CN102468802B - Servomotor-driven feedback switching device and method - Google Patents
Servomotor-driven feedback switching device and method Download PDFInfo
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- CN102468802B CN102468802B CN201010537977.9A CN201010537977A CN102468802B CN 102468802 B CN102468802 B CN 102468802B CN 201010537977 A CN201010537977 A CN 201010537977A CN 102468802 B CN102468802 B CN 102468802B
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Abstract
The invention provides a servomotor-driven feedback switching device and a servomotor-driven feedback switching method. The device and the method respectively have a novel feedback switching design. A servomotor-driven control loop can actively switch feedback modes along with the running speed of a servomotor. A sensing position estimation-free feedback technology is taken as a feedback mode when the servomotor runs at a high speed; and on the contrary, a position sensing feedback technology is automatically switched to be taken as a feedback mode when the servomotor runs at a low speed. After the feedback switching device and the feedback switching method are used, the multi-function, high-performance and low-cost development requirement of a servomotor-driven control related field can be met. The technical bottleneck that the single use of the position sensing feedback technology or the sensing position estimation-free feedback technology can not meet the wide-speed range application when the device and the method are applied to a wide-speed range servo drive system can be further solved.
Description
Technical field
The present invention relates to servo motor driven, more specifically, relate to servo motor driven feedback switching device and the method that can along with servo motor running speed, carry out on one's own initiative feedback model switching.
Background technology
Servomotor drive is widely used a kind of important technology in modernization industry, the developing direction of its present stage all take improving performance with reduce costs as main, and in response to cost consideration, for the lifting of performance and the increase of function, also produced corresponding demand.In various application, part servo motor must be operated within the scope of the running speed of non-constant width, and how effectively servomotor drive improving performance and the key factor reducing costs be building of so-called speed control framework.
For example, if designer builds speed control framework with position sensing elements such as encoder or solution hornworks, that is utilize location sensing feedback technique to build speed control framework, at servo motor under low-speed running state, as long as the frequency range of position signalling is lower than the frequency range of position sensor, servomotor drive just can correctly receive position signalling.If but motor rotary speed is too high, so that the frequency of position signalling is during higher than the frequency range of position signal receiver, position signalling will be distorted.Therefore,, under servo motor runs up, certainly will process by other technologies.In order to solve this kind of problem, industry has been developed sensing location estimation feedback technique has been applied on the motor running up, and to estimate motor angle, and then builds the method for speed control framework.
Although the development of these two kinds of feedback techniques reaches its maturity, but the establishing method of existing servomotor drive is user must be before servo motor operation, first determine it is that use location sensing element builds speed control framework, or first determine to build speed control framework with sensing location estimation feedback technique, but in the running of servo motor, the speed control framework that user sets also cannot be made corresponding elasticity change along with motor rotary speed, with servomotor drive, still has and cannot carry out the problem of accurately controlling to servo motor.Specifically, if user sets at the beginning with location sensing feedback technique and builds speed control framework, when the rotating speed of servo motor is increased to while exceeding certain standard, the position signalling that location sensing feedback technique obtains will be distorted, so that servomotor drive cannot obtain correct positional information.If user sets at the beginning with sensing location estimation feedback technique and builds speed control framework, when the rotating speed of servo motor is reduced to lower than certain standard, the accuracy of the position signalling that sensing location estimation feedback technique obtains can start to lose accuracy, so that servomotor drive also cannot obtain correct positional information.Hence one can see that, if can head it off, the speed control performance of servomotor drive can significantly be improved.
Therefore, if there be a kind of servo motor driven feedback switching device and the method that can automatically set or switch according to servo motor running speed feedback mechanism, can effectively provide manufacturer required cost benefit, but all the time, there is not pertinent literature to provide to help improve suggestion and the teaching of this problem.
Therefore, how to propose a kind of servo motor driven feedback switching device and method that solves known technology disadvantages, real is the technical problem that current all circles desire most ardently solution.
Summary of the invention
In view of the shortcoming of above-mentioned known technology, main purpose of the present invention is to provide the feedback switching device and the method that are made servo motor driven control loop along with servo motor running speed, carry out on one's own initiative feedback model switching.
