CN103269187B - A kind of Dual-motor synchronous control system and control method thereof - Google Patents

Abstract

The invention discloses a kind of Dual-motor synchronous control system and control method thereof, belong to motor in synchrony control technology field.It comprises host computer, the first motor driver, the second motor driver, the first motor, the second motor, the first load, the second load, primary importance transducer and second place transducer, the output of host computer is connected with the first motor driver, the second motor driver respectively, first motor driver, the first motor, the first load, primary importance transducer connect successively, and the second motor driver, the second motor, the second load, second place transducer connect successively; It also comprises position feedback correction-compensation module, and the input termination primary importance transducer of position feedback correction-compensation module and second place transducer, output connects the input of host computer.It can realize low cost, the high accuracy of bi-motor Synchronization Control and easily debug.

Description

A kind of Dual-motor synchronous control system and control method thereof

Technical field

The invention belongs to motor in synchrony control field, more particularly, relating to a kind of system for improving Double Motor Control synchronization accuracy and control method thereof.

Background technology

In bi-motor Synchronization Control, for improving synchronous control accuracy, the method for employing mainly contains two kinds:

1. a motor is adopted to replace two motors to drive, both sides telecontrol equipment is driven to run by transmission long axis, embody rule can see document " the scanning support design of large span and processing technology " (mechanical engineer the 2nd phase handling machinery 2010 (2) P128 ~ P130 in 2010, author: Chemical Meter Factory, Jiangmen City Liu Jian);

2. the control algolithm of advanced complexity is adopted, realize the Synchronization Control to Dual-motors Driving, as document " the bi-motor Synchronization Control based on Generalized Prediction " (electromechanical engineering 2010 (3) P107 ~ P110, author: Zhejiang University, Institute Of Modern Manufacturing Engineering's Sheng Hua etc.); Document " the bi-motor Synchronous motion control research based on PFC algorithm " (" industrial control computer 2011 (8) P52 ~ P54, author: Chongqing communication institute Wang Jing will etc.);

3. by improving the performance of each kinematic axis position ring, reduce the tracking error of each axle, thus improve the synchronization accuracy of system.As document " Dual-motors Driving elevating mechanism motion real-time synchronization control technology " (leak control and check 2009 (9) P60 ~ P63, author: Inst. of Machinery Mfg Technology, Chinese Academy of Engineering Physics Wang second place etc.);

In these three kinds of localization methods, method feature is 1. that synchronization accuracy is high, and be that one has through-drive control method, due to its complex structural designs, cost is high, and current this method seldom uses; Method feature is 2. that synchronization accuracy is debugged according to the actual requirements, and debug process is complicated, high to the requirement of debugging technical staff, has a lot of advanced control method to be in theoretical research stage temporarily at present; 3. method is a kind of synchronisation control means of routine, improve synchronous control accuracy relevant with many factors, owing to being improve bi-motor synchronous control accuracy by improving single shaft control precision, thus comparatively large by extraneous factor (change etc. as load variations, control element) impact, be generally used for the occasion that required precision is not high.

In sum, lack in prior art a kind of have concurrently simultaneously with low cost, synchronization accuracy is high and the Dual-motor synchronous control system that debug process is simple and practical.

Chinese Patent Application No.: 201010614226, the applying date: 2010.12.30, patent name is: double-motor synchronous control device for silicon chip conveying mechanical hand and method thereof, the weak point of this invention is, the method utilizes motor encoder output to obtain alternate position spike as position feedback and speed difference carries out the calculating of cross-couplings algorithm, controls simultaneously, carry out Synchronization Control in conjunction with two motor positions, the controling parameters that needs are adjusted is more, and tuning process is complicated; This cross-coupling control utilizes the feedback of motor encoder, therefore, its doubling must be exported, only can adapt to code segment device interface protocol, meanwhile, as carried out cross-coupling control transformation at existing Dual-motor synchronous control system, to improve synchronization accuracy, then existing hardware system change amount is large, troublesome poeration.

