CN102882470A - Torque motor wide range speed regulation numerical control device and control method thereof - Google Patents
Torque motor wide range speed regulation numerical control device and control method thereof Download PDFInfo
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- CN102882470A CN102882470A CN2012104347337A CN201210434733A CN102882470A CN 102882470 A CN102882470 A CN 102882470A CN 2012104347337 A CN2012104347337 A CN 2012104347337A CN 201210434733 A CN201210434733 A CN 201210434733A CN 102882470 A CN102882470 A CN 102882470A
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Abstract
The invention discloses a torque motor wide range speed regulation numerical control device and a control method thereof. The control device comprises a numerical control computer, a digital/analog conversion module, a power driving module, a torque motor, a coupler, a mechanical load, a photoelectric encoder and a high-speed counting module, which are sequentially connected in a clockwise direction to form a ring. The control method comprises the steps as follows: initializing an integrator, reading a speed numerical instruction signal and a speed numerical feedback signal, and obtaining an error signal by comparing the speed numerical instruction signal and the speed numerical feedback signal; obtaining an integral product through that errors are accumulated, integrated and multiplied by integral coefficient; obtaining a PDF product through that the speed numerical feedback signal is multiplied by PDF coefficient; and obtaining a numerical quantity difference value through the PDF product is subtracted from the integral product, obtaining an analog quantity control signal by executing digital/analog conversion of the difference value, and controlling a speed regulation executing mechanism via the power driving module, thereby ensuring the favorable performance of speed regulation in a wide range.
Description
Technical field:
The present invention relates to a kind of torque motor digital speed-control device, particularly a kind of torque motor wide region numerical control device and control method.
Background technology:
The torque motor speed governing often runs in many plant equipment and weaponry, in order to obtain the lower speed of service of mechanical load, and must the configuration deceleration device between torque motor and the mechanical load.Like this, not only increase the cost of speed regulating device, and increased the volume and weight of speed regulating device.Even in the situation of configuration deceleration device; torque motor speed regulating device performance when low cruise is still unstable, particularly when extremely low speed moves, because load variations or external interference; often can occur can not continuous and stable the situation of operation, i.e. so-called creeping phenomenon.
In order to obtain good speed adjusting function, the torque motor speed regulating device must adopt speed-regulating control device.That is to say, in the mechanized equipment speed of moving component after testing sensor feedback to the speed regulating device input, compare the generation error signal with the speed-regulating instruction signal, and then by speed setting controller error signal is carried out sending control signal behind the control algorithm, the speed of moving component is implemented control.Yet, even adopt now widely used feedback or other so-called modern control method, though the torque motor speed adjusting performance can obtain certain improvement, still can not even running when low speed, in load change or external interference situation, creeping phenomenon is comparatively obvious especially.
Raising along with running precision, response speed and the automaticity of various plant equipment and weaponry has proposed more and more higher requirement to the torque motor speed adjusting performance.Current widely used general feedback control method can not meet the demands, particularly can't satisfy the performance requirement under low speed or the utmost point low cruise condition.In order to guarantee that torque motor can not only run well under high-speed case, and also can smooth operation in low speed and utmost point low speed situation, realizable force torque motor its speed in without the reducing gear situation adopts new speed regulating device imperative zero to thousands of purposes of can stable and continuous regulating that turn in the wide region.Particularly condition has been created in the enforcement that appears as the digital speed-control device of computer, and how the torque motor speed regulating device adopt digital computer to carry out digital control is one of problem to be solved.
In the torque motor digital speed-control device, in order to realize wide-range-timing, particularly even running in low speed or utmost point low speed situation, digital control computer how to realize novel control algorithm method could obtain good speed adjusting performance be in the prior art problems to be solved two, also be key issue to be solved by this invention place.
Summary of the invention:
The objective of the invention is for above-mentioned problems of the prior art and defective, for widening the torque motor speed adjustable range, further improve the performance of speed regulating device, provide a kind of novelty and easy torque motor wide-range-timing numerical control device and control method thereof by digital control computer control.
