CN102570972B - Control method of servo motor and system, controller, driver and Digit Control Machine Tool - Google Patents

Abstract

The embodiment of the invention discloses a kind of control method of servo motor.Servomotor controller obtains control command value, and judges scope belonging to control command value, wherein the rotor speed of the corresponding servomotor of control command value; The first mapping relations that the different choice of controller scope belonging to control command value is different, the analog quantity command value obtaining corresponding control command value is calculated according to the first mapping relations, and analog quantity command value is sent to motor servo driver, first mapping relations are control command value and analog quantity command value one-to-one relationship, wherein the operating voltage output valve of the corresponding motor servo driver of analog quantity command value.The embodiment of the present invention also provides a kind of servo electrical machinery system, controller, driver and Digit Control Machine Tool.By the way, the embodiment of the present invention can improve the relation control precision of the rotating speed of servomotor.

Description

Control method of servo motor and system, controller, driver and Digit Control Machine Tool

Technical field

The embodiment of the present invention relates to machine field, particularly relates to a kind of Serve Motor Control, driving method, control end, drive end and Digit Control Machine Tool.

Background technology

Driver rotating speed control command interface common at present, all adopt analog quantity instruction interface, namely host computer is by transmission one analog signals, is the rotating speed (as-3000rpm ~ 3000rpm) that the analog signals of-10V ~+10V controls servomotor linearly as sent magnitude of voltage.

In this scheme, digital command signal is first converted into dummy instruction signal by D/A converter module by host computer, this instruction is delivered to servo-driver by wire, and this dummy instruction signal is converted to digital command signal by analog-to-digital conversion module in servo-driver again.

Pass to the control command of driver using the control signal of analog quantity as controller, the precision of signal is very large on the impact of control effects.In above-mentioned instruction transfer mode, the precision of control signal is mainly by the impact of the disturbance in transmitting terminal digital-to-analogue conversion precision, transmitting procedure and receiving terminal A/D conversion accuracy.

The number of significant digit of control signal is generally at 10 ~ 12 (binary systems), and high-end system can reach 14 ~ 16.

Present inventor finds in long-term R & D, and during especially lathe uses in actual applications, the range of speeds requiring high accuracy to control is not generally full speed range, but low-speed range.For the motor of 3000rpm, high accuracy demand for control generally occurs in the range of speeds of-600rpm ~ 600rpm.If map with linear relationship, the amplitude of corresponding Analog control signal is between-2V ~ 2V.

Under analog quantity instruction control mode, the precision that rotating speed controls depends primarily on the precision of analog voltage signal.If under the disturbing influence in consideration transmitting procedure, if voltage accuracy is 0.1V, then the precision that rotating speed controls is (3000rpm) * (0.1V)/(10V)=30rpm.And this disturbing influence is gamut existence, does not reduce and reduce along with actual speed value.Therefore, in-the 600rpm needing high accuracy to control ~ 600rpm range of speeds, relation control precision can be greater than 30rpm/600rpm=5%.

As can be seen here, in the slow-speed of revolution, especially when the range of speeds is between-600rpm ~ 600rpm, control precision is lower.

Summary of the invention

The technical problem that the embodiment of the present invention mainly solves is to provide a kind of control method of servo motor and system, controller, driver and Digit Control Machine Tool, can improve the control precision of servomotor rotating speed.

For solving the problems of the technologies described above, the technical scheme that the embodiment of the present invention adopts is: provide a kind of control method of servo motor, comprise the steps: that servomotor controller obtains control command value, and judge scope belonging to control command value, the wherein rotor speed of the corresponding servomotor of control command value; The first mapping relations that the different choice of controller scope belonging to control command value is different, the analog quantity command value obtaining corresponding control command value is calculated according to the first mapping relations, and analog quantity command value is sent to motor servo driver, first mapping relations are control command value and analog quantity command value one-to-one relationship, wherein the operating voltage output valve of the corresponding motor servo driver of analog quantity command value.

For solving the problems of the technologies described above, another technical scheme that the embodiment of the present invention adopts is: provide a kind of servo control system, comprise servomotor controller and motor servo driver, servomotor controller comprises: the first acquisition module, for obtaining control command value, and judge scope belonging to control command value, the wherein rotor speed of the corresponding servomotor of control command value, first processor, for the first mapping relations that the different choice of scope belonging to control command value is different, the analog quantity command value obtaining corresponding control command value is calculated according to the first mapping relations, and analog quantity command value is sent to motor servo driver, first mapping relations are control command value and analog quantity command value one-to-one relationship, the wherein operating voltage output valve of the corresponding motor servo driver of analog quantity command value, and the absolute value of the control command value that controller obtains is less, the ratio of the control command value analog quantity command value that export corresponding to controller is less.

For solving the problems of the technologies described above, another technical scheme that the embodiment of the present invention adopts is: provide a kind of servomotor controller, comprising: the first acquisition module, for obtaining control command value, and judge scope belonging to control command value, the wherein rotor speed of the corresponding servomotor of control command value; First processor, for the first mapping relations that the different choice of scope belonging to control command value is different, the analog quantity command value obtaining corresponding control command value is calculated according to the first mapping relations, and analog quantity command value is sent to motor servo driver, the first mapping relations are control command value and analog quantity command value one-to-one relationship.