For achieving the above object and other objects, the invention provides a kind of feedback switching device of servo motor driven, be applied in the control loop with servo motor, the feedback switching device of this servo motor driven comprises: current sensor, in order to sensing, be supplied to the electric current of this servo motor, and export corresponding current feedback signal according to the electric current sensing; Position sensor, in order to the position of this servo motor of sensing, and exports corresponding location sensing signal according to the position sensing; Position estimator, in order to receive the current feedback signal of this current sensor, and exports corresponding location estimation signal according to this current feedback signal; And feedback is switched comparator, there is predetermined switching condition, in order to receive this location sensing signal and this location estimation signal, and one of them using this location sensing signal and this location estimation signal exported as position feed back signal based on this predetermined switching condition selection.
In addition, the present invention provides again a kind of feedback changing method of servo motor driven, be applied in the control loop with servo motor, and the initial running speed of this servo motor is in lower-speed state, the feedback changing method of this servo motor driven comprises the following steps: (1) carries out sensing with current sensor to the electric current that is supplied to this servo motor, to export corresponding current feedback signal according to the electric current of institute's sensing, and make position sensor carry out sensing to the position of this servo motor, to export corresponding location sensing signal, and make position estimator receive this current feedback signal, to export corresponding location estimation signal according to this current feedback signal, (2) make speed calculation module receive the location sensing signal of this position sensor output and the location estimation signal of this position estimator output, to produce respectively corresponding First Speed signal and second speed signal, and make comparison module receive this First Speed signal and this second speed signal, (3) make this comparison module that this First Speed signal and predetermined switching condition are compared, to judge that whether this First Speed signal is higher than this switching condition, if so, proceed to step (4), if not, proceed to step (6), (4) make handover module select this location estimation signal to export as position feed back signal, (5) make this comparison module that this second speed signal and this predetermined switching condition are compared, to judge that this second speed signal, whether lower than this predetermined switching condition, if so, proceeds to step (6), if not, get back to step (4), and (6) make handover module select this location sensing signal to export as position feed back signal.
Moreover, the present invention provides a kind of feedback changing method of servo motor driven again, be applied in the control loop with servo motor, and the initial running speed of this servo motor is in fast state, the feedback changing method of this servo motor driven comprises the following steps: (1) makes the current sensor on the supply path that is arranged at this servo motor carry out sensing to the electric current that is supplied to this servo motor, to export corresponding current feedback signal according to the electric current of institute's sensing, and make position sensor carry out sensing to the position of this servo motor, to export corresponding location sensing signal, and make position estimator receive this current feedback signal, to export corresponding location estimation signal according to this current feedback signal, (2) make speed calculation module receive the location sensing signal of this position sensor output and the location estimation signal of this position estimator output, to produce respectively corresponding First Speed signal and second speed signal, and make comparison module receive this First Speed signal and this second speed signal, (3) make this comparison module that this second speed signal and predetermined switching condition are compared, to judge that whether this second speed signal is lower than this switching condition, if so, proceed to step (4), if not, proceed to step (6), (4) make handover module select this location sensing signal to export as position feed back signal, (5) make this comparison module that this First Speed signal and this switching condition are compared, to judge that this First Speed signal, whether higher than this predetermined switching condition, if so, proceeds to step (6), if not, get back to step (4), and (6) make handover module select this location estimation signal to export as position feed back signal.
Compared to known technology, the present invention not only can reduce manufacturer's cost effectively, improving product is functional, and can effectively promote servomotor drive and be applied to the elasticity on wide velocity interval servo drive system, improves the running efficiency of servo motor entirety.
Accompanying drawing explanation
Fig. 1 is the Organization Chart of describing the feedback switching device of the servo motor driven of the embodiment of the present invention;
Fig. 2 is the schematic circuit diagram that the feedback in Fig. 1 is switched comparator;
Fig. 3 is the running schematic diagram of describing the feedback switching device of the servo motor driven of the embodiment of the present invention;
Fig. 4 is the flow chart of steps of describing the feedback changing method of a servo motor driven of the embodiment of the present invention; And
Fig. 5 is the flow chart of steps of describing the feedback changing method of another servo motor driven of the embodiment of the present invention.
