CN102710183A - Crossed coupling synchronous control system and method of multiple motors - Google Patents
Crossed coupling synchronous control system and method of multiple motors Download PDFInfo
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- CN102710183A CN102710183A CN2012101937169A CN201210193716A CN102710183A CN 102710183 A CN102710183 A CN 102710183A CN 2012101937169 A CN2012101937169 A CN 2012101937169A CN 201210193716 A CN201210193716 A CN 201210193716A CN 102710183 A CN102710183 A CN 102710183A
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Abstract
The invention provides a crossed coupling synchronous control system of multiple motors, which is used for realizing synchronous control of two servo control units. The two servo control units are respectively used for controlling different servo motors to rotate, and each servo control unit comprises a position control subunit, a speed control subunit and a current control subunit; the crossed coupling synchronous control system comprises a stress detection unit and a stress crossed-coupling control unit; the stress detection unit is used for detecting the stresses at two rotating shafts on a gantry crossbeam; and the stress crossed-coupling control unit is used for carrying out current compensation on the current control subunits of the two servo control units according to the two stressed measured by the stress detection unit. The invention also provides a corresponding method. According to the crossed coupling synchronous control system and method provided by the invention, the torque adjustment is carried by stress detection of the gantry crossbeam, and the deflection of absolute positions between shafts in the synchronous control can be reduced.
Description
Technical field
The present invention relates to Motor Control Field, more particularly, relate to a kind of many motors cross-couplings synchronous control system.
Background technology
The synchronisation control means of many motors generally is divided into uncoupled mode and coupled modes, and what uncoupled synchronous control mode was commonly used at present has main order with reference to the method for synchronization and principal and subordinate's method of synchronization.
The main order of non-coupling is with reference in the synchronous control mode, and each drive of motor unit is with enjoying given signal, and promptly the master makes reference signal.The master makes reference signal directly affact on the motor of each unit, makes each unit obtain consistent input signal.The input signal of each unit only receives the influence of reference signal, so the disturbance of arbitrary unit can not influence the operating state of other unit.This two kinds of situation just occur: the one, and when similar and any unit motor did not all receive big disturbance when the trace performance of each unit, this scheme can realize synchronizing function preferably; Another kind of situation is when the generation disturbance of a certain unit, and system just can not get assurance synchronously.This mode is compared with the mechanical line-shaft mode, has lost the link that intercouples between each motor, thereby has lost out the intrinsic coordination characteristic of mechanical line-shaft coordination mode, thereby influences the normal operation of system.
Own through having adopted a lot of advanced persons' control method in the theoretical research of Synchronization Control at present; Some achievements have all been obtained; But because the existence of uncertain and non-linear or the like these key issues of not matching property, torque boundedness, load and the aircraft pursuit course of non-linear, the characteristic of AC servo motor; Particularly under high-speed, high precision, how to obtain the high-quality and stable robustness of system, present control method does not fundamentally solve the Synchronization Control problem of AC servo motor.
Summary of the invention
The technical problem that the present invention will solve is, can't fundamentally solve the problem of the Synchronization Control of AC servo motor to above-mentioned Synchronization Control scheme, and a kind of many motors cross-couplings synchronous control system and method are provided.
The technical scheme that the present invention solves the problems of the technologies described above is; A kind of many motors cross-couplings synchronous control system is provided; Be used to realize the Synchronization Control of two servo control units, said two servo control units are respectively applied for the motor rotation of control different servo and each said servo control unit comprises Position Control subelement, speed control subelement and Current Control subelement; Said system comprises stress detecting unit and stress cross-coupling control unit; Said stress detecting unit is used to detect the stress of two rotating shafts place on the crossbeam of gantry; Said stress cross-coupling control unit, two stress that are used for recording according to said stress detecting unit carry out current compensation to the Current Control subelement of two servo control units.