For solving the problems of the technologies described above, another technical scheme that the embodiment of the present invention adopts is: provide a kind of motor servo driver, comprising: the second acquisition module, for obtaining the analog quantity command value sent by servomotor controller, and judging scope belonging to analog quantity command value; Second processor, for the second mapping relations that the different choice of scope belonging to analog quantity command value is different, the control command value obtaining corresponding analog quantity command value is calculated according to described second mapping relations, and according to control command value drive motors rotor with different rotation speed operation, the second mapping relations are control command value and analog quantity command value one-to-one relationship.

For solving the problems of the technologies described above, another technical scheme that the embodiment of the present invention adopts is: provide a kind of Digit Control Machine Tool, Digit Control Machine Tool comprises the servo electrical machinery system as above-mentioned any one embodiment.

The beneficial effect of the embodiment of the present invention is: the situation being different from prior art, a kind of control method of servo motor of the embodiment of the present invention and system, controller, driver and Digit Control Machine Tool, by the first mapping relations that the different choice of scope belonging to control command value is different, and according to this first mapping relations calculating simulation amount command value, and, when belonging to control command value, scope is within first threshold, the ratio of analog quantity command value and corresponding control command value is higher than the corresponding ratio outside first threshold, can when control command value be in first threshold, improve the relation control precision to servomotor rotating speed.

Accompanying drawing explanation

Fig. 1 is the flow chart of control method of servo motor first embodiment of the present invention;

Fig. 2 is the flow chart of control method of servo motor one preferred embodiment of the present invention;

Fig. 3 is the flow chart of servomotor controller control method embodiment of the present invention;

Fig. 4 is the flow chart of motor servo driver control method embodiment of the present invention;

Fig. 5 is the structural representation of servo electrical machinery system embodiment of the present invention;

Fig. 6 is the structural representation of servo electrical machinery system one preferred embodiment of the present invention;

Fig. 7 is the structural representation of servomotor controller embodiment of the present invention;

Fig. 8 is the structural representation of motor servo driver embodiment of the present invention.

Embodiment

Below in conjunction with drawings and Examples, the present invention is described in detail.

Consult Fig. 1, Fig. 1 is the flow chart of control method of servo motor first embodiment of the present invention.Comprise the steps:

Step S110, servomotor controller obtains control command value, and judges scope belonging to control command value, wherein the rotor speed of the corresponding servomotor of control command value.

Step S120, the first mapping relations that the different choice of controller scope belonging to control command value is different, the analog quantity command value obtaining corresponding control command value is calculated according to the first mapping relations, and analog quantity command value is sent to motor servo driver, first mapping relations are control command value and analog quantity command value one-to-one relationship, wherein the operating voltage output valve of the corresponding motor servo driver of analog quantity command value.

Generally speaking, from the existing servo motor rotor range of speeds at-3000rpm ~ 3000rpm, scope belonging to control command value is-3000rpm ~ 3000rpm.Direction of rotation when wherein "-" expression servomotor operating voltage output valve is negative.Usually, with absolute value representation rotating speed, namely scope belonging to control command value is 0rpm ~ 3000rpm.Such as, generally scope belonging to control command value is divided into the slow-speed of revolution and the non-slow-speed of revolution.During with absolute value representation, slow-speed of revolution scope is under normal circumstances 0rpm ~ 600rpm; The non-slow-speed of revolution is 600rpm ~ 3000rpm.Wherein, the corresponding first threshold of maximum of slow-revving boundary value, namely general first threshold is 600rpm.

Further, in the ordinary course of things, belonging to its analog quantity command value, scope is generally-10V ~ 10V to servomotor, and wherein, "-" represents the analog quantity command value taken when motor operating voltage output valve is negative.Usually, by absolute value representation analog quantity command value, during with absolute value representation, scope belonging to analog quantity command value is 0V ~ 10V.The corresponding operating voltage output valve of analog quantity command value, and operating voltage output valve is generally divided into low-voltage output value and non-low-voltage output value, the absolute value range of low-voltage output value is 0V ~ 6V, the absolute value range of non-low-voltage output value is 6V ~ 10V, usually, non-low-voltage output value is divided into again middle voltage output value and high voltage output valve, and the absolute value range of middle voltage output value is 6V ~ 8V, and the absolute value range of high voltage output valve is 8V ~ 10V.

In the step s 120, in the first mapping relations: during the slow-speed of revolution, control command value and analog quantity command value meet one mapping relations; During the non-slow-speed of revolution, control command value and analog quantity command value meet its at least another mapping relations.Further, the absolute value of the control command value that controller obtains is less, and the ratio of the control command value analog quantity command value that export corresponding to controller is less.

Certainly, can be determined on a case-by-case basis to the division of low engine speed range, be not limited to the restriction of 0rpm ~ 600rpm herein, do not make too many restrictions herein.