Summary of the invention

1, the problem to be solved in the present invention

Be difficult to have the problem that cost is low, precision is high and easily realize in engineering concurrently for the double-motor synchronous control device existed in prior art and method simultaneously, the invention provides a kind of Dual-motor synchronous control system and control method thereof, it can realize low cost, the high accuracy of bi-motor Synchronization Control and easily debug.

2, technical scheme

General principle of the present invention is: the present invention is based on cross coupling control algorithm, Real-time Collection Dual-motors Driving alternate position spike, by certain control algolithm, compensate the speed of service of bi-motor, thus it is synchronous to realize bi-motor exact position.Simultaneously, the velocity compensation of cross-coupling control is reduced to and compensates and corrects the position feedback of load situation axle by the present invention, thus cross-coupling control is independently gone out Dual-motor synchronous control system, and controling parameters is reduced to one-parameter adjusts, simplify debug process.

Above object is achieved through the following technical solutions:

A kind of Dual-motor synchronous control system, it comprises host computer, the first motor driver, the second motor driver, the first motor, the second motor, the first load, the second load, primary importance transducer and second place transducer, the output of described host computer is connected with the first motor driver, the second motor driver respectively, the first described motor driver, the first motor, the first load, primary importance transducer connect successively, and the second described motor driver, the second motor, the second load, second place transducer connect successively; Described host computer produces the track of motion control, and the first motor driver, the second motor driver control the first motor, the second motor runs, and drive first, second load, and the track that load produces along host computer runs.It also comprises position feedback correction-compensation module, the primary importance transducer described in input termination of described position feedback correction-compensation module and second place transducer, exports the input of the host computer described in termination.

Further, described position feedback correction-compensation module comprises the first encoder input interface, the second encoder input interface, the first encoder output interface, the second encoder output interface and arithmetic element, and described first encoder input interface, the second encoder input interface, the first encoder output interface, the second encoder output interface are connected with described arithmetic element respectively;

Wherein, the first described encoder input interface is connected with described primary importance transducer, the second described encoder input interface is connected with described second place transducer, and the first described encoder output interface, the second encoder output interface access the input of described host computer respectively.The alternate position spike that position feedback correction-compensation module detects according to primary importance transducer, second place transducer carries out correction-compensation by the detected value of control algolithm to primary importance transducer, second place transducer, and sends signal to host computer.

A control method for Dual-motor synchronous control system, the steps include:

A. first proportional integral (PI) conventional parameter that conventional Dual-motor synchronous control system carries out Position Control is adjusted;

B. build described position feedback correction-compensation module, and described position feedback correction-compensation module is connected to the Dual-motor synchronous control system of step (a) according to above-mentioned circuit connecting relation;

C. acquisition parameter X ₁, X ₂, Y ₁and Y ₂and be input to described position feedback correction-compensation module, wherein, the arithmetic element of position feedback correction-compensation module carries out following computing:

Y ₁＝X ₁+K×(X ₁-X ₂)(1)

Y ₂＝X ₂-K×(X ₁-X ₂)(2)

In formula, X ₁for the location feedback value of primary importance transducer, X ₂for the location feedback value of second place transducer, K is the gain of position feedback correction-compensation module, Y ₁be the output valve at the first encoder output interface place, Y ₂it is the output valve at the second encoder output interface place;

D. adopt trial and error procedure adjustment parameter K, increase K value gradually, until concussion appears in Dual-motor synchronous control system;

E. T is solidificated in position feedback correction-compensation module as setting value, so far completes the debugging of debugging Dual-motor synchronous control system, wherein:

T=K/1.5(3)。

Preferably, in described step (a), the open-loop transfer function G of Dual-motor synchronous control system _k(s) be:

G _k(s)＝G _W(s)×G _s(s)×G ₀(s)

Wherein, G _ws transfer function that () is Position Control, G _ss Transmission Function that () is speeds control, G ₀s Transmission Function that () is load.