In many motors cross-couplings synchronous control system of the present invention; Said stress detecting unit comprises the strain gauge of two rotating shafts place that are installed in gantry crossbeam respectively; Said stress cross-coupling control unit comprises that a PID regulates subelement, and a PID regulates subelement and adopts pid control algorithm to calculate the offset of current compensation.
In many motors cross-couplings synchronous control system of the present invention, said system also comprises cross-coupling control unit, position, is used for according to the feedback position information of each rotating shaft the speed control unit of each servo control unit being carried out velocity compensation.
In many motors cross-couplings synchronous control system of the present invention, cross-coupling control unit, said position comprises that the 2nd PID regulates subelement, is used for according to the feedback position information of two rotating shafts and the offset that uses the pid control algorithm computational speed to compensate.
In many motors cross-couplings synchronous control system of the present invention; Cross-coupling control unit, said position comprises the alternate position spike judging unit; Be used for when the alternate position spike of two rotating shafts surpasses the maximum limit of setting, making two servomotors of servo control unit control to shut down, and make the cancellation velocity compensation during less than safety value in the alternate position spike of rotating shaft.
The present invention also provides a kind of many motors cross-couplings synchronisation control means; Be used to realize the Synchronization Control of two servo control units, said two servo control units are respectively applied for the motor rotation of control different servo and each said servo control unit comprises Position Control subelement, speed control subelement and Current Control subelement; Said method comprising the steps of:
(a) stress of two rotating shafts place on the crossbeam of detection gantry;
(b) according to two stress recording the electric current loop of two servo control units is carried out current compensation.
In many motors cross-couplings synchronisation control means of the present invention, the compensation value calculation of said current compensation adopts pid control algorithm.
In many motors cross-couplings synchronisation control means of the present invention, said method also comprises: according to the feedback position information of each rotating shaft the speed ring of each servo control unit is carried out velocity compensation.
In many motors cross-couplings synchronisation control means of the present invention, the compensation value calculation of said velocity compensation adopts pid control algorithm.
In many motors cross-couplings synchronisation control means of the present invention; Comprise before the said velocity compensation: the value of judging the alternate position spike of two rotating shafts; Two servomotors of servo control unit control are shut down, and in the value of said alternate position spike cancellation velocity compensation during less than safety value.
Many motors cross-couplings synchronous control system of the present invention and method through stress detection the carrying out torque adjustment of gantry crossbeam, can reduce the deviation of the absolute position between Synchronization Control axis and the axle.And binding site cross-couplings adjustment of the present invention has better robustness.
Description of drawings
Fig. 1 is the sketch map of many motors of the present invention cross-couplings synchronous control system first embodiment.
Fig. 2 is the sketch map of many motors of the present invention cross-couplings synchronous control system second embodiment.
Fig. 3 is the flow chart of many motors of the present invention cross-couplings synchronisation control means first embodiment.
Fig. 4 is the flow chart of many motors of the present invention cross-couplings synchronisation control means second embodiment.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
With reference to figure 1, drive system is made up of servo control unit 10 and motor 14, and wherein motor 14 drives screw mandrel and acts on the workpiece (object) the completion corresponding operating.Servo control unit 10 obtains position command from host control device or upper control module, carries out position closed loop processing, speed closed loop processing and current closed-loop and handles.Particularly, Position Control subelement 11 deducts value of feedback from position command, obtain position deviation, and this position deviation multiply by position gain, carries out position closed loop control, obtains speed command; Speed control subelement 12 deducts speed feedback value from above-mentioned speed command, obtain velocity deviation, carries out ratio, integral control uniform velocity closed-loop process, obtains torque instruction (current-order); Current Control subelement 13 deducts the current feedback value from above-mentioned torque instruction, carry out current closed-loop and handle, and obtains the voltage instruction of each phase, carries out PWM (pulse width modulation) etc., thereby realizes the drive controlling to motor 14.