Preferably, in the step s 120, the first mapping relations of control command value and analog quantity command value are specially:

$V=\left\{\begin{array}{cc}\mathrm{sign}\left(\mathrm{\ω}\right)\left(\right|\mathrm{\ω}|/100)& \left|\mathrm{\ω}\right|\∈[0\mathrm{rpm},600\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\ω}\right)[\left(\right|\mathrm{\ω}|-600)/450+6]& \left|\mathrm{\ω}\right|\∈(600\mathrm{rpm},1500\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\ω}\right)[\left(\right|\mathrm{\ω}|-1500)/750+8]& \left|\mathrm{\ω}\right|\∈(1500\mathrm{rpm},3000\mathrm{rpm})\end{array}\right.$

Further, $\mathrm{sign}\left(\mathrm{\&omega;}\right)=\left\{\begin{array}{cc}1& \mathrm{\&omega;}\&GreaterEqual;0\\ -1& \mathrm{\&omega;}<0\end{array}\right.$

Wherein, V is analog quantity command value, corresponding operating voltage output valve; ω is control command value, respective rotor rotating speed.

It should be noted that in full, V equal finger print analog quantity command value, corresponding operating voltage output valve; ω all accuses command value processed, respective rotor rotating speed.

When the range of speeds is [-600rpm, 600rpm], namely | ω | time ∈ [0rpm, 600rpm], the analog quantity command value of above-mentioned mapping relations is [-6V, 6V].At this moment when bumpy weather constant (voltage accuracy under disturbance is 0.1V), rotating speed control precision is (600rpm) * 0.1V/6V=10rpm, relation control precision is 10rpm/600rpm=1.7%, and therefore relation control precision brings up to 1.7% by original 5%.

It should be noted that when medium speed, the absolute value of the analog quantity command value of above-mentioned mapping relations is [6V, 8V].At this moment when bumpy weather constant (voltage accuracy under disturbance is 0.1V), rotating speed control precision is (1500rpm) * 0.1V/8V=19rpm, relation control precision is 19rpm/600rpm=3.2%, and therefore relation control precision brings up to 3.2% by original 5%.

And when high rotating speed, relation control precision is still original 5%.But because relation control precision is mainly reflected in the slow-speed of revolution | ω | the control to rotating speed in ∈ [0rpm, 600rpm] situation, therefore above-described embodiment can realize the object of the embodiment of the present invention.

Above-mentioned situation is known, in embodiments of the present invention can control command value when the slow-speed of revolution and medium speed, improve the relation control precision to servomotor rotating speed.

Step S130, motor servo driver obtains the analog quantity command value sent by controller, and judges scope belonging to analog quantity command value.

Step S140, the second mapping relations that the different choice of motor servo driver scope belonging to analog quantity command value is different, the control command value obtaining corresponding analog quantity command value is calculated according to the second mapping relations, and according to control command value drive motors rotor with different rotation speed operation, the second mapping relations are control command value and analog quantity command value one-to-one relationship.

And in step S140, the second mapping relations of control command value and analog quantity command value are specially:

$\mathrm{\&omega;}=\left\{\begin{array}{cc}\mathrm{sign}\left(V\right)(100\&times;|V\left|\right)& \left|V\right|\&Element;[0V,6V]\\ \mathrm{sign}\left(V\right)[450\&times;\left(\right|V|-6)+600]& \left|V\right|\&Element;(6V,8V]\\ \mathrm{sign}\left(V\right)[750\&times;\left(\right|V|-8)+1500]& \left|V\right|\&Element;(8V,10V)\end{array}\right.$

Further, $\mathrm{sign}\left(V\right)=\left\{\begin{array}{cc}1& V\&GreaterEqual;0\\ -1& V<0\end{array}\right.$

| V| ∈ [0V, 6V], i.e. low-voltage output value scope, can calculate corresponding rotating speed is | ω | ∈ [0rpm, 600rpm], the i.e. corresponding slow-speed of revolution of low-voltage output value scope.

From step S120, when the range of speeds is [-600rpm, 600rpm], namely | ω | time ∈ [0rpm, 600rpm], and known analog amount command value is [-6V, 6V].At this moment when bumpy weather constant (voltage accuracy under disturbance is 0.1V), rotating speed control precision is (600rpm) * 0.1V/6V=10rpm, relation control precision is 10rpm/600rpm=1.7%, and therefore relation control precision brings up to 1.7% by original 5%.

The embodiment of the present invention, by the first mapping relations that the different choice of scope belonging to control command value is different, calculating simulation amount command value, finally obtain this analog quantity command value by motor servo driver, and the anti-control command of releasing of the second mapping relations that the different choice of scope is different belonging to analog quantity command value is exported to servomotor and is operated with drive motors rotor, when belonging to control command value, scope is within first threshold, the ratio of the control command value analog quantity command value that export corresponding to controller is less, can when control command value be in first threshold, improve the relation control precision to servomotor rotating speed.

Consult Fig. 2, Fig. 2 is the flow chart of control method of servo motor one preferred embodiment of the present invention, and the embodiment of the present invention comprises the step S110 ~ S140 in the first embodiment, and itself and first embodiment of the invention difference are:

Comprised before step S110:

Step S109, presets different control command values and the first mapping relations of analog quantity command value according to different control command value scopes.

