CN102347720A - Method for automatically zeroing analog quantity speed instructions of servo controller - Google Patents

Method for automatically zeroing analog quantity speed instructions of servo controller Download PDF

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Publication number
CN102347720A
CN102347720A CN2010102468963A CN201010246896A CN102347720A CN 102347720 A CN102347720 A CN 102347720A CN 2010102468963 A CN2010102468963 A CN 2010102468963A CN 201010246896 A CN201010246896 A CN 201010246896A CN 102347720 A CN102347720 A CN 102347720A
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speed command
servo controller
digital
zero
signal processor
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CN2010102468963A
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CN102347720B (en
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杨文博
郁敏杰
陈忠
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SHANGHAI KAITONG DIGITAL CONTROL CO Ltd
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SHANGHAI KAITONG DIGITAL CONTROL CO Ltd
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Abstract

The invention discloses a method for automatically zeroing analog quantity speed instructions of a servo controller. The servo controller is provided with a zeroing starting signal end and monitors speed instructions; the speed instructions are the analog quantity speed instructions which are sampled by using a zero-time sampling module, converted into digital quantity speed instructions and input into a digital signal processor; the digital signal processor accumulates the digital quantity speed instructions, performs mean algorithm filtering, stores the digital quantity speed instructions which are sampled at the first four times, performs differential operation on the digital quantity speed instructions which are sampled at any two times and filters results which exceed an even filtering threshold value; the digital signal processor performs third-order Kalman filtering on the results of even filtering and differential operation to obtain a zero-point voltage correction value; the zero-point voltage correction value and the sampled digital quantity speed instructions are subjected to superposition operation to obtain a current speed instruction; and during the operation of a numerical control system, the digital signal processor drives a motor to operate according to the zeroed speed instructions. The method has the advantages that: the speed instructions of the numerical control system can be automatically zeroed without manual operation; zeroing accuracy and zeroing efficiency are improved; and the servo driving control of the motor is facilitated.