As shown in Figure 1, be the sketch map of many motors of the present invention cross-couplings synchronous control system first embodiment.In the present embodiment, this system comprises stress detecting unit 15 and stress cross-coupling control unit 16, and wherein stress detecting unit 15 can obtain the stress detected value through two strain gauges 17 that are installed in two rotating shafts place of gantry crossbeam respectively.Especially, above-mentioned stress detecting unit 15 and stress cross-coupling control unit 16 can be integrated into one of them servo control unit 10, perhaps also can be positioned at an independently control device and be connected to two servo control units 10.
Because servo control is delivered to Current Control subelement 13 by Position Control subelement 11 and has certain delay; And it is through speed control subelement 12 indirectly-actings; The variation of two rotating shaft stress load can directly be measured in stress cross-coupling control unit 16, and the moment ring is compensated.
Above-mentioned stress cross-coupling control unit 16 can comprise that one the one PID regulates subelement, and it adopts the offset of pid control algorithm calculating current compensation, that is:
Wherein e (i) is the stress difference of two rotating shafts.The torque instruction that Current Control subelement 13 current offset values that 16 calculating obtain according to stress cross-coupling control unit reaches from speed control subelement 12 carries out the current closed-loop processing.
As shown in Figure 2, be the sketch map of many motors of the present invention cross-couplings synchronous control system second embodiment.In the present embodiment; This system comprises cross-coupling control unit, position 28, stress detecting unit 25 and stress cross-coupling control unit 26, and wherein stress detecting unit 25 can obtain the stress detected value through two strain gauges 27 that are installed in two rotating shafts place of gantry crossbeam respectively.Especially; Cross-coupling control unit, above-mentioned position 28, stress detecting unit 25 and stress cross-coupling control unit 26 can be integrated into one of them servo control unit 10, perhaps also can be positioned at an independently control device and be connected to two servo control units 10.
Identical ground with first embodiment, stress detecting unit 25 is used to detect the stress of two rotating shafts place on the crossbeam of gantry.Two stress that stress cross-coupling control unit 26 is used for recording according to the stress detecting unit carry out current compensation to the Current Control subelement 13 of servo control unit 10.
The feedback position information (the for example feedback information of encoder) that cross-coupling control unit, position 28 is used for each rotating shaft that basis links to each other with motor 14 is carried out velocity compensation to the speed control unit 12 of each servo control unit 10.This cross-coupling control unit, position comprises that one the 2nd PID regulates subelement, is used for according to the feedback position information of two rotating shafts and the offset that uses the pid control algorithm computational speed to compensate, that is:
Wherein e (i) is the alternate position spike of two rotating shafts.The speed command that speed control subelement 12 velocity compensated value that 28 calculating obtain according to cross-coupling control unit, position reaches from Position Control subelement 11 carries out ratio, integral control uniform velocity closed-loop process, obtains torque instruction.
In said system, cross-coupling control unit, position 28 also comprises the alternate position spike judging unit, is used for when the alternate position spike of two rotating shafts surpasses the maximum limit △ Xlim that sets, and to servo control unit 10 output orders, controls two servomotors 14 and shuts down.Above-mentioned △ Xlim be two rotating shafts the limiting value of patient alternate position spike, when the alternate position spike of two rotating shafts surpasses this limiting value, gently then damage screw mandrel, more serious is may cause the damage that can not repair to lathe.Therefore,, need carry out system alarm in case the error of two rotating shafts reaches this limiting value, and the stall immediately of control motor.
Above-mentioned alternate position spike judging unit also makes the 2nd PID regulate subelement cancellation velocity compensation in the alternate position spike of two rotating shafts during less than safety value △ Xmin.△ Xmin is the safety value of two rotating shaft position differences, should be worth through being provided with, and can reduce the amount of calculation of system.When the alternate position spike of two rotating shafts is worth less than this, can think that two rotating shafts are in synchronous regime, and need not compensate that preserve the error of two rotating shafts this moment as the basis of calculating next time, so that participate in calculating when needing offset value calculation next time.
Above-mentioned maximum limit △ Xlim and safety value △ Xmin can set according to different application scenes.Usually the value of high more maximum limit △ Xlim of required precision and safety value △ Xmin is more little.