First mapping relations of control command value and analog quantity command value are specially:

$V=\left\{\begin{array}{cc}\mathrm{sign}\left(\mathrm{\&omega;}\right)\left(\right|\mathrm{\&omega;}|/100)& \left|\mathrm{\&omega;}\right|\&Element;[0\mathrm{rpm},600\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\&omega;}\right)[\left(\right|\mathrm{\&omega;}|-600)/450+6]& \left|\mathrm{\&omega;}\right|\&Element;(600\mathrm{rpm},1500\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\&omega;}\right)[\left(\right|\mathrm{\&omega;}|-1500)/750+8]& \left|\mathrm{\&omega;}\right|\&Element;(1500\mathrm{rpm},3000\mathrm{rpm})\end{array}\right.$

Further, $\mathrm{sign}\left(\mathrm{\&omega;}\right)=\left\{\begin{array}{cc}1& \mathrm{\&omega;}\&GreaterEqual;0\\ -1& \mathrm{\&omega;}<0\end{array}\right.$

Comprised before step S130:

Step S129, presets different control command values and the second mapping relations of analog quantity command value according to different analog quantity command value scopes.

Wherein, control command value and analog quantity command value mapping relations are specially:

$V=\left\{\begin{array}{cc}\mathrm{sign}\left(\mathrm{\&omega;}\right)\left(\right|\mathrm{\&omega;}|/100)& \left|\mathrm{\&omega;}\right|\&Element;[0\mathrm{rpm},600\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\&omega;}\right)[\left(\right|\mathrm{\&omega;}|-600)/450+6]& \left|\mathrm{\&omega;}\right|\&Element;(600\mathrm{rpm},1500\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\&omega;}\right)[\left(\right|\mathrm{\&omega;}|-1500)/750+8]& \left|\mathrm{\&omega;}\right|\&Element;(1500\mathrm{rpm},3000\mathrm{rpm})\end{array}\right.$

Further, $\mathrm{sign}\left(\mathrm{\&omega;}\right)=\left\{\begin{array}{cc}1& \mathrm{\&omega;}\&GreaterEqual;0\\ -1& \mathrm{\&omega;}<0\end{array}\right.$

Certainly, the first mapping relations in step S109 are set in advance in servomotor controller, and the second mapping relations in step S129 are set in advance in motor servo driver, and they only need to arrange once.And user can revise these first mapping relations and the second mapping relations according to the actual requirements.

And it should be noted that in step S109, namely in the controller, the first mapping relations of control command value and analog quantity command value can also be specifically:

$V=\left\{\begin{array}{cc}\mathrm{sign}\left(\mathrm{\&omega;}\right)\left(\right|\mathrm{\&omega;}|/100)& \left|\mathrm{\&omega;}\right|\&Element;[0\mathrm{rpm},600\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\&omega;}\right)[\left(\right|\mathrm{\&omega;}|-600)/600+6]& \left|\mathrm{\&omega;}\right|\&Element;(600\mathrm{rpm},3000\mathrm{rpm}]\end{array}\right.$

Further, $\mathrm{sign}\left(\mathrm{\&omega;}\right)=\left\{\begin{array}{cc}1& \mathrm{\&omega;}\&GreaterEqual;0\\ -1& \mathrm{\&omega;}<0\end{array}\right.$

In the case, in first threshold, i.e. the slow-speed of revolution, | ω | time ∈ [0rpm, 600rpm], relation control precision is 10rpm/600rpm=1.7%, and therefore relation control precision brings up to 1.7% by original 5%.Also can realize the object of the embodiment of the present invention, namely improve the relation control precision to servomotor rotating speed when the slow-speed of revolution.

Corresponding, in step S129, namely in the drive, the second mapping relations of control command value and analog quantity command value can also be specifically:

$\mathrm{\&omega;}=\left\{\begin{array}{cc}\mathrm{sign}\left(V\right)(100\&times;|V\left|\right)& \left|V\right|\&Element;[0V,6V]\\ \mathrm{sign}\left(V\right)[600\&times;\left(\right|V|-6)+600]& \left|V\right|\&Element;(6V,10V]\end{array}\right.$

Further, $\mathrm{sign}\left(V\right)=\left\{\begin{array}{cc}1& V\&GreaterEqual;0\\ -1& V<0\end{array}\right.$

In the case, release by analog quantity command value is counter, in the slow-speed of revolution, namely | ω | time ∈ [0rpm, 600rpm], relation control precision is also 10rpm/600rpm=1.7%, and therefore relation control precision brings up to 1.7% by original 5%.Also can realize the object of the embodiment of the present invention, namely improve the relation control precision to servomotor rotating speed when the slow-speed of revolution.

Consult Fig. 3, Fig. 3 is the flow chart of servomotor controller control method embodiment of the present invention, comprises the steps:

Step S210, servomotor controller obtains control command value, and judges scope belonging to control command value, wherein the rotor speed of the corresponding servomotor of control command value.

Step S220, the first mapping relations that the different choice of controller scope belonging to control command value is different, the analog quantity command value obtaining corresponding control command value is calculated according to the first mapping relations, and analog quantity command value is sent to motor servo driver, first mapping relations are control command value and analog quantity command value one-to-one relationship, wherein the operating voltage output valve of the corresponding motor servo driver of analog quantity command value.