Description

The method of servo controller analog quantity speed command automatic zero set
Technical field
The present invention relates to the method for a kind of servo controller analog quantity speed command automatic zero set.
Background technology
Servo controller is used for the AC permanent-magnet synchronous motor is implemented drive controlling in digital control system; Digital control system drives the work of AC permanent-magnet synchronous motor at servo controller signal input part input analog amount speed command; And the position signalling of AC permanent-magnet synchronous motor is fed back to digital control system through photoelectric encoder; Digital control system is carried out position proportional according to the alliance deviation and is regulated; Output analog quantity speed command is given servo controller, again by the speed command operation of servo controller control motor according to appointment.
As shown in Figure 1, in the full cut-off number of rings control system of position, position ring is based upon on the digital control system 1, and speed ring is based upon on the servo controller 2, and position feedback and speed feedback provide through position transducer 3 and velocity transducer 4; Promptly carry out position proportional according to the alliance deviation and regulate, and output analog quantity speed command is to servo controller 2, again by the speed command operation of servo controller 2 control servomotors 5 according to appointment by digital control system 1.
The output area of the analog quantity speed command of general digital control system output is between-10 volts to+10 volts; Promptly-the minimum speed instruction of the corresponding system of 10V; The maximal rate instruction of the corresponding system of+10V, the dead-center position of the corresponding analog quantity speed command of 0V, promptly motor per minute zero changes.Because the minimum and maximum speed command of each position full cut-off number of rings control system is different, this just need all have a speed command gain parameter to come corresponding how many speed commands of setting unit analog quantity voltage in digital control system and servo controller.
For example: in the position full cut-off number of rings control system that a positive and negative per minute 2000 changes, the speed command gain parameter is 2000/10;
The analog quantity speed command is owing to receive influence of various factors such as environment, temperature, humidity, electromagnetic field space; Its dead-center position can be squinted; Be the analog quantity voltage value speed command that changes of the per minute zero of corresponding motor not of 0V, so just the control precision to whole position digital control system causes bigger influence.This just need carry out the correction of dead-center position skew to the analog quantity speed command, and analog quantity speed command dead-center position offset correction principle is:
Zero point speed command=analog quantity zero-point voltage command value-analog quantity zero-point voltage corrected value=0
In original position full cut-off number of rings control system, analog quantity speed command dead-center position offset correction is detected to add to adjust manually by digital control system and realizes.Its set-up procedure is following:
1) digital control system output 0V analog quantity voltage instructs to servo-driver;
2) digital control system is carried out differential calculation to the positional information of position sensor feedback, obtains the system running speed value;
3) the system running speed value is presented on the display screen of digital control system;
4) operating personnel are provided with analog quantity zero-point voltage correction parameter according to the system running speed value that shows;
Above-mentioned method of adjustment is owing to the participation that needs artificial adjustment, and operating personnel's visual correction itself also just decreases the precision of system's offset correction at zero point with regard to the bigger measure error of existence; And the interference of analog quantity zero-point voltage is at random, and artificial adjustment significant adverse can increase the zero error of system in the real-time adjustment of analog quantity speed command greatly; And the efficient of artificial adjustment also is lower, and whole system operation efficient also can be descended greatly.
Summary of the invention
Technical problem to be solved by this invention provides the method for a kind of servo controller analog quantity speed command automatic zero set; This method need not the automatic zero set that manual operation realizes the digital control system speed command; Improve accuracy, reliability, rapidity and the stability of the zeroing of digital control system speed command, made things convenient for the servo-drive control of motor.
For solving the problems of the technologies described above, the method for servo controller analog quantity speed command of the present invention automatic zero set comprises the steps:
Step 1, automatic zero set enabling signal end is set at the servo controller input interface, said enabling signal end monitoring numerical-control system speed command, when speed command was zero, the enabling signal end was opened and is also exported servo controller to;
After step 2, servo controller were accepted the automatic zero set enabling signal, the analog quantity speed command of servo controller multichannel modulus high-speed sampling modular converter sampling input also became input servo controller digital signal processor behind the digital quantity speed command as analog-to-digital conversion;
Step 3, servo controller digital signal processor are to the operation that adds up of the digital quantity speed command of multi-channel sampling, and the average algorithm filtering of taking the mean again will connect the interference signal filtering that produces owing to the physical channel;
Step 4, servo controller digital signal processor store the digital quantity speed command of preceding four samplings and any twice digital quantity speed command are carried out derivation operation; With the carry out filtering of derivation operation result, with the external interference signals filtering that the analog quantity speed command is suffered above average algorithm filtering threshold values;
Step 5, servo controller digital signal processor carry out three rank Kalman filterings with the result of average algorithm filtering and derivation operation, and three rank Kalman filtering algorithm results are the zero-point voltage corrected value of analog quantity speed command;
Step 6, servo controller digital signal processor superpose the digital quantity speed command of zero-point voltage corrected value and sampling after the computing, and drawing the present speed instruction, to make motor speed be zero;
