CN102710183B - Many motors cross-couplings synchronous control system and method - Google Patents
Many motors cross-couplings synchronous control system and method Download PDFInfo
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- CN102710183B CN102710183B CN201210193716.9A CN201210193716A CN102710183B CN 102710183 B CN102710183 B CN 102710183B CN 201210193716 A CN201210193716 A CN 201210193716A CN 102710183 B CN102710183 B CN 102710183B
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Abstract
The invention provides a kind of many motors cross-couplings synchronous control system, for realizing the Synchronization Control of two servo control units, described two servo control units are respectively used to control different servo electric machine rotation and servo control unit described in each comprises Position Control subelement, speeds control subelement and Current Control subelement; This system comprises stress mornitoring unit and stress cross-coupling control unit; Described stress mornitoring unit, for detecting the stress of two rotating shafts place on gantry beam; Described stress cross-coupling control unit, carries out current compensation for the Current Control subelement of two stress to two servo control units recorded according to described stress mornitoring unit.The present invention also provides a kind of method of correspondence.The present invention carries out torque adjustment by the stress mornitoring of gantry beam, can reduce the deviation of the absolute position between Synchronization Control axis and axle.
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 is generally 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 master-slave synchronisation mode.
The main order of non-coupled is with reference in synchronous control mode, and each motor-driven unit, with enjoying Setting signal, namely mainly makes reference signal.On the main motor making reference signal be applied directly to each unit, each unit is made to obtain consistent input signal.The input signal of each unit is only subject to the impact of reference signal, so the disturbance of arbitrary unit can not affect the operating state of other unit.Just there are two kinds of situations in this: one is that the program can realize synchronizing function preferably when the trace performance of unit is similar and any unit motor is not all subject to large disturbance; Another kind of situation is when a certain unit generation disturbance, and the synchronous of system just can not be guaranteed.Which, compared with mechanical line-shaft mode, loses the link that intercouples between each motor, has thus lost out the intrinsic coordination characteristic of mechanical line-shaft coordination mode, thus the normal operation of influential system.
Own through have employed a lot of advanced control method in the theoretical research of Synchronization Control at present, all achieve some achievements, but because AC servo motor is non-linear, the mismatch of characteristic, torque boundedness, the uncertainty of load and aircraft pursuit course and the existence of these key issues non-linear etc. thereof, under high-speed, high precision, particularly how to obtain high-quality and the stable margin of system, current control method does not fundamentally solve the Synchronization Control problem of AC servo motor.
Summary of the invention
The technical problem to be solved in the present invention is, fundamentally cannot solve the problem of the Synchronization Control of AC servo motor for above-mentioned Synchronization Control scheme, provides a kind of many motors cross-couplings synchronous control system and method.
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, for realizing the Synchronization Control of two servo control units, described two servo control units are respectively used to control different servo electric machine rotation and servo control unit described in each comprises Position Control subelement, speeds control subelement and Current Control subelement; Described system comprises stress mornitoring unit and stress cross-coupling control unit; Described stress mornitoring unit, for detecting the stress of two rotating shafts place on gantry beam, and this stress mornitoring unit obtains stress mornitoring value by the strain gauge that two are arranged on two rotating shafts place of gantry beam respectively; Described stress cross-coupling control unit, compensates for the input of two stress to the Current Control subelement of two servo control units recorded according to described stress mornitoring unit.
In many motors cross-couplings synchronous control system of the present invention, described stress mornitoring unit comprises the strain gauge of two rotating shafts place being arranged on gantry beam respectively, described stress cross-coupling control unit comprises a PID and regulates subelement, and a PID regulates subelement to adopt the offset of pid control algorithm calculating current compensation.
In many motors cross-couplings synchronous control system of the present invention, described system also comprises position cross-coupling control unit, carries out velocity compensation for the feedback position information according to each rotating shaft to the speed control unit of each servo control unit.
In many motors cross-couplings synchronous control system of the present invention, described position cross-coupling control unit comprises the 2nd PID and regulates subelement, for using according to the feedback position information of two rotating shafts the offset that pid control algorithm computational speed compensates.
In many motors cross-couplings synchronous control system of the present invention; described position cross-coupling control unit comprises alternate position spike judging unit; control two servomotors for making servo control unit when the alternate position spike of two rotating shafts exceedes the maximum limit of setting to shut down, and make cancellation velocity compensation when the alternate position spike of rotating shaft is less than safety value.
