CN102540928B - Method for controlling servo controller of servo control device for three-dimensional security doors - Google Patents
Method for controlling servo controller of servo control device for three-dimensional security doors Download PDFInfo
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- CN102540928B CN102540928B CN 201110457882 CN201110457882A CN102540928B CN 102540928 B CN102540928 B CN 102540928B CN 201110457882 CN201110457882 CN 201110457882 CN 201110457882 A CN201110457882 A CN 201110457882A CN 102540928 B CN102540928 B CN 102540928B
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Abstract
The invention relates to a method for controlling a servo controller of a servo control device for three-dimensional security doors. The method is characterized in that the operation of self-checking correction is completed through a part of control steps; and in the process of self-checking correction, the servo controller (9) acquires signals of a reading head of a grating ruler (7), calculatesthe position of a load and controls a motor to carry out a return-to-zero motion, then, after the operation of correction is completed, the servo controller (9) reports servo state information to a signal processing extension and waits for a work instruction; and a scanning operation is completed through other control steps; and in the process of scanning, the servo controller (9) calculates parameters according to a preset scanning motion curve and controls a motor driver (2), so that a load framework (6) of a servo system carries out a scanning motion. By using the servo controller, a motion can be performed stably according to a preset curve track under a work scanning instruction, thereby ensuring the imaging index requirements of a three-dimensional security door system.
Description
Technical field
The application relates to the servocontrol field, particularly relates to a kind of control method of servo controller of servo control device for three-dimensional security doors.
Background technology
The three-dimensional imaging detector gate is fit to be applied in the safe protection engineering of the special occasions such as airport, subway, bank, large-scale activity, it utilizes three-dimensional imaging figure that the microwave Imaging Technique of different angles consists of objective body whether to detect dangerous article, therefore needs to be equipped with servo-control system the loading frame movement locus that the microwave antenna transceiver module is housed is controlled.Be to guarantee detector gate system imaging quality and detection speed, travelling speed, operation curve and the stationarity of servo-control system load proposed higher requirement.
Open report related to the present invention has: " design and the realization of novel booth formula metal detecting system " (" security protection science and technology ", the 4th phase in 2008) introduced the control method of utilizing the servomotor that CPLD realizes in the literary composition, its major control object is the bullet proof glass door in the two-door booth formula structure, only need to control its folding, to travelling speed and running orbit without specific (special) requirements, therefore the control method of the servo controller of prior art can't realize that self check is proofreaied and correct and the work scan function, can't satisfy in the course of work loading frame speed stabilizing and precisely return zero, index request that also can't capable of meeting requirements on three-dimensional detector gate system imaging.
Summary of the invention
The present invention aims to provide a kind of control method of servo controller of servo control device for three-dimensional security doors.Servocontrol device is used for carrying out the control signal that servo controller sends, and drives loading frame according to setting regular movement.Servo controller is finished with signal acquisition process, the self calibration orthofunction of the interactive communication between the processing of host computer signal and motor driver, feedback measuring mechanism and the scan function of working as the maincenter of whole servo-control system, and the system of assurance operates steadily and possesses failure protection function.
Technical scheme of the present invention has provided a kind of control method of servo controller of three-dimensional imaging security gate servo control device, it is characterized in that comprising the steps:
Step 16, issue instruction repertorie to motor driver, make AC servo motor drive loading frame to positive dirction by the planning curve motion, enter step 17;
Beneficial effect of the present invention:
By the control method for coordinating of servo controller, realized that self check is proofreaied and correct and the work scan function in the present invention, loading frame can calculate zero-bit under the self calibration positive order and speed stabilizing precisely returns zero; Under the work scan instruction, according to the setting curve orbiting motion and operate steadily, can guarantee the index request of three-dimensional detector gate system imaging.
Description of drawings
Fig. 1 is the Servocontrol device structural representation;
Fig. 2 is the servo controller module frame chart;
Fig. 3 is the process flow diagram of servo controller.
Wherein: 1-AC servo motor, 2-motor driver, 3-power supply adaptor, the 4-speed reduction unit, 5-belt pulley, 6-loading frame, the 7-grating scale, the 8-optoelectronic switch, 9-servo controller, 10-signal acquisition module, 11-self calibration positive control module, 12-scanning curve control module, 13-interactive communication module, the 14-signal is processed extension set.
Embodiment
1-4 is further described embodiments of the present invention below in conjunction with accompanying drawing:
The structural representation of three-dimensional imaging security gate servo control device comprises servo control mechanism and measurement feedback mechanism and servo controller as shown in Figure 1, wherein:
Servo control mechanism is made of AC servo motor 1, motor driver 2, power supply adaptor 3, speed reduction unit 4, belt pulley 5 and loading frame 6.AC servo motor 1 drives the motion of gear train and loading frame as the source of control power.Motor driver 2 receives the movement instruction signal of servo controllers and is converted into the gating pulse of AC servo motor 1 and directly controls speed and the position of motor movement in conjunction with the code device signal of AC servo motor 1 axle head configuration.Used in the present invention is the AC servo motor 1 of GV6 driver and supporting N0 series thereof, has that the control parameter can be regulated, easy characteristics such as planning of velocity location.Power supply adaptor 3 is converted to AC power direct supply and possesses rectification function, and realize power supply for motor and driver and supply with and can realize over-voltage protecting function, its continuous power output 300W, peak power output is 9KW.The output shaft of motor drives the loading frame motion through the gear train of speed reduction unit and belt pulley formation, and the total reduction gear ratio of system is 86.2367.