When step 7, digital control system operation, the servo controller digital signal processor provides the speed command of motor by following formula:
Speed command=(the digital quantity speed value-zero-point voltage corrected value of sampling) * speed command gain
Wherein: the speed command gain is the gain amplifier of servo controller speed feedback amplifier.
Because the method for servo controller analog quantity speed command of the present invention automatic zero set has adopted technique scheme; Promptly automatic zero set enabling signal end and monitoring velocity instruction are set at the servo controller input interface; When speed command was zero, servo controller is opened and exported to the enabling signal end; After servo controller is accepted start signal, the analog quantity speed command of its multichannel modulus high-speed sampling modular converter sampling input and convert the digital quantity speed command to after the supplied with digital signal processor; Processor is to the operation that adds up of digital quantity speed command, the average algorithm filtering of taking the mean again; Processor stores the digital quantity speed command of preceding four samplings and any twice digital quantity speed command is carried out derivation operation, the derivation operation result is surpassed the filtering of carrying out of average algorithm filtering threshold values; Processor carries out three rank Kalman filterings with the result of average algorithm filtering and derivation operation, draws the zero-point voltage corrected value; The computing that superposes of the digital quantity speed command of zero-point voltage corrected value and sampling draws present speed instruction to make motor speed is zero; During the digital control system operation; Processor provides the speed command of motor by speed command=(the digital quantity speed value-zero-point voltage corrected value of sampling) * speed command gain: this method need not the automatic zero set that manual operation realizes the digital control system speed command; Improve accuracy, reliability, rapidity and the stability of the zeroing of digital control system speed command, made things convenient for the servo-drive control of motor.
Description of drawings
Below in conjunction with accompanying drawing and execution mode the present invention is done further detailed description:
Fig. 1 is a position full cut-off number of rings control system control block diagram,
Fig. 2 is the FB(flow block) of servo controller analog quantity speed command automatic zero-setting method of the present invention,
Fig. 3 is that the hardware of this method is realized block diagram.
Embodiment
As shown in Figure 2, the method for servo controller analog quantity speed command of the present invention automatic zero set comprises the steps:
Step 1, automatic zero set enabling signal end is set at the servo controller input interface, said enabling signal end monitoring numerical-control system speed command, when speed command was zero, the enabling signal end was opened and is also exported servo controller to;
After step 2, servo controller were accepted the automatic zero set enabling signal, the analog quantity speed command of servo controller multichannel modulus high-speed sampling modular converter sampling input also became input servo controller digital signal processor behind the digital quantity speed command as analog-to-digital conversion;
Step 3, servo controller digital signal processor are to the operation that adds up of the digital quantity speed command of multi-channel sampling, and the average algorithm filtering of taking the mean again will connect the interference signal filtering that produces owing to the physical channel;
Step 4, servo controller digital signal processor store the digital quantity speed command of preceding four samplings and any twice digital quantity speed command are carried out derivation operation; With the carry out filtering of derivation operation result, with the external interference signals filtering that the analog quantity speed command is suffered above average algorithm filtering threshold values;
Step 5, servo controller digital signal processor carry out three rank Kalman filterings with the result of average algorithm filtering and derivation operation, and three rank Kalman filtering algorithm results are the zero-point voltage corrected value of analog quantity speed command;
Step 6, servo controller digital signal processor superpose the digital quantity speed command of zero-point voltage corrected value and sampling after the computing, and drawing the present speed instruction, to make motor speed be zero;
When step 7, digital control system operation, the servo controller digital signal processor provides the speed command of motor by following formula:
Speed command=(the digital quantity speed value-zero-point voltage corrected value of sampling) * speed command gain
Wherein: the speed command gain is the gain amplifier of servo controller speed feedback amplifier.
This method is on the basis of servo controller internal control software; Utilize the original modulus high-speed sampling of servo controller modular converter; Add the software algorithm of analog quantity speed command dead-center position skew, realize the automatic zero set of position full cut-off number of rings control system simulation amount speed command from dynamic(al) correction.
As shown in Figure 3; This method increases the enabling signal of an automatic zero set in the input interface 21 of servo controller 2; When digital control system 1 output analog quantity speed command is zero; Servo controller 2 is opened and exported to this enabling signal, and this moment, servo controller 2 matched with software algorithm with digital signal processor 23 with regard to the inner integrated sample conversion module 22 of application, realized the automatic zero set of analog quantity speed command.The multichannel modulus high-speed sampling modular converter of servo controller has 16 16 analog-to-digital conversion passages in this method; The analog-to-digital conversion rate can reach 2MHZ simultaneously; Analog-to-digital error is merely 60,000/, so just good hardware foundation is provided for the automatic zero set of analog quantity speed command; The inner software algorithm of digital signal processor by using averages the software processes of algorithm filtering, repeated sampling filtering and three rank Kalman's algorithm filtering to the transformation result of analog quantity speed command, with the result of software processes directly as the corrected value of analog quantity zero-point voltage.
This method has improved the control precision of digital control system, has improved the operating efficiency of whole digital control system, has made things convenient for the operation of digital control system, has improved the reliability of digital control system.