Above-mentioned cross-coupling control unit, position 28 all adopts the cross-coupling control mode with stress cross-coupling control unit 26; Be that feedack returns to two servo control units 10 simultaneously; And in two servo control units, regulate simultaneously, increased the efficient of regulating greatly.
As shown in Figure 3, be the sketch map of many motors of the present invention cross-couplings synchronisation control means first embodiment.This method is used to realize the Synchronization Control of two servo control units, and above-mentioned two servo control units are respectively applied for the motor rotation of control different servo and each servo control unit comprises position ring, speed ring and electric current loop.This method may further comprise the steps:
Step S31: the stress that detects two rotating shafts place on the crossbeam of gantry.In this step, can obtain the stress detected value through two strain gauges that are installed in two rotating shafts place of gantry crossbeam respectively.
Step S32: the electric current loop of two servo control units is carried out current compensation according to two stress that record.The offset of above-mentioned current compensation can adopt pid control algorithm to calculate, that is:
Wherein e (i) is the stress difference of two rotating shafts.The electric current loop of servo control unit carries out the current closed-loop processing according to the torque instruction that the current offset values of calculating acquisition reaches from speed ring.
In second embodiment of many motors of the present invention cross-couplings synchronisation control means, as shown in Figure 4 except comprising above-mentioned steps S31, S32, further comprising the steps of:
Step S41: the alternate position spike of calculating two rotating shafts.The position of above-mentioned each rotating shaft can obtain through encoder.
Step S42: whether judge above-mentioned alternate position spike greater than the maximum limit △ Xlim that sets, if alternate position spike is greater than above-mentioned maximum limit △ Xlim, then execution in step S43; Otherwise execution in step S44.
Step S43:, control two servomotors and shut down to the servo control unit output order.
Step S44: whether the alternate position spike of judging two rotating shafts less than safety value △ Xmin, and at alternate position spike execution in step S46 during less than safety value △ Xmin, otherwise execution in step S45.
Step S45: the speed ring through servo control unit carries out velocity compensation.Particularly, this step is used the offset of pid control algorithm computational speed compensation, that is:
Wherein e (i) is the alternate position spike of two rotating shafts.Speed ring carries out ratio, integral control uniform velocity closed-loop process with the speed command that above-mentioned velocity compensated value reaches from position ring, obtains torque instruction.
Step S46: directly the alternate position spike of two rotating shafts is preserved as the basis of calculating next time,, and return step S41 so that participate in calculating when needing offset value calculation next time.
The above; Be merely the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, any technical staff who is familiar with the present technique field is in the technical scope that the present invention discloses; The variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection range of claim.
Claims (10)
1. the synchronous control system of motor cross-couplings more than a kind; Be used to realize the Synchronization Control of two servo control units, said two servo control units are respectively applied for the motor rotation of control different servo and each said servo control unit comprises Position Control subelement, speed control subelement and Current Control subelement; It is characterized in that: said system comprises stress detecting unit and stress cross-coupling control unit; Said stress detecting unit is used to detect the stress of two rotating shafts place on the crossbeam of gantry; Said stress cross-coupling control unit, two stress that are used for recording according to said stress detecting unit carry out current compensation to the Current Control subelement of two servo control units.
2. many motors cross-couplings synchronous control system according to claim 1; It is characterized in that: said stress detecting unit comprises the strain gauge of two rotating shafts place that are installed in gantry crossbeam respectively; Said stress cross-coupling control unit comprises that a PID regulates subelement, and a PID regulates subelement and adopts pid control algorithm to calculate the offset of current compensation.
3. many motors cross-couplings synchronous control system according to claim 1 and 2; It is characterized in that: said system also comprises cross-coupling control unit, position, is used for according to the feedback position information of each rotating shaft the speed control unit of each servo control unit being carried out velocity compensation.
