CN102255592A - Accurate positioning method for rotating position of direct-current motor and relevant positioning device - Google Patents
Accurate positioning method for rotating position of direct-current motor and relevant positioning device Download PDFInfo
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- CN102255592A CN102255592A CN2011102026089A CN201110202608A CN102255592A CN 102255592 A CN102255592 A CN 102255592A CN 2011102026089 A CN2011102026089 A CN 2011102026089A CN 201110202608 A CN201110202608 A CN 201110202608A CN 102255592 A CN102255592 A CN 102255592A
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- current machine
- rotating shaft
- accurate positioning
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Abstract
The invention relates to an accurate positioning method for the rotating position of a direct-current motor. The method comprises the following steps of: (1) controlling a PWM (Pulse-Width Modulation) signal unit to drive the direct-current motor to rotate towards a target position by using a control unit; (2) after the direct-current motor stops rotating, detecting the practical position of a rotating shaft of the direct-current motor by using a rotating shaft position detection component and feeding back the practical position to the control unit; and (3) comparing the allowable deviation range between the practical position and the target position by using the control unit, controlling the PWM signal unit to drive the direct-current motor to rotate reversely by using the control unit if the practical position falls outside the allowable deviation range, and repeating the steps (2)-(3), otherwise ending positioning. The invention further provides a relevant positioning device. The positioning method has a unique design and can be used for accurately, quickly and reliably realizing positioning of the rotating position of the direct-current motor, so that rotating position deviation caused by inertia when the direct-current motor stops is avoided, and the influence of position deviation on the entire system is avoided; and the positioning method is suitable for large-scale popularization and application.
Description
Technical field
The present invention relates to the DC MOTOR CONTROL technical field, particularly localization method technical field in direct current machine turned position specifically is meant a kind of direct current machine turned position accurate positioning method and located in connection device.
Background technology
Along with the domestic electric machine manufacturing technology increasingly mature, simple to operate, control easily that direct current machine more and more is applied in all trades and professions, the accurate location of direct current machine turned position has been received increasing concern.Direct current machine has characteristics such as direct current supply, speed governing is level and smooth, quick, speed adjustable range is wide.Utilize direct current machine to rotate and arrive the target location of setting, realize that the method for subsequent control is joined in the various control system in a large number.So be necessary very much accurate localization is carried out in the direct current machine turned position, to guarantee the work of The whole control system normal reliable.
Direct current machine turned position localization method mainly comprises DC MOTOR CONTROL, rotary angle transmitter position probing, pwm signal control, host computer monitoring.DC motor speed-regulating is quick, cause its detent torque bigger, when stopping, rotation can cause the deviation of position because of inertia, need the pinpoint method in a kind of direct current machine turned position for this reason, so that turn to the target location of setting fast, accurately, for the reliability of The whole control system provides safeguard.
Therefore, for the problems referred to above and the defective that solves existence, a kind of direct current machine turned position accurate positioning method need be provided, it can realize location, direct current machine turned position accurately, fast, reliably, when thereby the solution direct current machine stops, because the turned position deviation that inertia causes avoids whole system to be subjected to the influence that position deviation is brought.
Summary of the invention
The objective of the invention is to have overcome above-mentioned shortcoming of the prior art, a kind of direct current machine turned position accurate positioning method and located in connection device are provided, this direct current machine turned position accurate positioning method design is ingenious, can realize location, direct current machine turned position accurately, fast, reliably, when thereby the solution direct current machine stops, because the turned position deviation that inertia causes avoids whole system to be subjected to the influence that position deviation is brought, and is suitable for large-scale promotion application.
To achieve these goals,, provide a kind of direct current machine turned position accurate positioning method, be characterized in, may further comprise the steps in a first aspect of the present invention:
(1) rotates towards the target location by control unit control pwm signal unit drives direct current machine;
(2) detect the physical location of the rotating shaft of described direct current machine by the rotating shaft position detection part after described direct current machine stops, and feed back to described control unit;
(3) but described control unit the permissible variation scope of described physical location and described target location is compared, but if described physical location drops within the permissible variation scope of described target location, then finish the location; If but described physical location drops on outside the permissible variation scope of described target location, then described control unit is controlled the described direct current machine backward rotation of described pwm signal unit drives, repeating step (2)-(3) then.
Preferably, described rotating shaft position detection part is a rotary angle transmitter, described rotary angle transmitter is with the described physical location of aanalogvoltage value representation, and in step (3), but described control unit compares described analog voltage with the permissible variation scope of the magnitude of voltage of corresponding described target location.