Claims (1)

1. the method for servo controller analog quantity speed command automatic zero set is characterized in that this method comprises the steps:
Step 1, automatic zero set enabling signal end is set at the servo controller input interface, said enabling signal end monitoring numerical-control system speed command, when speed command was zero, the enabling signal end was opened and is also exported servo controller to;
After step 2, servo controller were accepted the automatic zero set enabling signal, the analog quantity speed command of servo controller multichannel modulus high-speed sampling modular converter sampling input also became input servo controller digital signal processor behind the digital quantity speed command as analog-to-digital conversion;
Step 3, servo controller digital signal processor are to the operation that adds up of the digital quantity speed command of multi-channel sampling, and the average algorithm filtering of taking the mean again will connect the interference signal filtering that produces owing to the physical channel;
Step 4, servo controller digital signal processor store the digital quantity speed command of preceding four samplings and any twice digital quantity speed command are carried out derivation operation; With the carry out filtering of derivation operation result, with the external interference signals filtering that the analog quantity speed command is suffered above average algorithm filtering threshold values;
Step 5, servo controller digital signal processor carry out three rank Kalman filterings with the result of average algorithm filtering and derivation operation, and three rank Kalman filtering algorithm results are the zero-point voltage corrected value of analog quantity speed command;
Step 6, servo controller digital signal processor superpose the digital quantity speed command of zero-point voltage corrected value and sampling after the computing, and drawing the present speed instruction, to make motor speed be zero;
When step 7, digital control system operation, the servo controller digital signal processor provides the speed command of motor by following formula:
Speed command=(the digital quantity speed value-zero-point voltage corrected value of sampling) * speed command gain
Wherein: the speed command gain is the gain amplifier of servo controller speed feedback amplifier.
CN2010102468963A 2010-08-06 2010-08-06 Method for automatically zeroing analog quantity speed instructions of servo controller Expired - Fee Related CN102347720B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103207570A (en) * 2013-03-05 2013-07-17 中国核电工程有限公司 Rotary transformer signal simulation system and method applied to loader-unloader analog machine
CN104423320A (en) * 2013-09-10 2015-03-18 重庆长安工业(集团)有限责任公司 Automatic zero setting method of servo control system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1945467A (en) * 2006-10-24 2007-04-11 北京航空航天大学 Servo control system for quick response magnetic suspension control torque gyroscope frame
CN101349910A (en) * 2008-08-29 2009-01-21 华中科技大学 Numerical control machine tool double-shaft synchronization controller
WO2009031256A1 (en) * 2007-09-03 2009-03-12 Mitsubishi Electric Corporation Sensor output compensator

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1945467A (en) * 2006-10-24 2007-04-11 北京航空航天大学 Servo control system for quick response magnetic suspension control torque gyroscope frame
WO2009031256A1 (en) * 2007-09-03 2009-03-12 Mitsubishi Electric Corporation Sensor output compensator
CN101349910A (en) * 2008-08-29 2009-01-21 华中科技大学 Numerical control machine tool double-shaft synchronization controller

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103207570A (en) * 2013-03-05 2013-07-17 中国核电工程有限公司 Rotary transformer signal simulation system and method applied to loader-unloader analog machine
CN103207570B (en) * 2013-03-05 2015-07-08 中国核电工程有限公司 Rotary transformer signal simulation system and method applied to loader-unloader analog machine
CN104423320A (en) * 2013-09-10 2015-03-18 重庆长安工业(集团)有限责任公司 Automatic zero setting method of servo control system

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