The present invention also provides a kind of many motors cross-couplings synchronisation control means, for realizing the Synchronization Control of two servo control units, described two servo control units are respectively used to control different servo electric machine rotation and servo control unit described in each comprises Position Control subelement, speeds control subelement and Current Control subelement; Said method comprising the steps of:
A () is arranged on the stress of two rotating shafts place on the strain gauge detection gantry beam of two rotating shafts place of gantry beam respectively by two;
B () compensates according to the input of two stress to the electric current loop of two servo control units recorded.
In many motors cross-couplings synchronisation control means of the present invention, the compensation value calculation of described current compensation adopts pid control algorithm.
In many motors cross-couplings synchronisation control means of the present invention, described method also comprises: the feedback position information according to each rotating shaft carries out velocity compensation to the speed ring of each servo control unit.
In many motors cross-couplings synchronisation control means of the present invention, the compensation value calculation of described velocity compensation adopts pid control algorithm.
In many motors cross-couplings synchronisation control means of the present invention; comprise before described velocity compensation: the value judging the alternate position spike of two rotating shafts; make when the value of described alternate position spike exceedes the maximum limit of setting servo control unit control two servomotors to shut down, and cancel velocity compensation when the value of described alternate position spike is less than safety value.
Many motors cross-couplings synchronous control system of the present invention and method, carry out torque adjustment by the stress mornitoring of gantry beam, can reduce the deviation of the absolute position between Synchronization Control axis and axle.And binding site cross-couplings adjustment of the present invention, has better robustness.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention's many motors cross-couplings synchronous control system first embodiment.
Fig. 2 is the schematic diagram of the present invention's many motors cross-couplings synchronous control system second embodiment.
Fig. 3 is the flow chart of the present invention's many motors cross-couplings synchronisation control means first embodiment.
Fig. 4 is the flow chart of the present invention's many motors cross-couplings synchronisation control means second embodiment.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit 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 to act on workpiece (object), completes corresponding operating.Servo control unit 10 obtains position command from host control device or upper control module, carries out position closed loop process, speed closed loop process and current closed-loop process.Particularly, Position Control subelement 11 deducts value of feedback from position command, obtains position deviation, and this position deviation is multiplied by position gain, carries out position-force control, obtains speed command; Speeds control subelement 12 deducts speed feedback value from above-mentioned speed command, obtains velocity deviation, carries out ratio, integral control uniform velocity closed-loop process, obtains torque instruction (current-order); Current Control subelement 13 deducts current feedback values from above-mentioned torque instruction, carries out current closed-loop process, obtains the voltage instruction of each phase, carries out PWM (pulsewidthmodulation) etc., thus realizes the drived control to motor 14.
As shown in Figure 1, be the schematic diagram of the present invention's many motors cross-couplings synchronous control system first embodiment.In the present embodiment, this system comprises stress mornitoring unit 15 and stress cross-coupling control unit 16, and wherein stress mornitoring unit 15 obtains stress mornitoring value by the strain gauge 17 that two are arranged on two rotating shafts place of gantry beam respectively.Especially, above-mentioned stress mornitoring unit 15 and stress cross-coupling control unit 16 accessible site to one of them servo control unit 10, or also can be positioned at an independently control device be connected to two servo control units 10.
Stress mornitoring unit 15 is for detecting the stress of two rotating shafts place on gantry beam.Stress cross-coupling control unit 16 carries out current compensation for the Current Control subelement of two stress to two servo control units recorded according to stress mornitoring unit.
Control due to servo is delivered to Current Control subelement 13 by Position Control subelement 11 and there is certain time delay, and it is through speeds control subelement 12 indirectly-acting, stress cross-coupling control unit 16 directly can measure the change of two rotating shaft stress load, compensates moment ring.
Above-mentioned stress cross-coupling control unit 16 can comprise a PID and regulate subelement, its offset adopting pid control algorithm calculating current to compensate, that is:
Wherein e (i) is the stress difference of two rotating shafts.Current Control subelement 13 calculates the current offset values of acquisition according to stress cross-coupling control unit 16 and carries out current closed-loop process from the torque instruction of speeds control subelement 12.