Measuring feedback mechanism is made of grating scale 7, optoelectronic switch 8.Grating scale 7 is installed on loading frame 6 main shafts, and its absolute zero position is in the center of loading frame 6 ranges of operation, and grating scale 7 read heads are fixed in loading frame 6 and rotate generation quadrature coding pulse signal with framework and resolve angle information.The grating scale 7 that the present invention uses is the increment type circle grating of RESD series, increment type grating scale 7 is few than absolute grating scale 7 system's lines, interface is simple, its groove number is 32768, and system accuracy can reach 1.08 rads, suitable High Speed System and the very high measurement occasion of accuracy requirement.This Servocontrol device is equipped with two optoelectronic switches 8, and the spacing and operational centre indication disk of fit angle uses, and is installed on loading frame 6 tops, can indicate the center of extreme position and rough grade.That optoelectronic switch 8 has is contactless, the characteristics of machinery-free collision, fast response time, can satisfy the limit function that designs among the present invention and use.
Servo-drive system self calibration positive control module 11 settling signals are processed the self calibration positive order that extension set issues, and realize that loading frame precisely returns zero, and prepare for the scanning work instruction.
Scanning curve control module 12 settling signals are processed the scanning work instruction that extension set issues, and realize that finally loading frame moves according to scanning curve.
Servo controller carries out according to two kinds of patterns:
First mode: finish self check and proofread and correct, self check is proofreaied and correct in the course of work and to be gathered grating scales 7 read head calculated signals by servo controller 9 and go out load situation and control motor and return zero and move, after finishing correction, servo condition information reporting signal is processed the extension set wait issue work order, specific works is as follows:
After controller was received the self calibration positive order, drive motor motion 15 degree stopped the number of buses of process in the system acquisition motion process, and the line numerical value of adjacent two Z pulses place.Calculate the absolute line number of first Z pulse place of process in the motion process according to above-mentioned algorithm, can calculate thus the current absolute line number of load.Make loading frame 6 move to the zero-bit place according to absolute position conversion control motor and finish back the odd-job work.For preparing to carry out scanning work, control load framework 6 moves to+55 degree positions, and uploads signal processing extension set and finish the self check correction.
The second pattern: finish scanning work, in the scanning work process by servo controller 9 according to predetermined scanning motion curve calculation parameter and bind motor driver 2 and make servo-drive system loading frame 6 carry out scanning motion.Its course of work is:
Judge the direction of loading frame 6 current relative zero-bits by center pilot light electric switch 8 signals, and control load framework 6 carries out scanning motion, transmission scanning completion status word behind the end of run.Because self calibration positive order or each scanning work finish rear motor and have moved to Job readiness angle place, and the angle of scanning work each run and planning curve immobilize, therefore only need judge that the zero-bit direction determines the direction of next scanning motion, and control load framework 6 is pressed predetermined curve and is moved.
The control method of servo controller of servo control device for three-dimensional security doors as shown in Figure 3, concrete steps are:
(1) wait and reception signal are processed the command signal that extension set 14 issues, and enter step (2);
(2) decision instruction is that self calibration canonical enters step (3); If not then enter step (12);
(3) gather photoelectric switching signal, enter step (4);
(4) judge the direction at the current place of load by optoelectronic switch 8 signals that gather, as then entering step (5) for positive dirction; As then entering step (6) for negative direction;
(5) send instruction repertorie to motor driver 2, AC servo motor 1 is stopped behind negative direction operation 15 degree, enter step (7);
(6) send instruction repertorie to motor driver 2, AC servo motor 1 is stopped behind positive dirction operation 15 degree, enter step (7);
(7) gather grating scale 7 signals, enter step (8);
(8) resolve the absolute position at loading frame 6 current places, enter step (9);
(9) issue instruction repertorie to motor driver 2, make AC servo motor 1 drive loading frame 6 and be back to the absolute zero position place, enter step (10);
(10) control load framework 6 travels at the uniform speed to+55 degree positions, prepares for scanning work, enters step (11);
(11) process extension set 14 to signal and send self check completion status word, finish the self calibration orthofunction;
(12) decision instruction is work scanning, then enters step (13), otherwise enters step (1);
(13) gather current optoelectronic switch 8 signals, and enter step (14);
(14) judge loading frame 6 current directions by optoelectronic switch 8 signal values, as enter step (15) for canonical, be the negative step (16) that then enters;
(15) issue instruction repertorie to motor driver 2, make AC servo motor 1 drive loading frame 6 to negative direction by the planning curve motion, enter step (17);
(16) issue instruction repertorie to motor driver 2, make AC servo motor 1 drive loading frame 6 to positive dirction by the planning curve motion, enter step (17);
(17) process extension set 14 to signal and send this scanning completion status word, finish scanning work.