Preferably, described control unit adopts the PC control monitoring means.
Preferably, in step (1), described pwm signal unit drives described direct current machine with big space rate output.The value of duty ratio is between 0-1, and so-called big space rate is meant that torque this moment is bigger with the output of the duty ratio more than 0.5, and rotating speed is very fast.
Preferably, in step (3), described pwm signal unit drives described direct current machine with little duty ratio output.As mentioned above, the value of duty ratio is between 0-1, and so-called little duty ratio is meant that torque this moment is less with the output of the duty ratio below 0.5, and rotating speed is slower.
In a second aspect of the present invention, a kind of direct current machine turned position accurate positioning device is provided, be characterized in, be used for above-mentioned direct current machine turned position accurate positioning method, described direct current machine turned position accurate positioning device comprises control unit, the pwm signal unit, direct current machine and rotating shaft position detection part, the rotating shaft of described rotating shaft position detection part and described direct current machine is equipped with the position that is used to detect described rotating shaft, described control unit circuit respectively connects described pwm signal unit and described rotating shaft position detection part, and described pwm signal element circuit connects described direct current machine and is used to drive described direct current machine.
Preferably, described rotating shaft position detection part is a rotary angle transmitter, and described rotary angle transmitter is with the position of the described rotating shaft of aanalogvoltage value representation.
Preferably, described control unit adopts the PC control monitoring means.
Preferably, described direct current machine turned position accurate positioning device also comprises power subsystem, and described power subsystem circuit respectively connects described direct current machine and described rotating shaft position detection part.
Beneficial effect of the present invention specifically is: direct current machine of the present invention turned position accurate positioning method may further comprise the steps: rotate towards the target location by control unit control pwm signal unit drives direct current machine (1); (2) detect the physical location of the rotating shaft of described direct current machine by the rotating shaft position detection part after described direct current machine stops, and feed back to described control unit; (3) but described control unit the permissible variation scope of described physical location and described target location is compared, but if described physical location drops within the permissible variation scope of described target location, then finish the location; If but described physical location drops on outside the permissible variation scope of described target location, then described control unit is controlled the described direct current machine backward rotation of described pwm signal unit drives, repeating step (2)-(3) then, so circulation, to reach pinpoint effect, design ingenious, can realize location, direct current machine turned position accurately, fast, reliably, when thereby the solution direct current machine stops, because the turned position deviation that inertia causes, avoid whole system to be subjected to the influence that position deviation is brought, be suitable for large-scale promotion application.
Description of drawings
Fig. 1 is the structural representation of a specific embodiment of direct current machine of the present invention turned position accurate positioning device.
Fig. 2 is the cooperation schematic diagram of the rotating shaft of the rotary angle transmitter of specific embodiment shown in Figure 1 and direct current machine.
Fig. 3 is the schematic flow sheet of a specific embodiment of direct current machine of the present invention turned position accurate positioning method.
Embodiment
In order more to be expressly understood technology contents of the present invention, describe in detail especially exemplified by following examples.Should be understood that embodiment is used to illustrate the present invention, rather than limitation of the present invention.
See also shown in Fig. 1 and 2, direct current machine of the present invention turned position accurate positioning device, being used for the direct current machine turned position accurately locatees, comprise control unit, pwm signal unit, direct current machine and rotating shaft position detection part, the rotating shaft 2 of described rotating shaft position detection part and described direct current machine is equipped with the position that is used to detect described rotating shaft 2, described control unit circuit respectively connects described pwm signal unit and described rotating shaft position detection part, and described pwm signal element circuit connects described direct current machine and is used to drive described direct current machine.
Described rotating shaft position detection part can adopt any suitable components, see also shown in Figure 1, in specific embodiments of the invention, described rotating shaft position detection part is a rotary angle transmitter 1, and described rotary angle transmitter 1 is with the position of the described rotating shaft 2 of aanalogvoltage value representation.Please specifically referring to shown in Figure 2, in the rotating shaft 2 of direct current machine induction magnetic head 3 is installed, (oblique line part) obtains the analog voltage of the current location of rotating shaft 2 between the magnetic area of rotary angle transmitter 1 by corresponding described induction magnetic head 3.
Described control unit can adopt any suitable components, sees also shown in Figure 1ly, and in specific embodiments of the invention, described control unit adopts the PC control monitoring means.