As shown in Figure 2, be the schematic diagram of the present invention's many motors cross-couplings synchronous control system second embodiment.In the present embodiment, this system comprises position cross-coupling control unit 28, stress mornitoring unit 25 and stress cross-coupling control unit 26, and wherein stress mornitoring unit 25 obtains stress mornitoring value by the strain gauge 27 that two are arranged on two rotating shafts place of gantry beam respectively.Especially, above-mentioned position cross-coupling control unit 28, stress mornitoring unit 25 and stress cross-coupling control unit 26 accessible site to one of them servo control unit 10, or also can be positioned at an independently control device be connected to two servo control units 10.
Identically with the first embodiment, stress mornitoring unit 25 is for detecting the stress of two rotating shafts place on gantry beam.Stress cross-coupling control unit 26 carries out current compensation for the Current Control subelement 13 of two stress to servo control unit 10 recorded according to stress mornitoring unit.
Position cross-coupling control unit 28 is for carrying out velocity compensation according to the speed control unit 12 of feedback position information (feedback information of such as encoder) to each servo control unit 10 of each rotating shaft be connected with motor 14.This position cross-coupling control unit comprises the 2nd PID and regulates subelement, for using according to the feedback position information of two rotating shafts the offset that pid control algorithm computational speed compensates, that is:
Wherein e (i) is the alternate position spike of two rotating shafts.Speeds control subelement 12 calculates the velocity compensated value of acquisition according to position cross-coupling control unit 28 and carries out ratio, integral control uniform velocity closed-loop process from the speed command of Position Control subelement 11, obtains torque instruction.
In said system, position cross-coupling control unit 28 also comprises alternate position spike judging unit, during for exceeding the maximum limit △ Xlim of setting in the alternate position spike of two rotating shafts, to servo control unit 10 output order, controls two servomotors 14 and shuts down.Above-mentioned △ Xlim is the limiting value of the patient alternate position spike of two rotating shafts, when the alternate position spike of two rotating shafts exceedes this limiting value, gently then damages screw mandrel, more seriously may cause the damage of unrepairable to lathe.Therefore, once the error of two rotating shafts reaches this limiting value, need system alarm be carried out, and control motor stall immediately.
Above-mentioned alternate position spike judging unit also makes the 2nd PID regulate subelement to cancel velocity compensation when the alternate position spike of two rotating shafts is less than safety value △ Xmin.△ Xmin is the safety value of two rotating shaft position differences, by arranging this value, can reduce the amount of calculation of system.When the alternate position spike of two rotating shafts is less than this value, can thinks that two rotating shafts are in synchronous regime, and not need to compensate, now the error of two rotating shafts be saved as the basis calculated next time, to participate in when needing offset value calculation next time calculating.
Above-mentioned maximum limit △ Xlim and safety value △ Xmin can set according to different application scenarioss.The value of usual required precision higher maximum limit △ Xlim and safety value △ Xmin is less.
Above-mentioned position cross-coupling control unit 28 and stress cross-coupling control unit 26 all adopt cross-coupling control mode, namely feedack returns to two servo control units 10 simultaneously, and regulate in two servo control units, considerably increase the efficiency of adjustment. simultaneously
As shown in Figure 3, be the schematic diagram of the present invention's many motors cross-couplings synchronisation control means first embodiment.The method is for realizing the Synchronization Control of two servo control units, and above-mentioned two servo control units are respectively used to control different servo electric machine rotation and each servo control unit comprises position ring, speed ring and electric current loop.The method comprises the following steps:
Step S31: the stress detecting two rotating shafts place on gantry beam.In this step, the strain gauge being arranged on two rotating shafts place of gantry beam by two respectively obtains stress mornitoring value.
Step S32: two stress according to recording carry out current compensation to the electric current loop of two servo control units.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 is according to calculating the current offset values of acquisition and carrying out current closed-loop process from the torque instruction of speed ring.
In the second embodiment of the present invention's many motors cross-couplings synchronisation control means, except comprising above-mentioned steps S31, S32, as shown in Figure 4, further comprising the steps of:
Step S41: the alternate position spike calculating two rotating shafts.The position of each rotating shaft above-mentioned obtains by encoder.
Step S42: judge whether above-mentioned alternate position spike is greater than the maximum limit △ Xlim of setting, if alternate position spike is greater than above-mentioned maximum limit △ Xlim, then performs step S43; Otherwise perform step S44.
Step S43: to servo control unit output order, controls two servomotors and shuts down.