[main element symbol description]
The feedback switching device of 100 servo motor driven
102 position command 103PID controllers
104 speed command 105PID controllers
106 current order 107PID controllers
108 current feedback signal 109 power models
110 position feed back signal 111 current sensors
112 feedback speed signal 113 servo motors
115 position sensor 115a location sensing signals
117 position estimator 117a location estimation signals
119 feedbacks are switched comparator 121 speed feedback generation devices
201 speed calculation module 201a First Speed signals
201b second speed signal 202 switching conditions
203 comparison module 203a speed comparative results
205 handover module 302 time points
304 time points
The feedback changing method of 400 servo motor driven
S402-S412 step
The feedback changing method of 500 servo motor driven
S502-S512 step
Embodiment
Below, by specific instantiation explanation embodiments of the present invention, those skilled in the art can understand other advantages of the present invention and effect easily by content disclosed in the present specification.The present invention also can be implemented or be applied by other different instantiations, and the every details in this specification also can, based on different viewpoints and application, be carried out various modifications and change under not departing from spirit of the present invention.
The feedback switching device of servo motor driven proposed by the invention and method, be applied in servo motor driven control loop, with aspire to overcoming location sensing feedback technique when motor runs up, position data there will be outside the problem of twisted phenomena, overcome in the lump and use sensing location estimation to feed back when motor low-speed running, position data cannot reach the variety of problems such as the desired speed accuracy of user.
Please refer to Fig. 1, show the configuration diagram of the feedback switching device 100 of the servo motor driven of the embodiment of the present invention.In the present embodiment, the feedback switching device 100 of servo motor driven, be applied in the servo motor driven control loop with servo motor 113, and at least comprise position sensor 115, position estimator 117 and feedback is switched comparator 119, and optionally possess and have for example speed feedback generation device 121 for differentiator.
And this servo motor driven control loop also can possess proportional-integral-differential (proportional-integral-derivative) controller 103,105,107, hereinafter to be referred as PID controller 103,105,107, and power model 109.Wherein, PID controller 103 can receiving position order 102, and PID controller 105 can inbound pacing order 104, and PID controller 107 can received current order 106, and is connected to power model 109.
These current sensors 111 are arranged on the supply path of this servo motor 113, are supplied to the electric current of this servo motor 113 in order to sensing, and export corresponding current feedback signal 108 according to the electric current sensing.
This position sensor 115 can be arranged on servo motor 113, in order to the position of this servo motor 113 of sensing, and export corresponding location sensing signal 115a according to the position sensing, in the present embodiment, position sensor 115 can be the encoder in order to being encoded in the position of servo motor 113 or separates hornwork.
This position estimator 117 is connected to these current sensors 111, the current feedback signal 108 of exporting in order to receive this current sensor 111, and the current feedback signal 108 of exporting according to this current sensor 111 is exported corresponding location estimation signal 117a.
This feedback is switched comparator 119 in order to receive this location sensing signal 115a, this location estimation signal 117a and the predefined switching condition of user (hereinafter to be referred as switching condition), and based on described switching condition, selection is by one of them output of this location sensing signal 115a and this location estimation signal 117a, using as position feed back signal 110.
Therefore,, when servo motor driven control loop operates in more slow-revving situation, feedback switching comparator 119 can select this location sensing signal 115a to export as position feed back signal 110 automatically, meets by this high efficiency demand.And when servo motor driven control loop operates on the situation of higher rotation speed, feedback switching comparator 119 can be selected this location estimation signal 117a to export as position feed back signal 110 automatically, meet by this wide speed running demand.
Furthermore, feedback is switched the position feed back signal 110 that comparator 119 is exported, can combine with position command 102, for receiving, PID controller 103 produces speed command 104, simultaneously, the position feed back signal 110 that feedback switching comparator 119 is exported also can transfer to speed feedback generation device 121, for it, produce feedback speed signal 112, and after feedback speed signal 112 combines with speed command 104, can receive with generation current order 106 for PID controller 105, and current order 106 is after combining with current feedback signal 108, can provide and give PID controller 107 and receive, and PID controller 107 also can be connected to power model 109, to make power model 109 carry out relevant speed control to servo motor 113.
During actual enforcement, first, the current sensor 111 being arranged on the supply path of this servo motor 113 can carry out sensing to the electric current of this servo motor 113, and the electric current obtaining according to sensing produces corresponding current feedback signal 108.This current feedback signal 108 is sent to this position estimator 117, and combine with this current order 106, and this position estimator 117 is after receiving this current feedback signal 108, according to this current feedback signal 108, produce/export corresponding location estimation signal 117a.Meanwhile, this position sensor 115 carries out sensing to the position of this servo motor 113, and produces/export corresponding location sensing signal 115a according to this position.
