characterized in that: this internal memory comprises a random access memory.
6. the device of control motor according to claim 1 is characterized in that: this servo motor more comprises a servomotor drive, for this order that receives from this CPU (central processing unit).
7. the device of control motor according to claim 1, it is characterized in that: those communication interfaces more comprise one first communication interface and one second communication interface, this first communication interface is to connect this man-machine interface and this CPU (central processing unit), and this second communication interface then connects this CPU (central processing unit) and this servo motor.
8. the device of control motor according to claim 7 is characterized in that: this first communication interface comprises the RS-232 communication interface.
9. the device of control motor according to claim 7 is characterized in that: this second communication interface comprises the RS-458 communication interface.
10. the device of control motor according to claim 1 is characterized in that: this man-machine interface comprises the programmable logic controller.
11. the device of control motor according to claim 1 is characterized in that: those communication interfaces comprise the RS-232 communication interface.
12. the device of control motor according to claim 1 is characterized in that: those communication interfaces comprise the USB communication interface.
13. a method of controlling motor realizes by following steps:
Import at least one parameter;
Receive this parameter and operation generation one order;
Send this order, and according at least one servo motor of this order control.
14. the method for control motor according to claim 13 is wherein imported this parameter and is more comprised by man-machine interface input, and is stored in the internal memory.
15. the method for control motor according to claim 13, wherein this parameter more comprises the parameter that can continue to use last time memory, and needn't import this parameter.
16. the method for control motor according to claim 13 wherein produces this order system and produces via one of carrying out in the CPU (central processing unit) module.
17. the method for control motor according to claim 13 is wherein imported each inner parameter that this parameter more comprises a plurality of servomotor drive.
18. the method for control motor according to claim 13 wherein sends this order and more comprises by at least one servomotor drive reception, with this servo motor of further control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100562205A CN101995851A (en) | 2009-08-11 | 2009-08-11 | Device and method for controlling motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100562205A CN101995851A (en) | 2009-08-11 | 2009-08-11 | Device and method for controlling motor |
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| CN101995851A true CN101995851A (en) | 2011-03-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231996A (en) * | 2018-03-06 | 2019-09-13 | 新世代机器人暨人工智慧股份有限公司 | Electronic device and its motor number setting method with more series connection motors |
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2009
- 2009-08-11 CN CN2009100562205A patent/CN101995851A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231996A (en) * | 2018-03-06 | 2019-09-13 | 新世代机器人暨人工智慧股份有限公司 | Electronic device and its motor number setting method with more series connection motors |
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Application publication date: 20110330 |