CN102183916B - Zero position-searching method for limited angle servo turntable - Google Patents
Zero position-searching method for limited angle servo turntable Download PDFInfo
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- CN102183916B CN102183916B CN 201010584293 CN201010584293A CN102183916B CN 102183916 B CN102183916 B CN 102183916B CN 201010584293 CN201010584293 CN 201010584293 CN 201010584293 A CN201010584293 A CN 201010584293A CN 102183916 B CN102183916 B CN 102183916B
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Abstract
The invention discloses a zero position-searching method for a limited angle servo turntable and belongs to the technical field of servo control. In the method, an optoelectronic switch is installed between a mechanical zero position and a positive limit of the servo turntable; the position of the optoelectronic switch and the positive mechanical limit are respectively taken as a first reference point and an auxiliary reference point of the method; a motor rotates positively when the servo turntable turns on; and the motor can be controlled to reversely rotate at a corresponding known angle when a transistor-transistor logic (TTL) level signal controlled by the optoelectronic switch is searched or a current value of the motor is monitored to reach a set threshold value, and then the accurate mechanical zero position can be found out. According to the method, the zero position searching is performed by preferably using the first reference point and is carried out through the auxiliary reference point when the optoelectronic switch is out of work. Moreover, the zero position-searching reliability and the working stability of the servo turntable are improved by the method on the basis of not increasing any cost.
Description
Technical field
The invention belongs to the servo control technique field, relate generally to a kind of finding method of finite angle servo turntable mechanical zero, relate in particular to a kind of method of when starting shooting, seeking mechanical zero with the finite angle servo turntable of incremental encoder.
Background technology
The incremental encoder that the finite angle servo turntable is used generally is installed on motor shaft or the bearing axle; The controller of servo turntable can be exported the direction of the precedence judgement motor rotation of two-way pulse according to scrambler, confirms the position, angle of finite angle servo turntable according to the number of pulse.This method requires at first to confirm the initial position of rotor; Because the no position memory function in incremental encoder outage back; Thereby the finite angle servo turntable starts shooting when powering up first, and the initial position of rotor is uncertain, and this has just determined the control system of servo turntable need carry out the position and has sought zero; Just can find the mechanical zero of servo turntable, realize accurate position control.
In order to find the mechanical zero of servo turntable, the most methods that adopt at present are to utilize optoelectronic switch point as a reference, and optoelectronic switch is installed in the prevision angle position of servo turntable, and promptly the differential seat angle between known reference point and the mechanical zero is fixed value θ.During start; Servo turntable rotates to the direction that optoelectronic switch is installed earlier; When detecting optoelectronic switch and be triggered the Transistor-Transistor Logic level signal that produces, the control servo turntable θ angle of moving in the opposite direction promptly arrives the mechanical zero of turntable, and with the impulse meter zero clearing.Though this method is simple, in case optoelectronic switch damages, servo turntable can't find mechanical zero, can not normal boot-strap work.
Summary of the invention
The technical matters that the present invention will solve is, to the defective that prior art exists, provides a kind of position that when the finite angle servo turntable start shooting, can reliably seek mechanical zero to seek zero method, can operate as normal after starting shooting to guarantee servo turntable.
For solving the problems of the technologies described above; Position provided by the invention is sought zero method and may further comprise the steps: at first between the mechanical zero of servo turntable and forward mechanical position limitation, an optoelectronic switch is set; When servo turntable is started shooting, accomplish following operation after the controller initialization successively: seek the zero flag position and be set to effectively; Send the instruction of motor forward rotation to servo control circuit; Whether inquiry I/O testing circuit detects the Transistor-Transistor Logic level signal and the real-time detected motor current value of monitoring current testing circuit of optoelectronic switch control in real time; When the I/O testing circuit detects the Transistor-Transistor Logic level signal, send motor counter-rotating instruction and make the impulse meter zero clearing to servo control circuit; Read the motor inversion pulse number of impulse meter real time record; When umber of pulse reaches optoelectronic switch and the pairing umber of pulse of mechanical zero angle; Send motor stall instruction to servo control circuit, make the impulse meter zero clearing and seek the zero flag position be set to invalid; Do not detect at the I/O testing circuit under the situation of Transistor-Transistor Logic level signal, if monitor the detected motor current value of current detection circuit when having reached the threshold value of setting, to servo control circuit output motor counter-rotating instruction and make the impulse meter zero clearing; Read the motor inversion pulse number of impulse meter real time record; When umber of pulse reaches forward mechanical position limitation and the pairing umber of pulse of mechanical zero angle; Send motor stall instruction to servo control circuit, give the impulse meter zero clearing and seek the zero flag position be set to invalid.