In order to achieve the above object, the present invention realizes that the technical scheme that purpose is taked is:
A kind of torque motor wide-range-timing numerical control device, be comprised of digital control computer, D/A switch module, power driver module, speed governing actuator, photoelectric encoder and high speed counting module, wherein said speed governing actuator is comprised of torque motor, coupling and mechanical load; Described digital control computer, D/A switch module, power driver module, torque motor, coupling, mechanical load, photoelectric encoder are connected clockwise direction annular and are connected with high speed counting module.
In order to achieve the above object, another technical solution used in the present invention is:
The control method of a kind of torque motor wide-range-timing numerical control device of the present invention comprises the following steps:
(1) initialization integrator is to the integrator zero clearing;
(2) reading speed digital command signal value;
(3) gather the speed numeral feedback signal value of being sent here by photoelectric encoder;
(4) number of speed word instruction signal value and speed numeral feedback signal value is compared obtain error signal value;
(5) with the cumulative integration of error signal value;
(6) integration that will add up multiply by integral coefficient and gets the integration product;
(7) speed numeral feedback signal value be multiply by the PDF coefficient and get the PDF product;
(8) described integration product is deducted the PDF product and get difference;
(9) described difference and the corresponding bound digital quantity of computer D/A switch are differentiated and handled accordingly;
(10) described difference is carried out D/A switch and obtain analog quantity control signal value, and turn back to step (2);
(11) described analog quantity control signal value is input to power driver module.
Advantage of the present invention and beneficial effect are:
(1) torque motor wide-range-timing numerical control device of the present invention is simple in structure, and the control algorithm method that adopts is unusual, not only realizes the feedback of speed governing variable speed, and has realized rate of change---the feedback of acceleration of speed governing variable speed.Realized the feedback of speed governing variable two states information.But only use a photoelectric encoder, need not other detecting sensor, not only convenient and easy in engineering construction, and save cost.
(2) the present invention torque motor and with mechanical load between without any need for reduction box, can realize regulating continuously in the wide region that zero rotating speed to per minute several thousand turns.Low speed and utmost point low cruise are very steady, without creeping phenomenon.
(3) owing to novelty and the distinctive feature of this torque motor wide region numerical control device and control method, not only widened the speed adjustable range of torque motor, and improved the Static and dynamic performance of speed regulating device.Static accuracy can reach floating, in the time of dynamically for the step instantaneous mutation of speed command signal, its response time shortening and non-overshoot and vibration, dynamically tracking accuracy is high; For the interference of external environment and the variation of the parameter of mechanical load own, the speed adjusting performance of torque motor speed regulating device changes insensitive.
Description of drawings
Fig. 1 is that the torque motor wide-range-timing numerical control device of the embodiment of the invention consists of block diagram;
Fig. 2 is the torque motor wide-range-timing digital control method flow chart of the embodiment of the invention.
Embodiment:
In order to deepen the understanding of the present invention, further be described in detail below in conjunction with accompanying drawing 1 and 2 pairs of specific embodiments of the invention of accompanying drawing.
As shown in Figure 1, be the torque motor wide-range-timing numerical control device formation block diagram of the embodiment of the invention.This torque motor wide-range-timing numerical control device, by digital control computer 110, D/A switch module 120, power driver module 130, speed governing actuator 140, photoelectric encoder 150 and high speed counting module 160 form, and described speed governing actuator 140 is comprised of torque motor 141, coupling 142 and mechanical load 143; Described digital control computer 110, D/A switch module 120, power driver module 130, torque motor 141, coupling 142, mechanical load 143, photoelectric encoder 150 are connected according to the order of sequence the clockwise direction annular and are connected with high speed counting module, form the feedback device of closed loop.