Next, this feedback is switched comparator 119 and is received this location sensing signal 115a and this location estimation signal 117a, and based on the predefined switching condition of user, select one of them of this location sensing signal 115a and this location estimation signal 117a to export as this position feed back signal 110.And about this feedback, switch the running details of comparator 119, will be specified in hereinafter.
Then, this speed feedback generation device 121 produces feedback speed signal 112 based on this position feed back signal 110, and this feedback speed signal 112 combines with this speed command 104.
Please arrange in pairs or groups Fig. 1 with reference to Fig. 2, and wherein, Fig. 2 is the schematic circuit diagram that shows the feedback switching comparator 119 in Fig. 1.As shown in the figure, this feedback switching comparator 119 comprises two speed calculation module 201, comparison module 203 and handover module 205.
These speed calculation module 201 can be differentiator, the location estimation signal 117a exporting in order to receive respectively location sensing signal 115a that this position sensor 115 exports and this position estimator 117, to produce respectively corresponding First Speed signal 201a and second speed signal 201b.During actual enforcement, two speed calculation module 201 shown in figure can be integrated into single.
This comparison module 203 in order to receive the predefined switching condition 202 of user, this First Speed signal 201a, with this second speed signal 201b, and one of them and this switching condition 202 of this First Speed signal 201a and this second speed signal 201b are compared, with output speed comparative result 203a.At this, should be noted that, in the present embodiment, can utilize extra controller or logical circuit or software (not shown) to control this comparison module 203, and this comparison module 203 also can have hysteresis characteristic, and be set with specific magnetic hysteresis scope, with by this magnetic hysteresis scope and this switching condition 202 standard as a comparison, avoid the speed comparative result 203a that this comparison module 203 is exported to vibrate near threshold value (threshold value).And switching condition 202 can be set on the characteristic arbitrfary point of servo motor 113, as long as meet position feedback correctly.
The location estimation signal 117a that 205 of this handover modules are exported in order to the location sensing signal 115a that receives this position sensor 115 and export and this position estimator 117, and select this location sensing signal 115a receiving and this location estimation signal 117a one of them to export as this position feed back signal 110 based on this speed comparative result 203a.
In order to better understand the feedback switching device of servo motor driven of the present invention, the Fig. 2 that please arrange in pairs or groups is with reference to Fig. 3, and wherein, Fig. 3 is a running schematic diagram that shows the feedback switching device 100 of the servo motor driven of the embodiment of the present invention.As shown in the figure, magnetic hysteresis scope can be arranged in pairs or groups switching condition 202 to form the comparatively flexible standard of comparison of one, and in Fig. 3 the longitudinal axis the running speed of speed representation servo motor 113.
Before time point 302, user can set directly using location sensing signal 115a as position feed back signal 110, utilizes location sensing signal 115a as the speed control basis to servo motor 113.But by comparison module 203 at this moment, also can compare this second speed signal 201b and define switching condition 202 lower than this user, that is the speed of judging servo motor 113 is in lower-speed state, so comparison module 203 also according to this output speed comparative result 203a to handover module 205, to make handover module 205 select this location sensing signal 115a to export as this position feed back signal 110, and then utilize location sensing signal 115a as the speed control basis to servo motor 113.
When the time proceeds to time point 302 (the high point of magnetic hysteresis scope), comparison module 203 can compare this First Speed signal 201a higher than switching condition 202, that is the speed of servo motor 113 has turned round to fast state, now, comparison module 203 according to this output speed comparative result 203a to handover module 205, to make handover module 205 switch start, in order to do selecting, this location estimation signal 117a is exported as this position feed back signal 110, and then start to utilize location estimation signal 117a as the speed control basis to servo motor 113.
And when the time proceeds to time point 304 (magnetic hysteresis scope low spot), comparison module 203 can compare this second speed signal 201b and define switching condition 202 lower than this user, that is the speed of servo motor 113 turns round to lower-speed state, now, this comparison module 203 according to this output speed comparative result 203a to handover module 205, to make handover module 205 switch once again, in order to do selecting, this location sensing signal 115a is exported as this position feed back signal 110, and then start again to utilize location sensing signal 115a as the speed control basis to servo motor 113.