Certainly, before step S210, can step be comprised:

Different control command values and the first mapping relations of analog quantity command value are preset according to different control command value scopes.Wherein, the first mapping relations of control command value and analog quantity command value meet:

$V=\left\{\begin{array}{cc}\mathrm{sign}\left(\mathrm{\&omega;}\right)\left(\right|\mathrm{\&omega;}|/100)& \left|\mathrm{\&omega;}\right|\&Element;[0\mathrm{rpm},600\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\&omega;}\right)[\left(\right|\mathrm{\&omega;}|-600)/450+6]& \left|\mathrm{\&omega;}\right|\&Element;(600\mathrm{rpm},1500\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\&omega;}\right)[\left(\right|\mathrm{\&omega;}|-1500)/750+8]& \left|\mathrm{\&omega;}\right|\&Element;(1500\mathrm{rpm},3000\mathrm{rpm})\end{array}\right.$

Further, $\mathrm{sign}\left(\mathrm{\&omega;}\right)=\left\{\begin{array}{cc}1& \mathrm{\&omega;}\&GreaterEqual;0\\ -1& \mathrm{\&omega;}<0\end{array}\right.$

The embodiment of the present invention, controller in the slow-speed of revolution, namely | ω | time ∈ [0rpm, 600rpm], relation control precision is also 10rpm/600rpm=1.7%, and therefore relation control precision brings up to 1.7% by original 5%.Also can realize the object of the embodiment of the present invention, namely improve the relation control precision to servomotor rotating speed when the slow-speed of revolution.

Consult Fig. 4, Fig. 4 is the flow chart of motor servo driver control method embodiment of the present invention, comprises the steps:

Step S310, motor servo driver obtains the analog quantity command value sent by controller, and judges scope belonging to analog quantity command value.

Step S320, the second mapping relations that the different choice of motor servo driver scope belonging to analog quantity command value is different, the control command value obtaining corresponding analog quantity command value is calculated according to the second mapping relations, and according to control command value drive motors rotor with different rotation speed operation, the second mapping relations are control command value and analog quantity command value one-to-one relationship.

Certainly, before step S310, can step be comprised:

Different control command values and the second mapping relations of analog quantity command value are preset according to different control command value scopes.Wherein, the second mapping relations of control command value and analog quantity command value meet:

$\mathrm{\&omega;}=\left\{\begin{array}{cc}\mathrm{sign}\left(V\right)(100\&times;|V\left|\right)& \left|V\right|\&Element;[0V,6V]\\ \mathrm{sign}\left(V\right)[450\&times;\left(\right|V|-6)+600]& \left|V\right|\&Element;(6V,8V]\\ \mathrm{sign}\left(V\right)[750\&times;\left(\right|V|-8)+1500]& \left|V\right|\&Element;(8V,10V)\end{array}\right.$

Further, $\mathrm{sign}\left(V\right)=\left\{\begin{array}{cc}1& V\&GreaterEqual;0\\ -1& V<0\end{array}\right.$

The embodiment of the present invention, driver in the slow-speed of revolution, namely | ω | time ∈ [0rpm, 600rpm], relation control precision is also 10rpm/600rpm=1.7%, and therefore relation control precision brings up to 1.7% by original 5%.Also can realize the object of the embodiment of the present invention, namely improve the relation control precision to servomotor rotating speed when the slow-speed of revolution.

In above-mentioned servomotor controller and driver control embodiment of the method, the first mapping relations and the second mapping relations are also not limited only to this, as long as can realize the object of the embodiment of the present invention.

Consult Fig. 5, Fig. 5 is the structural representation of servo electrical machinery system embodiment of the present invention, and the embodiment of the present invention comprises:

Servomotor controller 11 and motor servo driver 13.

Servomotor controller 11 comprises: the first acquisition module 111 and first processor 112.

First acquisition module 111, for obtaining control command value, and judges scope belonging to control command value, wherein the rotor speed of the corresponding servomotor of control command value.

First processor 112, for the first mapping relations that the different choice of scope belonging to control command value is different, the analog quantity command value obtaining corresponding control command value is calculated according to the first mapping relations, and analog quantity command value is sent to motor servo driver, first mapping relations are control command value and analog quantity command value one-to-one relationship, the wherein operating voltage output valve of the corresponding motor servo driver of analog quantity command value, and the absolute value of the control command value that controller obtains is less, the ratio of the control command value analog quantity command value that export corresponding to controller is less.Wherein, the first mapping relations of control command value and analog quantity command value are specially:

$V=\left\{\begin{array}{cc}\mathrm{sign}\left(\mathrm{\&omega;}\right)\left(\right|\mathrm{\&omega;}|/100)& \left|\mathrm{\&omega;}\right|\&Element;[0\mathrm{rpm},600\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\&omega;}\right)[\left(\right|\mathrm{\&omega;}|-600)/450+6]& \left|\mathrm{\&omega;}\right|\&Element;(600\mathrm{rpm},1500\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\&omega;}\right)[\left(\right|\mathrm{\&omega;}|-1500)/750+8]& \left|\mathrm{\&omega;}\right|\&Element;(1500\mathrm{rpm},3000\mathrm{rpm})\end{array}\right.$

Further, $\mathrm{sign}\left(\mathrm{\&omega;}\right)=\left\{\begin{array}{cc}1& \mathrm{\&omega;}\&GreaterEqual;0\\ -1& \mathrm{\&omega;}<0\end{array}\right.$

And motor servo driver 13 comprises: the second acquisition module 131 and the second processor 132.