The present invention is provided with an optoelectronic switch between the mechanical zero of turntable and forward mechanical position limitation, and it is sought first RP of zero as the position, and with the forward mechanical position limitation of turntable as second RP.Seek in zero process in the turntable start; If the I/O testing circuit of Servo Control Board detects the Transistor-Transistor Logic level signal of optoelectronic switch control, be that reference point is controlled motor and rotated a known angle in the opposite direction and be and find mechanical zero just with the installation site of optoelectronic switch; And when the optoelectronic switch damage, when level signal is invalid all the time, turntable will be rotated further; Up to mechanical position limitation; At this moment owing to motor rotation blockage, electric current will increase gradually, and the current detection circuit of Servo Control Board detects this electric current in real time; When monitoring control devices when this current value reaches the threshold value of setting, be that reference point control motor rotates another known angle in the opposite direction and is and finds mechanical zero just with the installation site of forward mechanical position limitation.Be not difficult to find out; The finite angle servo turntable that utilizes the inventive method control to have incremental encoder carries out the position when seeking zero, except optoelectronic switch, does not need to put in addition sensor; Can solve the optoelectronic switch damage that possibly occur when the turntable start seeks zero and cause seeking zero failure; And then problem that can't normal boot-strap work, not only reduce cost, and improved the functional reliability of turntable.
Description of drawings
Fig. 1 adopts the present invention to realize that the position seeks zero theory diagram.
Fig. 2 adopts azimuth mechanism mechanical zero trace routine process flow diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing and preferred embodiment the present invention is made further detailed description.
Visible by Fig. 1, be integrated with controller, I/O testing circuit, current detection circuit, impulse meter, servo control circuit and power driving circuit on the servo control circuit plate.Controller is as servo-controlled core, and is same as realizing core of the present invention, the main processing of accomplishing acquired signal, information flow and control algolithm and steering logic; The function of I/O testing circuit is to detect the Transistor-Transistor Logic level signal of optoelectronic switch control in real time, for controller provides the state of detection signal, thus as a witness marker position seeking zero; The function of current detection circuit is to detect the current value of motor in real time; During operate as normal detected current value is used as the electric current loop input parameter, can be during the turntable start as required with the witness marker position of motor real-time current value as the searching mechanical zero; The function of impulse meter is the umber of pulse of detection record motor incremental encoder output; The function of servo control circuit is to realize various control algolithms according to servocontrol software, the output motor control signal; The function of power driving circuit is that the motor control signal that servo control circuit produces is carried out power amplification, the drive motor motion.
The present invention uses optoelectronic switch and mechanical position limitation to seek two zero RPs as the position.First RP is an optoelectronic switch, and its installation site can be designed according to the actual conditions of turntable, and principle is should be too not far away from the shutdown position; Like this; When turntable was started shooting, the signal that can export its control faster detected judgement, and this helps improving zero efficient of seeking of turntable; Shorten the on time, suggestion is arranged on motor and rotates 10 °～20 ° positions that can trigger optoelectronic switch; Turntable start is sought zero initial motion direction and is confirmed according to the position of optoelectronic switch, and principle is the forward rotation that the turntable start should be defined as turntable when seeking zero to the direction motion that optoelectronic switch is installed.Second RP is the mechanical position limitation of optoelectronic switch one side, and when optoelectronic switch lost efficacy, turntable will continue motion, and up to the mechanical position limitation RP, the current value through real-time detection motor judges whether to arrive this RP, thereby mechanical zero is detected demarcation; When judging that through mechanical position limitation electric current seeks zero; Should confirm the threshold value according to the turntable actual conditions, the electric current when threshold value should seek zero than motor is big, but should be not excessive; Avoid the long-time stall of motor, general power taking machine is normally sought 3～5 times of zero output current value; Seeking zero velocity should select according to the actual conditions of turntable, unsuitable too fast, avoids the motor mechanical position limitation that clashes.