Step S44: judge whether the alternate position spike of two rotating shafts is less than safety value △ Xmin, and perform step S46 when alternate position spike is less than safety value △ Xmin, otherwise perform step S45.
Step S45: carry out velocity compensation by the speed ring of servo control unit.Particularly, the offset that this step uses pid control algorithm computational speed to compensate, 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 by above-mentioned velocity compensated value and from the speed command of position ring, obtains torque instruction.
Step S46: directly the alternate position spike of two rotating shafts saved as the basis calculated next time, to participate in when needing offset value calculation next time calculating, and returns step S41.
The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change 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, for realizing the Synchronization Control of two servo control units, described two servo control units are respectively used to control different servo electric machine rotation and servo control unit described in each comprises Position Control subelement, speeds control subelement and Current Control subelement; It is characterized in that: described system comprises stress mornitoring unit and stress cross-coupling control unit; Described stress mornitoring unit, for detecting the stress of two rotating shafts place on gantry beam, and this stress mornitoring unit obtains stress mornitoring value by the strain gauge that two are arranged on two rotating shafts place of gantry beam respectively; Described stress cross-coupling control unit, compensates for the input of two stress to the Current Control subelement of two servo control units recorded according to described stress mornitoring unit.
2. many motors cross-couplings synchronous control system according to claim 1, it is characterized in that: described stress cross-coupling control unit comprises a PID and regulates subelement, a PID regulates subelement to adopt the offset of pid control algorithm calculating current compensation.
3. many motors cross-couplings synchronous control system according to claim 1 and 2, it is characterized in that: described system also comprises position cross-coupling control unit, for the feedback position information according to each rotating shaft, velocity compensation is carried out to the speed control unit of each servo control unit.
4. many motors cross-couplings synchronous control system according to claim 3, to it is characterized in that: described position cross-coupling control unit comprises the 2nd PID and regulates subelement, for using according to the feedback position information of two rotating shafts the offset that pid control algorithm computational speed compensates.
5. many motors cross-couplings synchronous control system according to claim 3; it is characterized in that: described position cross-coupling control unit comprises alternate position spike judging unit; control two servomotors for making servo control unit when the alternate position spike of two rotating shafts exceedes the maximum limit of setting to shut down, and make cancellation velocity compensation when the alternate position spike of rotating shaft is less than safety value.
6. the synchronisation control means of motor cross-couplings more than a kind, for realizing the Synchronization Control of two servo control units, described two servo control units are respectively used to control different servo electric machine rotation and servo control unit described in each comprises Position Control subelement, speeds control subelement and Current Control subelement; It is characterized in that: said method comprising the steps of:
A () is arranged on the stress of two rotating shafts place on the strain gauge detection gantry beam of two rotating shafts place of gantry beam respectively by two;
B () compensates according to the input of two stress to the electric current loop of two servo control units recorded.
7. multi-motor synchronous control method according to claim 6, is characterized in that: the compensation value calculation of described current compensation adopts pid control algorithm.
8. the many motors cross-couplings synchronisation control means according to claim 6 or 7, is characterized in that: described method also comprises: the feedback position information according to each rotating shaft carries out velocity compensation to the speed ring of each servo control unit.
9. many motors cross-couplings synchronisation control means according to claim 8, is characterized in that: the compensation value calculation of described 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 described velocity compensation: the value judging the alternate position spike of two rotating shafts; make when the value of described alternate position spike exceedes the maximum limit of setting servo control unit control two servomotors to shut down, and cancel velocity compensation when the value of described alternate position spike is less than safety value.
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| CN111824960A (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, control equipment and motor control system |
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Effective date of registration: 20160216 Address after: Wuzhong District Wuzhong Economic Development Zone, Suzhou City, Jiangsu province 215000 Wang Xiang Shan Industrial Park Road on the north side of friends Patentee after: Suzhou Huichuan Technology Co.,Ltd. Patentee after: Shenzhen Inovance Technology Co., Ltd. Address before: Wuzhong District Wuzhong Economic Development Zone, Suzhou City, Jiangsu province 215000 Wang Xiang Shan Industrial Park Road on the north side of friends Patentee before: Suzhou Huichuan Technology Co.,Ltd. Patentee before: Suzhou Monarch Control Technology Co., Ltd. Patentee before: Shenzhen Inovance Technology Co., Ltd. |