Second acquisition module 131, for obtaining the analog quantity command value sent by controller, and judges scope belonging to analog quantity command value;

Second processor 132, for the second mapping relations that the different choice of scope belonging to analog quantity command value is different, the control command value obtaining corresponding analog quantity command value is calculated according to the second mapping relations, and according to control command value drive motors rotor with different rotation speed operation, and, second mapping relations are control command value and analog quantity command value one-to-one relationship, and the absolute value of the analog quantity command value that driver obtains is less, the ratio of the control command value that driver correspondence exports and analog quantity command value is less.Wherein, the second mapping relations of control command value and analog quantity command value are specially:

$\mathrm{\&omega;}=\left\{\begin{array}{cc}\mathrm{sign}\left(V\right)(100\&times;|V\left|\right)& \left|V\right|\&Element;[0V,6V]\\ \mathrm{sign}\left(V\right)[450\&times;\left(\right|V|-6)+600]& \left|V\right|\&Element;(6V,8V]\\ \mathrm{sign}\left(V\right)[750\&times;\left(\right|V|-8)+1500]& \left|V\right|\&Element;(8V,10V)\end{array}\right.$

Further, $\mathrm{sign}\left(V\right)=\left\{\begin{array}{cc}1& V\&GreaterEqual;0\\ -1& V<0\end{array}\right.$

Consult Fig. 6, Fig. 6 is the structural representation of servo electrical machinery system one preferred embodiment of the present invention.As shown in Figure 6, servomotor controller 11 comprises the first preset module 110, first preset module 110 further for presetting different control command values and the first mapping relations of analog quantity command value according to different analog quantity command value scopes; Further, motor servo driver 13 comprises the second preset module 130 further, for presetting different control command values and the second mapping relations of analog quantity command value according to different analog quantity command value scopes.

The embodiment of the present invention, can the improve to the relation control precision of servomotor rotating speed from servomotor controller 11 and the realization of motor servo driver 13 two ends.

Consult Fig. 7, Fig. 7 is the structural representation of servomotor controller embodiment of the present invention, and the embodiment of the present invention comprises: the first acquisition module 211 and first processor 213.

First acquisition module 211, for obtaining control command value, and judges scope belonging to control command value, wherein the rotor speed of the corresponding servomotor of control command value.

First processor 213, for the first mapping relations that the different choice of scope belonging to control command value is different, the analog quantity command value obtaining corresponding control command value is calculated according to the first mapping relations, and analog quantity command value is sent to motor servo driver, the first mapping relations are control command value and analog quantity command value one-to-one relationship.Wherein, the first mapping relations of control command value and analog quantity command value are specially:

$V=\left\{\begin{array}{cc}\mathrm{sign}\left(\mathrm{\&omega;}\right)\left(\right|\mathrm{\&omega;}|/100)& \left|\mathrm{\&omega;}\right|\&Element;[0\mathrm{rpm},600\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\&omega;}\right)[\left(\right|\mathrm{\&omega;}|-600)/450+6]& \left|\mathrm{\&omega;}\right|\&Element;(600\mathrm{rpm},1500\mathrm{rpm}]\\ \mathrm{sign}\left(\mathrm{\&omega;}\right)[\left(\right|\mathrm{\&omega;}|-1500)/750+8]& \left|\mathrm{\&omega;}\right|\&Element;(1500\mathrm{rpm},3000\mathrm{rpm})\end{array}\right.$

Further, $\mathrm{sign}\left(\mathrm{\&omega;}\right)=\left\{\begin{array}{cc}1& \mathrm{\&omega;}\&GreaterEqual;0\\ -1& \mathrm{\&omega;}<0\end{array}\right.$

Certainly, be also not only confined to above-mentioned relation formula, as long as the relation control precision that the embodiment of the present invention improves servomotor rotating speed can be realized.

The embodiment of the present invention, can in the improve of servomotor controller end realization to the relation control precision of servomotor rotating speed.

Consult Fig. 8, Fig. 8 is the structural representation of motor servo driver embodiment of the present invention, and the embodiment of the present invention comprises: the second acquisition module 311 and the second processor 313.

Second acquisition module 311, for obtaining the analog quantity command value sent by servomotor controller, and judges scope belonging to analog quantity command value.

Second processor 313, for the second mapping relations that the different choice of scope belonging to analog quantity command value is different, the control command value obtaining corresponding analog quantity command value is calculated according to the second mapping relations, and according to control command value drive motors rotor with different rotation speed operation, the second mapping relations are control command value and analog quantity command value one-to-one relationship.Wherein, the second mapping relations of control command value and analog quantity command value are specially:

$\mathrm{\&omega;}=\left\{\begin{array}{cc}\mathrm{sign}\left(V\right)(100\&times;|V\left|\right)& \left|V\right|\&Element;[0V,6V]\\ \mathrm{sign}\left(V\right)[450\&times;\left(\right|V|-6)+600]& \left|V\right|\&Element;(6V,8V]\\ \mathrm{sign}\left(V\right)[750\&times;\left(\right|V|-8)+1500]& \left|V\right|\&Element;(8V,10V)\end{array}\right.$

Further, $\mathrm{sign}\left(V\right)=\left\{\begin{array}{cc}1& V\&GreaterEqual;0\\ -1& V<0\end{array}\right.$

Certainly, be also not only confined to above-mentioned relation formula, as long as the relation control precision that the embodiment of the present invention improves servomotor rotating speed can be realized.