The earlier figures of please arranging in pairs or groups 1 and Fig. 2 are with reference to Fig. 4, to have a clear understanding of the steps flow chart of feedback changing method 400 of a servo motor driven of the embodiment of the present invention, and the feedback changing method 400 of servo motor driven is applied in the servo motor driven control loop with servo motor.And need first illustrate, the feedback changing method 400 of servo motor driven is applied under the operating condition that the initial running speed of servo motor is low speed.
First, in step S402, with the current sensor being arranged on the supply path of this servo motor, the electric current that is supplied to this servo motor is carried out to sensing, to export corresponding current feedback signal according to the electric current sensing, and with position sensor, sensing is carried out in the position of this servo motor, to export corresponding location sensing signal, and receive this current feedback signal with position estimator, to export corresponding location estimation signal according to this current feedback signal, using location sensing signal as position feed back signal, then proceed to step S404 simultaneously.
In step S404, with speed calculation module, receive the location sensing signal of this position sensor output and the location estimation signal of this position estimator output, and produce respectively corresponding First Speed signal and second speed signal, simultaneously, with comparison module receive predetermined switching condition, this First Speed signal, with this second speed signal, then proceed to step S406.
In step S406, with this comparison module, this First Speed signal and this predetermined switching condition are compared, to judge that this First Speed signal, whether higher than predetermined switching condition, if so, enters step S408, if not, proceed to step S412.
In step S408, using handover module, select this location estimation signal to export as position feed back signal, then proceed to step S410.
In step S410, with this comparison module, this second speed signal and this predetermined switching condition are compared, to judge that this second speed signal, whether lower than this predetermined switching condition, if so, enters step S412, if not, get back to step S408.
In step S412, using handover module, select this location sensing signal to export as position feed back signal, and then get back to step S406.
In the feedback changing method 400 of servo motor driven, this position sensor is the encoder in order to being encoded in the position of servo motor or separates hornwork.And this comparison module can have hysteresis characteristic, and be set with specific magnetic hysteresis scope, therefore, in step S406, this comparison module is the criterion higher than this switching condition whether using this magnetic hysteresis scope and this predetermined switching condition as this First Speed signal, and in step S410, this comparison module also can this magnetic hysteresis scope and this predetermined switching condition as this second speed signal whether lower than the criterion of this switching condition.
The earlier figures of please arranging in pairs or groups 1 and Fig. 2 come with reference to Fig. 5, to have a clear understanding of the steps flow chart of feedback changing method 500 of another servo motor driven of the embodiment of the present invention.Certainly, the feedback changing method 500 of servo motor driven is also applied to having in the servo motor driven control loop of servo motor.And need first illustrate, the feedback changing method 500 of servo motor driven is applied to the initial running speed of servo motor under operating condition at a high speed.
First, in step S502, with the current sensor being arranged on the supply path of this servo motor, the electric current that is supplied to this servo motor is carried out to sensing, to export corresponding current feedback signal according to the electric current sensing, and with position sensor, sensing is carried out in the position of this servo motor, to export corresponding location sensing signal, and receive this current feedback signal with position estimator, to export corresponding location estimation signal according to this current feedback signal, set using location estimation signal as position feed back signal simultaneously, then proceed to step S504.
In step S504, with speed calculation module, receive the location sensing signal of this position sensor output and the location estimation signal of this position estimator output, to produce respectively corresponding First Speed signal and second speed signal, and with comparison module receive predetermined switching condition, this First Speed signal, with this second speed signal, then proceed to step S506.
In step S506, with this comparison module, this second speed signal and this predetermined switching condition are compared, with the switching condition that judges whether this second speed signal sets lower than user, if, enter step S508, if not, proceed to step S512.
In step S508, using handover module, select this location sensing signal to export as position feed back signal, then proceed to step S510.
In step S510, with this comparison module, this First Speed signal and this switching condition are compared, to judge that this First Speed signal, whether higher than this predetermined switching condition, if so, enters step S512, if not, get back to step S508.
In step S512, using handover module, select this location estimation signal to export as position feed back signal, and then get back to step S506.
In the feedback changing method 500 of servo motor driven, this position sensor is the encoder in order to being encoded in the position of servo motor or separates hornwork.And this comparison module can have hysteresis characteristic, and be set with specific magnetic hysteresis scope, therefore, and in step S506, this comparison module is the criterion lower than this switching condition whether using this magnetic hysteresis scope and this predetermined switching condition as this second speed signal, and in step S510, this comparison module is the criterion higher than this switching condition whether using this magnetic hysteresis scope and this predetermined switching condition as this First Speed signal.