For power supply being provided for described direct current machine and described rotating shaft position detection part, preferably, described direct current machine turned position accurate positioning device also comprises power subsystem, and described power subsystem circuit respectively connects described direct current machine and described rotating shaft position detection part.See also shown in Figure 1ly, in specific embodiments of the invention, described power subsystem circuit respectively connects described direct current machine and described rotary angle transmitter 1.
Adopt above-mentioned direct current machine turned position accurate positioning device to carry out the direct current machine turned position when accurately locating, may further comprise the steps:
(1) driving direct current machine by PC control monitoring means control pwm signal unit with big space rate output rotates towards the target location;
(2) described direct current machine stops the back and obtains the analog voltage of physical location of the rotating shaft 2 of described direct current machine by rotary angle transmitter 1, and feeds back to described PC control monitoring means;
(3) but described PC control monitoring means described analog voltage is compared with the permissible variation scope of the magnitude of voltage of corresponding described target location, but if described analog voltage drops within the permissible variation scope of described magnitude of voltage, then finish the location; If but described analog voltage drops on outside the permissible variation scope of described magnitude of voltage, then described PC control monitoring means is controlled described pwm signal unit and is driven described direct current machine backward rotation, repeating step (2)-(3) then with little duty ratio output.So circulation is to reach pinpoint effect.
Therefore, the present invention mainly is made up of following steps:
1, direct current machine turns to target location (big space rate output)
Pwm signal drives the running of direct current machine forward with big space rate output, quick rotation is to the target location of setting, because the motor rotation effect of inertia, actual stop position may surpass the target location certain distance, may exceed the target location deviation range of permission.
2, host computer delay monitoring
Main detect position that direct current machine stops whether in the deviation range that the target location allows.
The time-delay certain hour determines that motor stops operating.Rotary angle transmitter 1 is according to the corresponding analog voltage of the 3 induction outputs of the induction magnetic head in the rotating shaft 2 that is fixed on direct current machine, the PC control monitoring means is made comparisons according to this magnitude of voltage and target location magnitude of voltage, judges whether to carry out direct current machine counter-rotating flow process.
3, direct current machine backward rotation (little duty ratio)
The main direct current machine that drives is exported faster backward rotation to the target location with little duty ratio.
The PC control monitoring means judges that by the analog voltage of rotary angle transmitter 1 output the direct current machine stop position exceeds the deviate that the target setting position allows, and the order pwm signal drives the target location that direct current machine is inverted to setting with little duty ratio output.Because duty ratio reduces, motor speed and torque are all corresponding to be reduced, and the inertial force that is produced reduces, and actual stop position meets the target location deviation range of permission.
Therefore, by the present invention, can fast and effeciently detect the rotating shaft 2 of direct current machine and rotate the position that arrives; Can realize the accurate location of turned position of the rotating shaft 2 of direct current machine.
To sum up, the accurate positioning method design of direct current machine of the present invention turned position is ingenious, can realize location, direct current machine turned position accurately, fast, reliably, when thereby the solution direct current machine stops, because the turned position deviation that inertia causes, avoid whole system to be subjected to the influence that position deviation is brought, be suitable for large-scale promotion application.
In this specification, the present invention is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, specification and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (9)
1. a direct current machine turned position accurate positioning method is characterized in that, may further comprise the steps:
(1) rotates towards the target location by control unit control pwm signal unit drives direct current machine;
(2) detect the physical location of the rotating shaft of described direct current machine by the rotating shaft position detection part after described direct current machine stops, and feed back to described control unit;
(3) but described control unit the permissible variation scope of described physical location and described target location is compared, but if described physical location drops within the permissible variation scope of described target location, then finish the location; If but described physical location drops on outside the permissible variation scope of described target location, then described control unit is controlled the described direct current machine backward rotation of described pwm signal unit drives, repeating step (2)-(3) then.
2. direct current machine according to claim 1 turned position accurate positioning method, it is characterized in that, described rotating shaft position detection part is a rotary angle transmitter, described rotary angle transmitter is with the described physical location of aanalogvoltage value representation, in step (3), but described control unit compares described analog voltage with the permissible variation scope of the magnitude of voltage of corresponding described target location.
3. direct current machine according to claim 1 turned position accurate positioning method is characterized in that, described control unit adopts the PC control monitoring means.
4. direct current machine according to claim 1 turned position accurate positioning method is characterized in that, in step (1), described pwm signal unit drives described direct current machine with big space rate output.
5. direct current machine according to claim 1 turned position accurate positioning method is characterized in that, in step (3), described pwm signal unit drives described direct current machine with little duty ratio output.