The algorithm that resolves of loading frame 6 current absolute positions is:
The round grating that the present invention selects is comprised of the periodicity groove, by counting calculating location information from the increment of certain absolute reference point beginning, can pass through totally the absolute line number of signal wire number between two reference point and following formula calculating reference point:
Z
1abs＝(absA-sgnA-1)I/2+(sgnA-dir)absZ
delt/2
A＝2absZ
delt-I
Wherein:
Z
1absAbsolute line number for the relative zero-bit that moves past first reference point;
I is the nominal increment size between two permanent datums;
Dir is sense of rotation, and value is+1 or-1;
Z
DeltBe that two line numbers between permanent datum are poor;
Scanning motion planning curved configuration, loading frame 6 maximum speeds are 140 °/s, 400 °/s of peak acceleration
2, 110 ° of the anglecs of rotation, single sweep operation time 1.4s.
Claims (1)
1. the control method of a servo controller of servo control device for three-dimensional security doors: it is characterized in that comprising the steps:
Step 1, wait also receive the command signal that signal processing extension set (14) issues, and enter step 2;
Step 2, decision instruction are that self calibration canonical enters step 3; If not then enter step 12;
Step 3, collection optoelectronic switch (8) signal enter step 4;
Step 4, optoelectronic switch (8) signal that passes through to gather are judged the direction at the current place of load, as then entering step 5 for positive dirction; As then entering step 6 for negative direction;
Step 5, send instruction repertorie to motor driver (2), AC servo motor (1) is stopped behind negative direction operation 15 degree, enter step 7;
Step 6, send instruction repertorie to motor driver (2), AC servo motor (1) is stopped behind positive dirction operation 15 degree, enter step 7;
Step 7, collection grating scale (7) signal enter step 8;
Step 8, resolve the absolute position at the current place of loading frame (6), enter step 9;
Step 9, issue instruction repertorie to motor driver (2), make AC servo motor (1) drive loading frame (6) and be back to the absolute zero position place, enter step 10;
Step 10, control load framework (6) travel at the uniform speed to+55 degree positions, prepare for scanning work, enter step 11;
Step 11, process extension set (14) to signal and send self check completion status word, finish the self calibration orthofunction;
Step 12, decision instruction are work scanning, then enter step 13, otherwise enter step 1;
Step 13, gather current optoelectronic switch (8) signal, and enter step 14;
Step 14, judge the current place of load by optoelectronic switch (8) signal value direction as for canonical enters step 15, be to bear then to enter step 16;
Step 15, issue instruction repertorie to motor driver (2), make AC servo motor (1) drive loading frame (6) to negative direction by the planning curve motion, enter step 17;
Step 16, issue instruction repertorie to motor driver (2), make AC servo motor (1) drive loading frame (6) to positive dirction by the planning curve motion, enter step 17;
Step 17, process extension set (14) to signal and send this scanning completion status word, finish scanning work.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110457882 CN102540928B (en) | 2011-12-30 | 2011-12-30 | Method for controlling servo controller of servo control device for three-dimensional security doors |
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| CN 201110457882 CN102540928B (en) | 2011-12-30 | 2011-12-30 | Method for controlling servo controller of servo control device for three-dimensional security doors |
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| CN102540928B true CN102540928B (en) | 2013-09-18 |
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| CN105843176A (en) | 2016-05-24 | 2016-08-10 | 深圳市无牙太赫兹科技有限公司 | Three-dimensional holographic-imaging servo rotating scanning system |
| CN112114539B (en) * | 2020-09-25 | 2023-11-28 | 成都易慧家科技有限公司 | Control system and method for double-motor driven sliding door and window |
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| CA2531587A1 (en) * | 2003-07-08 | 2005-01-27 | General Electric Company | Security checkpoint |
| CN101339147B (en) * | 2007-07-02 | 2012-03-28 | 清华大学 | Radiation image-forming system |
| CN101303317B (en) * | 2008-03-05 | 2010-11-17 | 中国科学院合肥物质科学研究院 | Explosive substance testing system apparatus and testing method thereof |
| CN201235829Y (en) * | 2008-06-11 | 2009-05-13 | 齐齐哈尔轨道交通装备有限责任公司 | Railway freight transport security door calibration apparatus and railway freight transport security door calibration vehicle |
| EP2524249B1 (en) * | 2010-01-15 | 2013-11-13 | Smiths Detection Ireland Limited | An imaging system |
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Effective date of registration: 20190830 Address after: 100013 Beijing City, Dongcheng District Hepingli No. 3 South Street Patentee after: Beijing Huahang Haiying New Technology Development Co.,Ltd. Address before: 100013 Beijing City, Dongcheng District Hepingli No. 3 South Street Patentee before: Beijing Huahang Radio Measurement Research Institute |
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