In sum, the feedback switching device of servo motor driven of the present invention and method, except the feedback handover mechanism of automation can be provided, more can further promote the functional of servo motor driven control loop, for the servo motor driven control under wide velocity interval application, can avoid as the problem of operating flexibility deficiency in known technology in fact, and then improve the running efficiency of servo motor entirety.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Those skilled in the art all can without departing from the spirit and scope of the present invention, modify and change above-described embodiment.Therefore, the scope of the present invention, scope that should be as claimed in claims is listed.
Claims (13)
1. a feedback switching device for servo motor driven, it is applied in the control loop with servo motor, it is characterized in that, and the feedback switching device of this servo motor driven comprises:
Current sensor, is supplied to the electric current of this servo motor, and exports corresponding current feedback signal according to the electric current of institute's sensing in order to sensing;
Position sensor, in order to the position of this servo motor of sensing, and exports corresponding location sensing signal according to the position of this servo motor of institute's sensing;
Position estimator, in order to receive this current feedback signal, and exports corresponding location estimation signal according to this current feedback signal;
Feedback is switched comparator, there is predetermined switching condition, in order to receive this location sensing signal and this location estimation signal, and one of them using this location sensing signal and this location estimation signal exported as position feed back signal according to this predetermined switching condition selection; And
Speed feedback generation device, in order to receive this position feed back signal, and produce and export corresponding feedback speed signal according to this position feed back signal, and this control loop receiving position order, speed command and current order, to control the running speed of this servo motor.
2. the feedback switching device of servo motor driven as claimed in claim 1, is characterized in that, this position sensor is the encoder in order to being encoded in the position of this servo motor or separates hornwork.
3. the feedback switching device of servo motor driven as claimed in claim 1, is characterized in that, this feedback is switched comparator and comprised:
Speed calculation module, in order to receive the location sensing signal of being exported by this position sensor and the location estimation signal of being exported by this position estimator, to produce respectively corresponding First Speed signal and second speed signal;
Comparison module, in order to receive this First Speed signal and this second speed signal, and compares one of them and this switching condition of this First Speed signal and this second speed signal, with output speed comparative result; And
Handover module, in order to receive the location sensing signal of this position sensor output and the location estimation signal of this position estimator output, and one of them using this location sensing signal receiving and this location estimation signal exported as this position feed back signal based on this speed comparative result selection.
4. the feedback switching device of servo motor driven as claimed in claim 3, is characterized in that, this comparison module has hysteresis characteristic, and is set with specific magnetic hysteresis scope, and this comparison module is with this magnetic hysteresis scope and this switching condition standard as a comparison.
5. the feedback switching device of servo motor driven as claimed in claim 1, is characterized in that, this position command combines with this position feed back signal that this feedback switching comparator is exported.
6. the feedback switching device of servo motor driven as claimed in claim 1, is characterized in that, this speed command combines with this feedback speed signal that this speed feedback generation device produces.
7. the feedback switching device of servo motor driven as claimed in claim 1, is characterized in that, this current feedback signal that this current order is exported with this current sensor combines.
8. a feedback changing method for servo motor driven, it is applied in the control loop with servo motor, and the initial running speed of this servo motor is in lower-speed state, it is characterized in that, and the feedback changing method of this servo motor driven comprises the following steps:
(1) with current sensor, the electric current that is supplied to this servo motor is carried out to sensing, to export corresponding current feedback signal according to the electric current of institute's sensing, and make position sensor carry out sensing to the position of this servo motor, to export corresponding location sensing signal, and with position estimator, receive this current feedback signal, to export corresponding location estimation signal according to this current feedback signal;
(2) make speed calculation module receive the location sensing signal of this position sensor output and the location estimation signal of this position estimator output, to produce respectively corresponding First Speed signal and second speed signal, and receive this First Speed signal and this second speed signal with comparison module;
(3) make this comparison module that this First Speed signal and predetermined switching condition are compared, to judge that whether this First Speed signal is higher than this switching condition, if so, proceed to step (4), if not, proceed to step (6);
(4) using handover module, select this location estimation signal to export as position feed back signal;
(5) with this comparison module, this second speed signal and this predetermined switching condition are compared, to judge that this second speed signal, whether lower than this predetermined switching condition, if so, proceeds to step (6), if not, get back to step (4); And
(6) using handover module, select this location sensing signal to export as position feed back signal.