The embodiment of the present invention, can in the improve of motor servo driver end realization to the relation control precision of servomotor rotating speed.

The embodiment of the present invention also provides a kind of Digit Control Machine Tool, and described Digit Control Machine Tool comprises the servo electrical machinery system as described in any one of above-described embodiment.Also the relation control precision to servomotor rotating speed can be improved.

Certainly, with reference to the scheme of the embodiment of the present invention, design by the segmentation of control command value corresponding analog quantity command value, and operating voltage output valve corresponding to analog quantity command value is improved when the slow-speed of revolution, the embodiment of the present invention also realizes the design of the embodiment of the present invention by hardware and FPGA mode, do not repeat one by one herein.

The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize specification of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims (15)

1. a control method of servo motor, is characterized in that, comprises the steps:

Servomotor controller obtains control command value, and judges scope belonging to described control command value, the rotor speed of the corresponding servomotor of wherein said control command value;

The first mapping relations that the different choice of described controller scope belonging to described control command value is different, the analog quantity command value obtaining corresponding control command value is calculated according to described first mapping relations, and described analog quantity command value is sent to motor servo driver, described first mapping relations are control command value and analog quantity command value one-to-one relationship, the operating voltage output valve of the corresponding motor servo driver of wherein said analog quantity command value, the absolute value of the control command value that described controller obtains is less, the ratio of the described control command value analog quantity command value that export corresponding to described controller is less.

2. control method of servo motor according to claim 1, is characterized in that, before obtaining the step of control command value, comprising at described servomotor controller:

Different control command values and the first mapping relations of analog quantity command value are preset according to different control command value scopes.

3. control method of servo motor according to claim 2, is characterized in that, the first mapping relations of described control command value and analog quantity command value are specially:

$V=\left\{\begin{array}{cc}sign\left(\mathrm{\&omega;}\right)\left(\right|\mathrm{\&omega;}|/100)& \left|\mathrm{\&omega;}\right|\&Element;\&lsqb;0rpm,600rpm\&rsqb;\\ sign\left(\mathrm{\&omega;}\right)\&lsqb;\left(\right|\mathrm{\&omega;}|-600)/450+6\&rsqb;& \left|\mathrm{\&omega;}\right|\&Element;(600rpm,1500r\mathrm{pm}]\\ sign\left(\mathrm{\&omega;}\right)\&lsqb;\left(\right|\mathrm{\&omega;}|-1500)/750+8\&rsqb;& \left|\mathrm{\&omega;}\right|\&Element;(1500rpm,3000rpm)\end{array}\right.$

Further, $sign\left(\mathrm{\&omega;}\right)=\left\{\begin{array}{cc}1& \mathrm{\&omega;}\&GreaterEqual;0\\ -1& \mathrm{\&omega;}<0\end{array}\right.$

Wherein, V is analog quantity command value, corresponding operating voltage output valve; ω is control command value, respective rotor rotating speed.

4. control method of servo motor according to claim 1, is characterized in that, described method also comprises:

Described motor servo driver obtains the analog quantity command value sent by described controller, and judges scope belonging to described analog quantity command value;

The second mapping relations that the different choice of described motor servo driver scope belonging to described analog quantity command value is different, the control command value obtaining corresponding analog quantity command value is calculated according to described second mapping relations, and according to described control command value drive motors rotor with different rotation speed operation, described second mapping relations are control command value and analog quantity command value one-to-one relationship, the absolute value of the analog quantity command value that described driver obtains is less, and the ratio of the described control command value that described driver correspondence exports and analog quantity command value is less.

5. control method of servo motor according to claim 4, is characterized in that, before obtaining the step of the analog quantity command value sent by described controller, comprising at described motor servo driver:

Different control command values and the second mapping relations of analog quantity command value are preset according to different analog quantity command value scopes.

6. control method of servo motor according to claim 5, is characterized in that, the second mapping relations of described control command value and analog quantity command value are specially:

$\mathrm{\&omega;}=\left\{\begin{array}{cc}sign\left(V\right)(100\&times;|V\left|\right)& \left|V\right|\&Element;\&lsqb;0V,6V\&rsqb;\\ sign\left(V\right)\&lsqb;450\&times;\left(\right|V|-6)+600\&rsqb;& \left|V\right|\&Element;(6V,8V\&rsqb;\\ sign\left(V\right)\&lsqb;750\&times;\left(\right|V|-8)+1500\&rsqb;& \left|V\right|\&Element;(8V,10V]\end{array}\right.$

Further, $sign\left(V\right)=\left\{\begin{array}{cc}1& V\&GreaterEqual;0\\ -1& V<0\end{array}\right.$ Wherein, V is analog quantity command value, corresponding operating voltage output valve; ω is control command value, respective rotor rotating speed.