After the servo control circuit plate powers on, controller will be sought the correlation step of zero method according to workflow completing place shown in Figure 2:
(1) initialization Servo Control Board correlation function module comprises I/O detection module, current detection module, pulse detection module, servocontrol module and power driver module;
(2) start is sought the zero flag position and is set to effectively, and this zone bit needs to remove when accomplishing seeking zero;
(3) send the instruction of motor forward rotation to servo control circuit.Under this instruction, rotating speed and direction drive motor forward rotation that servo control circuit and power driving circuit are set according to Control Software;
(4) inquire about the Transistor-Transistor Logic level signal and the real-time detected motor current value of monitoring current testing circuit whether the I/O testing circuit detects optoelectronic switch control in real time.When the I/O testing circuit detects the Transistor-Transistor Logic level signal, send motor counter-rotating instruction, impulse meter zero clearing to servo control circuit; In servo control circuit and power driving circuit drive motor Umklapp process; Read the motor inversion pulse number of impulse meter real time record; When umber of pulse reaches the optoelectronic switch umber of pulse corresponding with the mechanical zero angle; Send motor stall instruction to servo control circuit, the impulse meter zero clearing and seek the zero flag position be set to invalid.So far, the idle task end is sought in the position;
(5), and monitor the detected motor current value of current detection circuit when having reached the threshold value of setting if do not detect under the situation of Transistor-Transistor Logic level signal at the I/O testing circuit, to servo control circuit output motor counter-rotating instruction, the impulse meter zero clearing; In servo control circuit and power driving circuit drive motor Umklapp process; Read the motor inversion pulse number of impulse meter real time record; When umber of pulse reaches this mechanical position limitation umber of pulse corresponding with the mechanical zero angle; Send motor stall instruction to servo control circuit, the impulse meter zero clearing and seek the zero flag position be set to invalid.So far, the idle task end is sought in the position.
The present invention can be applicable to diaxon or multiple-axis servo turntable, and the principle of work of its preferred implementation and detailed protocol are that example describes with the azimuth axis, and other principle is then identical with it.
Suppose that incremental encoder is the X line, Y frequency multiplication segmentation back is the XY line, and promptly 360 ° of corresponding line numbers of mechanical angle are the XY line; The magnetic pole logarithm of motor is that P is right, and then the corresponding electrical angle of each pulse is 360P/ (XY); Scrambler is installed on the rotor of motor, and load is related with motor shaft through reducing gear, and reduction gear ratio is L: 1; Azimuth mechanism is that benchmark clockwise turns to positive-angle with the mechanical zero, is rotated counterclockwise to be negative angle; Optoelectronic switch is installed in the positive-angle position of azimuth mechanism, with the angle of mechanical zero be α; Angle between mechanical zero and the forward mechanical position limitation is β; The threshold value is set at λ; The zero velocity of seeking of azimuth mechanism is set at V.Wherein, α, β must accurately demarcate, and write down the pulse number between two RPs and the mechanical zero respectively through impulse meter, according to the parameter of selecting scrambler for use, calculate the angle value of α, β, average after can repeatedly measuring, to reduce measuring error; The λ threshold value need repeatedly be measured definite through overcurrent sensing circuit, and in order to protect motor, this value should not be provided with excessive, in order to avoid the long-time stall of motor, but the current of electric should seek zero than orientation mechanism the time is bigger.This embodiment is not considered the backlash between the gear, and for the high occasion of accuracy requirement, the backlash between gear should be considered.
The general formula that provides calculation of alpha, β angle respective pulses number is following:
L·α/(360·P/(X·Y))＝L·α·X·Y/(360·P) (1)
L·β/(360·P/(X·Y))＝L·β·X·Y/(360·P) (2)
The incremental encoder X that uses in this embodiment is 2500 lines, and frequency multiplication segmentation number Y is 4; The magnetic pole logarithm P of motor is 1 pair; The reduction gear ratio L of azimuth mechanism is 80: 1; Through accurate calibrated α angle is 10.23 °, and the β angle is 60.56 °; Threshold value λ is set at 5A; The zero velocity V that seeks of azimuth mechanism is set at 5 °/s.
Through formula (1), (2) calculate α, β angle respective pulses number is respectively 22733 and 134578.