9. the feedback changing method of servo motor driven as claimed in claim 8, is characterized in that, this position sensor is the encoder in order to being encoded in the position of servo motor or separates hornwork.
10. the feedback changing method of servo motor driven as claimed in claim 8, it is characterized in that, this comparison module has hysteresis characteristic, and be set with specific magnetic hysteresis scope, and in step (3), this comparison module is the criterion higher than this switching condition whether using this magnetic hysteresis scope and this predetermined switching condition as this First Speed signal, and in step (5), this comparison module is the criterion lower than this switching condition whether using this magnetic hysteresis scope and this predetermined switching condition as this second speed signal.
The feedback changing method of 11. 1 kinds of servo motor driven, it is applied in the control loop with servo motor, and the initial running speed of this servo motor is in fast state, it is characterized in that, and the feedback changing method of this servo motor driven comprises the following steps:
(1) with current sensor, the electric current that is supplied to this servo motor is carried out to sensing, to export corresponding current feedback signal according to the electric current sensing, and with position sensor, sensing is carried out in the position of this servo motor, to export corresponding location sensing signal, and with position estimator, receive this current feedback signal, to export corresponding location estimation signal according to this current feedback signal;
(2) with speed calculation module, receive the location sensing signal of this position sensor output and the location estimation signal of this position estimator output, to produce respectively corresponding First Speed signal and second speed signal, and receive this First Speed signal and this second speed signal with comparison module;
(3) with this comparison module, this second speed signal and predetermined switching condition are compared, to judge that whether this second speed signal is lower than this switching condition, if so, proceed to step (4), if not, proceed to step (6);
(4) using handover module, select this location sensing signal to export as position feed back signal;
(5) with this comparison module, this First Speed signal and this switching condition are compared, to judge that this First Speed signal, whether higher than this predetermined switching condition, if so, proceeds to step (6), if not, get back to step (4); And
(6) using handover module, select this location estimation signal to export as position feed back signal.
The feedback changing method of 12. servo motor driven as claimed in claim 11, is characterized in that, this position sensor is the encoder in order to being encoded in the position of servo motor or separates hornwork.
The feedback changing method of 13. servo motor driven as claimed in claim 11, it is characterized in that, this comparison module has hysteresis characteristic, and be set with specific magnetic hysteresis scope, and in step (3), this comparison module is the criterion lower than this switching condition whether using this magnetic hysteresis scope and this predetermined switching condition as this second speed signal, and in step (5), this comparison module is the criterion higher than this switching condition whether using this magnetic hysteresis scope and this predetermined switching condition as this First Speed signal.
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| US4528486A (en) * | 1983-12-29 | 1985-07-09 | The Boeing Company | Controller for a brushless DC motor |
| US4713596A (en) * | 1985-07-10 | 1987-12-15 | General Electric Company | Induction motor drive system |
| US5038090A (en) * | 1988-10-05 | 1991-08-06 | Toyota Jidosha Kabushiki Kaisha | Servo motor control apparatus |
| US5600221A (en) * | 1994-05-09 | 1997-02-04 | Mitsubishi Denki Kabushiki Kaisha | Control apparatus for servo system |
| US7002318B1 (en) * | 2004-09-23 | 2006-02-21 | General Motors Corporation | Position sensor fault tolerant control for automotive propulsion system |
-
2010
- 2010-11-10 CN CN201010537977.9A patent/CN102468802B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4528486A (en) * | 1983-12-29 | 1985-07-09 | The Boeing Company | Controller for a brushless DC motor |
| US4713596A (en) * | 1985-07-10 | 1987-12-15 | General Electric Company | Induction motor drive system |
| US5038090A (en) * | 1988-10-05 | 1991-08-06 | Toyota Jidosha Kabushiki Kaisha | Servo motor control apparatus |
| US5600221A (en) * | 1994-05-09 | 1997-02-04 | Mitsubishi Denki Kabushiki Kaisha | Control apparatus for servo system |
| US7002318B1 (en) * | 2004-09-23 | 2006-02-21 | General Motors Corporation | Position sensor fault tolerant control for automotive propulsion system |
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| CN102468802A (en) | 2012-05-23 |
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