7. a servo control system, is characterized in that, comprises servomotor controller and motor servo driver, and described servomotor controller comprises:

First acquisition module, for obtaining control command value, and judges scope belonging to described control command value, the rotor speed of the corresponding servomotor of wherein said control command value;

First processor, for the first mapping relations that the different choice of scope belonging to described control command value is different, the analog quantity command value obtaining corresponding control command value is calculated according to described first mapping relations, and described analog quantity command value is sent to described motor servo driver, described first mapping relations are control command value and analog quantity command value one-to-one relationship, the operating voltage output valve of the corresponding motor servo driver of wherein said analog quantity command value, and the absolute value of the control command value that described controller obtains is less, the ratio of the described control command value analog quantity command value that export corresponding to described controller is less.

8. servo control system according to claim 7, is characterized in that, described servomotor controller comprises:

First preset module, for presetting different control command values and the first mapping relations of analog quantity command value according to different control command value scopes.

9. servo control system according to claim 8, is characterized in that, the first mapping relations of described control command value and analog quantity command value are specially:

$V=\left\{\begin{array}{cc}sign\left(\mathrm{\&omega;}\right)\left(\right|\mathrm{\&omega;}|/100)& \left|\mathrm{\&omega;}\right|\&Element;\&lsqb;0rpm,600rpm\&rsqb;\\ sign\left(\mathrm{\&omega;}\right)\&lsqb;\left(\right|\mathrm{\&omega;}|-600)/450+6\&rsqb;& \left|\mathrm{\&omega;}\right|\&Element;(600rpm,1500r\mathrm{pm}]\\ sign\left(\mathrm{\&omega;}\right)\&lsqb;\left(\right|\mathrm{\&omega;}|-1500)/750+8\&rsqb;& \left|\mathrm{\&omega;}\right|\&Element;(1500rpm,3000r\mathrm{pm}]\end{array}\right.$

Further, $sign\left(\mathrm{\&omega;}\right)=\left\{\begin{array}{cc}1& \mathrm{\&omega;}\&GreaterEqual;0\\ -1& \mathrm{\&omega;}<0\end{array}\right.$

Wherein, V is analog quantity command value, corresponding operating voltage output valve; ω is control command value, respective rotor rotating speed.

10. servo control system according to claim 8, is characterized in that, described motor servo driver comprises:

Second acquisition module, for obtaining the analog quantity command value sent by described controller, and judges scope belonging to described analog quantity command value;

Second processor, for the second mapping relations that the different choice of scope belonging to described analog quantity command value is different, the control command value obtaining corresponding analog quantity command value is calculated according to described second mapping relations, and according to described control command value drive motors rotor with different rotation speed operation, and, described second mapping relations are control command value and analog quantity command value one-to-one relationship, and the absolute value of the analog quantity command value that described driver obtains is less, the ratio of the control command value that described driver correspondence exports and described analog quantity command value is less.

11. servo control systems according to claim 10, is characterized in that, described motor servo driver comprises:

Second preset module, for presetting different control command values and the second mapping relations of analog quantity command value according to different analog quantity command value scopes.

12. servo control systems according to claim 11, is characterized in that, the second mapping relations of described control command value and analog quantity command value are specially:

$\mathrm{\&omega;}=\left\{\begin{array}{cc}sign\left(V\right)(100\&times;|V\left|\right)& \left|V\right|\&Element;\&lsqb;0V,6V\&rsqb;\\ sign\left(V\right)\&lsqb;450\&times;\left(\right|V|-6)+600\&rsqb;& \left|V\right|\&Element;(6V,8V\&rsqb;\\ sign\left(V\right)\&lsqb;750\&times;\left(\right|V|-8)+1500\&rsqb;& \left|V\right|\&Element;(8V,10V]\end{array}\right.$

Further, $sign\left(V\right)=\left\{\begin{array}{cc}1& V\&GreaterEqual;0\\ -1& V<0\end{array}\right.$

Wherein, ω is control command value, respective rotor rotating speed; V is analog quantity command value, corresponding operating voltage output valve.

13. 1 kinds of servomotor controllers, is characterized in that, described servomotor controller comprises:

First acquisition module, for obtaining control command value, and judges scope belonging to described control command value, the rotor speed of the corresponding servomotor of wherein said control command value;

First processor, for the first mapping relations that the different choice of scope belonging to described control command value is different, the analog quantity command value obtaining corresponding control command value is calculated according to described first mapping relations, and described analog quantity command value is sent to motor servo driver, described first mapping relations are control command value and analog quantity command value one-to-one relationship, wherein, the operating voltage output valve of the corresponding described motor servo driver of described analog quantity command value, the absolute value of the control command value that described controller obtains is less, the ratio of the described control command value analog quantity command value that export corresponding to described controller is less.

14. 1 kinds of motor servo drivers, is characterized in that, described motor servo driver comprises:

Second acquisition module, for obtaining the analog quantity command value sent by servomotor controller, and judges scope belonging to described analog quantity command value;

Second processor, for the second mapping relations that the different choice of scope belonging to described analog quantity command value is different, the control command value obtaining corresponding analog quantity command value is calculated according to described second mapping relations, and according to described control command value drive motors rotor with different rotation speed operation, described second mapping relations are control command value and analog quantity command value one-to-one relationship, the absolute value of the analog quantity command value that described driver obtains is less, and the ratio of the described control command value that described driver correspondence exports and analog quantity command value is less.

15. 1 kinds of Digit Control Machine Tools, comprise servomotor, it is characterized in that, described Digit Control Machine Tool also comprises the servo control system as described in any one of claim 7 ~ 12.