4. many motors cross-couplings synchronous control system according to claim 3; It is characterized in that: cross-coupling control unit, said position comprises that the 2nd PID regulates subelement, is used for according to the feedback position information of two rotating shafts and the offset that uses the pid control algorithm computational speed to compensate.
5. many motors cross-couplings synchronous control system according to claim 3; It is characterized in that: cross-coupling control unit, said position comprises the alternate position spike judging unit; Be used for when the alternate position spike of two rotating shafts surpasses the maximum limit of setting, making two servomotors of servo control unit control to shut down, and make the cancellation velocity compensation during less than safety value in the alternate position spike of rotating shaft.
6. the synchronisation control means of motor cross-couplings more than a kind; Be used to realize the Synchronization Control of two servo control units, said two servo control units are respectively applied for the motor rotation of control different servo and each said servo control unit comprises Position Control subelement, speed control subelement and Current Control subelement; It is characterized in that: said method comprising the steps of:
(a) stress of two rotating shafts place on the crossbeam of detection gantry;
(b) according to two stress recording the electric current loop of two servo control units is carried out current compensation.
7. multi-motor synchronous control method according to claim 6 is characterized in that: the compensation value calculation of said current compensation adopts pid control algorithm.
8. according to claim 6 or 7 described many motors cross-couplings synchronisation control meanss, it is characterized in that: said method also comprises: according to the feedback position information of each rotating shaft the speed ring of each servo control unit is carried out velocity compensation.
9. many motors cross-couplings synchronisation control means according to claim 8 is characterized in that: the compensation value calculation of said velocity compensation adopts pid control algorithm.
10. many motors cross-couplings synchronisation control means according to claim 8; It is characterized in that: comprise before the said velocity compensation: the value of judging the alternate position spike of two rotating shafts; Two servomotors of servo control unit control are shut down, and in the value of said alternate position spike cancellation velocity compensation during less than safety value.
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| CN103269187A (en) * | 2013-05-31 | 2013-08-28 | 南京工程学院 | Dual-motor synchronous control system and control method thereof |
| CN103676653A (en) * | 2013-12-16 | 2014-03-26 | 成都乐创自动化技术股份有限公司 | Servo synchronous control method and system applied to gantry mechanism |
| CN105659171A (en) * | 2013-10-17 | 2016-06-08 | 惠普发展公司，有限责任合伙企业 | A control system for controlling a plurality of actuators |
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| CN103269187B (en) * | 2013-05-31 | 2015-08-12 | 南京工程学院 | A kind of Dual-motor synchronous control system and control method thereof |
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| CN106877747A (en) * | 2017-02-07 | 2017-06-20 | 上海仙知机器人科技有限公司 | A kind of driver and driving method |
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| WO2020048057A1 (en) * | 2018-09-05 | 2020-03-12 | 固高科技(深圳)有限公司 | Multi-motor crossed synchronous control system and control method therefor |
| CN109120189A (en) * | 2018-09-05 | 2019-01-01 | 固高科技(深圳)有限公司 | A kind of more motor intersection synchronous control systems |
| CN109120189B (en) * | 2018-09-05 | 2020-07-21 | 固高科技(深圳)有限公司 | Multi-motor cross synchronous control system |
| CN111835235A (en) * | 2019-04-19 | 2020-10-27 | 深圳市雷赛智能控制股份有限公司 | Gantry synchronous control method, motor driver and motor control system |
| US11331762B2 (en) | 2019-11-22 | 2022-05-17 | Industrial Technology Research Institute | Method for synchronous control of gantry mechanism with online inertia matching |
| CN110968119A (en) * | 2019-11-27 | 2020-04-07 | 苏州伟创电气科技股份有限公司 | Control method and device for double-shaft synchronization |
| CN110968119B (en) * | 2019-11-27 | 2022-12-13 | 苏州伟创电气科技股份有限公司 | Control method and device for double-shaft synchronization |
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| CN113479258A (en) * | 2021-07-12 | 2021-10-08 | 南京航空航天大学 | Tracking and synchronous control method for dual-motor steer-by-wire system of intelligent vehicle |
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