When turntable powered up start, azimuth mechanism was at first sought Z-operation.Servo Control Board enables I/O testing circuit, current detection circuit, impulse meter, servo control circuit and power driving circuit; I/O testing circuit and current detection circuit real-time working, controller are inquired about the Transistor-Transistor Logic level signal and monitoring azimuth-drive motor current value of optoelectronic switch control respectively.Azimuth mechanism clockwise rotates with 5 °/s of speed, and when optoelectronic switch was effectively triggered, the I/O that one tunnel level signal is delivered to Servo Control Board detected mouth; In case the I/O testing circuit detects this level signal, the impulse meter zero clearing that resets, controller sends motor counter-rotating instruction; Servo control circuit and power driving circuit drive azimuth mechanism and rotate counterclockwise, and read the motor inversion pulse number of impulse meter real time record simultaneously, when counting down to 22733; Controller sends motor stall instruction, and turntable stops operating, and promptly azimuth rotating platform has been rotated counterclockwise 10.23 °; Arrive mechanical zero; The impulse meter zero clearing is removed the orientation and is sought the zero flag position, and the orientation is sought zero and finished.
When optoelectronic switch lost efficacy, the I/O testing circuit failed to detect level signal, and monitoring control devices is when the detected motor current value of current detection circuit reaches the threshold value 5A of setting; Show motor arrival bearing forward mechanical position limitation, the impulse meter zero clearing that resets, controller sends motor counter-rotating instruction; Servo control circuit and power driving circuit drive azimuth mechanism and rotate counterclockwise, and read the motor inversion pulse number of impulse meter real time record simultaneously, when counting down to 134578; Controller sends motor stall instruction, and turntable stops, and promptly azimuth rotating platform has been rotated counterclockwise 60.56 °; Arrive mechanical zero; The impulse meter zero clearing is removed the orientation and is sought the zero flag position, and the orientation is sought zero and finished.
Turntable other to seek zero mode be the same with flow process and azimuth axis.Seek zero when all axles of turntable and finish, then show turntable start completion, can get into normal workflow.
When each seeks zero end; It is invalid must will seeking the zero flag position; Turntable is when operate as normal like this, and the level signal of optoelectronic switch control can not exert an influence to the motion of turntable, and the detected current value of current detection circuit can be used as the input parameter use of turntable electric current loop.
Through the present invention, turntable can not damage because of optoelectronic switch when seeking zero and cause the turntable can't normal boot-strap work, is not increasing by zero reliability of seeking that has improved turntable under the condition of cost greatly.
Claims (1)
1. a finite angle servo turntable is sought zero method with the position; It is characterized in that: this method comprises following operation steps: between the mechanical zero of servo turntable and forward mechanical position limitation, an optoelectronic switch is set; When servo turntable is started shooting, accomplish following operation after the controller initialization successively: seek the zero flag position and be set to effectively; Send the instruction of motor forward rotation to servo control circuit; Whether inquiry I/O testing circuit detects the Transistor-Transistor Logic level signal and the real-time detected motor current value of monitoring current testing circuit of optoelectronic switch control in real time; When the I/O testing circuit detects the Transistor-Transistor Logic level signal, send motor counter-rotating instruction and make the impulse meter zero clearing to servo control circuit; Read the motor inversion pulse number of impulse meter real time record; When umber of pulse reaches optoelectronic switch and the pairing umber of pulse of mechanical zero angle; Send motor stall instruction to servo control circuit, make the impulse meter zero clearing and seek the zero flag position be set to invalid; Do not detect at the I/O testing circuit under the situation of Transistor-Transistor Logic level signal, if monitor the detected motor current value of current detection circuit when having reached the threshold value of setting, to servo control circuit output motor counter-rotating instruction and make the impulse meter zero clearing; Read the motor inversion pulse number of impulse meter real time record; When umber of pulse reaches forward mechanical position limitation and the pairing umber of pulse of mechanical zero angle; Send motor stall instruction to servo control circuit, give the impulse meter zero clearing and seek the zero flag position be set to invalid.
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| CN 201010584293 CN102183916B (en) | 2010-12-09 | 2010-12-09 | Zero position-searching method for limited angle servo turntable |
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| CN2876847Y (en) * | 2006-03-24 | 2007-03-07 | 南京埃斯顿工业自动化有限公司 | Single axis positioning device integrated in servo-system |
| CN101267182B (en) * | 2008-04-24 | 2011-05-04 | 深圳和而泰智能控制股份有限公司 | Step electromotor control method and its device |
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