As shown in Figure 2, be the torque motor wide-range-timing digital control method flow chart of the embodiment of the invention, described digital control method step is as follows:
(1) step 110 pair integrator carries out initialization process, to integrator zero clearing, i.e. INT=0;
(2) step 120 reading speed digital command signal value ω R;
(3) step 130 gathers the speed numeral feedback signal value ω F that is sent here by photoelectric encoder;
(4) step 140 compares number of speed word instruction signal value and speed numeral feedback signal value and obtains error signal value, i.e. ER=ω R-ω F;
(5) add up integration, i.e. INT=INT+ER of step 150 pair error signal value;
(6) step 160 pair cumulative integration multiply by integral coefficient Ki and gets integration product P1=INT*Ki;
(7) step 170 pair speed numeral feedback signal value multiply by PDF COEFFICIENT K f and gets PDF product P2=ω f*Kf;
(8) step 180 deducts PDF product P2 with integration product P1 and obtains difference M=P1-P2;
(9) step 190 is differentiated difference M and the corresponding bound digital quantity of computer D/A switch and is handled accordingly to 220;
(10) step 230 converts the digital quantity signal value of difference M to the analog signals value, and workflow turns back to again step 120 simultaneously, and so circulation is constantly carried out controlling run to the torque motor speed regulating device;
(11) step 240 is input to power driver module with analog quantity control signal value.
Torque motor wide-range-timing numerical control device provided by the present invention and control method, need not reducing gear, realized that not only torque motor turns adjustable continuously in the scope from zero to per minute several thousand, and no matter at a high speed guarantee, can both even running in low speed or the utmost point low speed situation, have good static properties and dynamic property.
Claims (2)
1. torque motor wide-range-timing numerical control device, it is characterized in that: this control device is comprised of digital control computer, D/A switch module, power driver module, speed governing actuator, photoelectric encoder and high speed counting module, and wherein said speed governing actuator is comprised of torque motor, coupling and mechanical load; Described digital control computer, D/A switch module, power driver module, torque motor, coupling, mechanical load, photoelectric encoder are connected clockwise direction annular and are connected with high speed counting module.
2. the control method of a torque motor wide-range-timing numerical control device as claimed in claim 1 is characterized in that: comprise the steps:
(1) initialization integrator is to the integrator zero clearing;
(2) reading speed digital command signal value;
(3) gather the speed numeral feedback signal value of being sent here by photoelectric encoder;
(4) number of speed word instruction signal value and speed numeral feedback signal value is compared obtain error signal value;
(5) with the cumulative integration of error signal value;
(6) integration that will add up multiply by integral coefficient and gets the integration product;
(7) speed numeral feedback signal value be multiply by the PDF coefficient and get the PDF product;
(8) described integration product is deducted the PDF product and obtain difference;
(9) described difference and the corresponding bound digital quantity of computer D/A switch are differentiated and handled accordingly;
(10) described difference is carried out D/A switch and obtain analog quantity control signal value, and turn back to step (2);
(11) analog quantity control signal value is input to power driver module.
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| CN2012104347337A CN102882470A (en) | 2012-11-02 | 2012-11-02 | Torque motor wide range speed regulation numerical control device and control method thereof |
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Cited By (2)
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| CN103684147A (en) * | 2013-12-06 | 2014-03-26 | 江苏科技大学 | Continuous current dynamo speed derivative feedback control device and method |
| CN104362913A (en) * | 2014-11-27 | 2015-02-18 | 哈尔滨金都太阳能科技有限公司 | Speed control device of small-power direct current torque motor |
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| JP2004201383A (en) * | 2002-12-17 | 2004-07-15 | Yaskawa Electric Corp | Control method and device for motor speed |
| CN101394147A (en) * | 2008-09-12 | 2009-03-25 | 江苏科技大学 | DC motor speed control device and method |
| CN101499755A (en) * | 2008-10-31 | 2009-08-05 | 江苏科技大学 | PID control system for DC motor speed and control method thereof |
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| JP2004201383A (en) * | 2002-12-17 | 2004-07-15 | Yaskawa Electric Corp | Control method and device for motor speed |
| CN101394147A (en) * | 2008-09-12 | 2009-03-25 | 江苏科技大学 | DC motor speed control device and method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103684147A (en) * | 2013-12-06 | 2014-03-26 | 江苏科技大学 | Continuous current dynamo speed derivative feedback control device and method |
| CN103684147B (en) * | 2013-12-06 | 2016-06-22 | 江苏科技大学 | DC generator speed Derivative Feedback controls apparatus and method |
| CN104362913A (en) * | 2014-11-27 | 2015-02-18 | 哈尔滨金都太阳能科技有限公司 | Speed control device of small-power direct current torque motor |
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Application publication date: 20130116 |