6. direct current machine turned position accurate positioning device, it is characterized in that, be used for direct current machine according to claim 1 turned position accurate positioning method, described direct current machine turned position accurate positioning device comprises control unit, the pwm signal unit, direct current machine and rotating shaft position detection part, the rotating shaft of described rotating shaft position detection part and described direct current machine is equipped with the position that is used to detect described rotating shaft, described control unit circuit respectively connects described pwm signal unit and described rotating shaft position detection part, and described pwm signal element circuit connects described direct current machine and is used to drive described direct current machine.
7. direct current machine according to claim 6 turned position accurate positioning method is characterized in that described rotating shaft position detection part is a rotary angle transmitter, and described rotary angle transmitter is with the position of the described rotating shaft of aanalogvoltage value representation.
8. direct current machine according to claim 6 turned position accurate positioning method is characterized in that, described control unit adopts the PC control monitoring means.
9. direct current machine according to claim 6 turned position accurate positioning method, it is characterized in that, described direct current machine turned position accurate positioning device also comprises power subsystem, and described power subsystem circuit respectively connects described direct current machine and described rotating shaft position detection part.
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| CN2011102026089A CN102255592A (en) | 2011-07-19 | 2011-07-19 | Accurate positioning method for rotating position of direct-current motor and relevant positioning device |
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| CN2011102026089A CN102255592A (en) | 2011-07-19 | 2011-07-19 | Accurate positioning method for rotating position of direct-current motor and relevant positioning device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103475297A (en) * | 2013-09-27 | 2013-12-25 | 中国航天科技集团公司烽火机械厂 | Electric steering gear control method and electric steering gear controller |
| CN104743160A (en) * | 2013-12-31 | 2015-07-01 | 楚天科技股份有限公司 | Automatic feeding and discharging pushing rod device of freeze dryer |
| CN105927050A (en) * | 2015-12-30 | 2016-09-07 | 厦门陨石科技股份有限公司 | Positioning calibration device |
| CN112399041A (en) * | 2019-08-19 | 2021-02-23 | 杭州海康威视数字技术股份有限公司 | Video camera |
| CN113273877A (en) * | 2020-02-19 | 2021-08-20 | 深圳绿米联创科技有限公司 | Motor stroke reporting method and device, motor, electric curtain and storage medium |
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| KR100715848B1 (en) * | 2006-03-29 | 2007-05-11 | 삼성전자주식회사 | Low speed driving control device of dc motor and control method thereof |
| CN101051808A (en) * | 2006-04-07 | 2007-10-10 | 唐山松下产业机器有限公司 | Method and system for regulating feeding wire speed |
| JP2008219962A (en) * | 2007-02-28 | 2008-09-18 | Brother Ind Ltd | Motor drive device |
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| JPS58215995A (en) * | 1982-06-07 | 1983-12-15 | Toshiba Corp | Pulse width modulation controller |
| KR100715848B1 (en) * | 2006-03-29 | 2007-05-11 | 삼성전자주식회사 | Low speed driving control device of dc motor and control method thereof |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103475297A (en) * | 2013-09-27 | 2013-12-25 | 中国航天科技集团公司烽火机械厂 | Electric steering gear control method and electric steering gear controller |
| CN104743160A (en) * | 2013-12-31 | 2015-07-01 | 楚天科技股份有限公司 | Automatic feeding and discharging pushing rod device of freeze dryer |
| CN104743160B (en) * | 2013-12-31 | 2017-06-06 | 楚天科技股份有限公司 | The push rod device of freeze dryer automatic feed/discharge |
| CN105927050A (en) * | 2015-12-30 | 2016-09-07 | 厦门陨石科技股份有限公司 | Positioning calibration device |
| CN105927050B (en) * | 2015-12-30 | 2018-08-24 | 厦门陨石科技股份有限公司 | A kind of locating calibration device |
| CN112399041A (en) * | 2019-08-19 | 2021-02-23 | 杭州海康威视数字技术股份有限公司 | Video camera |
| CN112399041B (en) * | 2019-08-19 | 2022-07-15 | 杭州海康威视数字技术股份有限公司 | Video camera |
| CN113273877A (en) * | 2020-02-19 | 2021-08-20 | 深圳绿米联创科技有限公司 | Motor stroke reporting method and device, motor, electric curtain and storage medium |
| CN113273877B (en) * | 2020-02-19 | 2023-11-10 | 深圳绿米联创科技有限公司 | Motor travel reporting method and device, motor, electric curtain and storage medium |
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Application publication date: 20111123 |