In described step (b), the open-loop transfer function G of the alternate position spike control of described position feedback correction-compensation module _k1(s) be:

G _k1(s)＝G _W(s)×G _s(s)×G ₀(s)×G _c(s)

Wherein, s is the complex variable of Laplace change, G _cs () is the Transmission Function of position feedback correction-compensation module; The alternate position spike ε being input as primary importance transducer and the detection of second place transducer of position feedback correction-compensation module, exports and compensates the first motor driver and the second motor driver Electric Machine Control speed respectively;

$G_W\left(s\right)=K_1\frac{{\mathrm{\τ}}_{1}s+1}{{\mathrm{\τ}}_1}$ (6)

$G_c\left(s\right)=K_2\frac{{\mathrm{\τ}}_{2}s+1}{{\mathrm{\τ}}_2}$ (7)

$G_c\left(s\right)\×1/G_W\left(s\right)=K_2\frac{{\mathrm{\τ}}_2\left(s\right)+1}{{\mathrm{\τ}}_2}\×\frac{{\mathrm{\τ}}_1}{K_1({\mathrm{\τ}}_{1}s+1)}$ (8)

Wherein, s is the complex variable of Laplace change, K ₁for the proportionality coefficient that Position Control PI corrects, K ₂for the proportionality coefficient that cross-couplings alternate position spike control PI corrects, τ ₁, τ ₂for the PI of position loop corrects integration time constant, τ ₁for the integration time constant that Position Control PI corrects, τ ₂for cross-couplings alternate position spike control PI corrects integration time constant, be simplified control system parameter tuning, in engineering in practice, both orders are equal, then above formula (8) can abbreviation be:

$G_c\left(s\right)\×1/G_W\left(s\right)=K_2\frac{{\mathrm{\τ}}_2\left(s\right)+1}{{\mathrm{\τ}}_2}\×\frac{{\mathrm{\τ}}_1}{K_1({\mathrm{\τ}}_{1}s+1)}$ (9)

＝K ₂/K ₁＝K

Thus obtain feedback compensation computing formula (1), (2) of step (c), so far, cross-coupling control is converted to position compensation correction, compensating approach debugging only need adjust single controling parameters gain K value.

3, beneficial effect

Compared to prior art, the invention has the advantages that:

(1) system of the present invention increases an external position feedback correction-compensation module in the Dual-motor synchronous control system of prior art, and utilize the position feedback interface of original system, do not need hardware composition and the interface of changing original system, thus easily realize in engineering;

(2) system of the present invention is by carrying out closed-loop control to the real time position difference of bi-motor, and thus synchronization accuracy is high; System of the present invention adopts and simplifies controling parameters, makes the parameter tuning process of bi-motor Synchronization Control simply effective;

(4) comparison diagram 4 and Fig. 7 can find out, after increasing position feedback correction-compensation module, primary importance transducer is replaced respectively with the output of position feedback correction-compensation module, the output of second place transducer, primary importance position transducer, the output of second place transducer is as the input of position feedback correction-compensation module, first encoder input interface of position feedback correction-compensation module, interface features design and the primary importance transducer of the second encoder input interface, second place sensor interface is identical, second encoder input interface, interface features design and the primary importance transducer of the first encoder output interface, the output characteristic of second place transducer is identical, former conventional Dual-motor synchronous control system hardware designs is without the need to doing any change, the upgrading to existing Dual-motor synchronous control system can be realized easily, improve its control precision, the output data of position feedback correction-compensation module are primary importance transducers, the measured value of second place transducer has superposed velocity compensation information, therefore the control software design of host computer does not need to do any change yet, thus effectively realizes low cost, the high accuracy of bi-motor Synchronization Control and easily debug.

Accompanying drawing explanation

Fig. 1 is existing Dual-motor synchronous control system composition schematic diagram;

Fig. 2 is Dual-motor synchronous control system of the present invention composition schematic diagram;

Fig. 3 is the structural representation of position feedback correction-compensation module of the present invention;

Fig. 4 is existing Dual-motor synchronous control system transfer function;

Fig. 5 is the Dual-motor synchronous control system transfer function of increase position feedback correction-compensation module of the present invention;

Fig. 6 is the Dual-motor synchronous control system transfer function of cross-coupling control after summing point of the present invention reach;

Fig. 7 is the Dual-motor synchronous control system transfer function of cross-coupling control after abbreviation of the present invention.

In figure: 1, host computer; 2, the first motor driver; 3, the second motor driver; 4, the first motor; 5, the second motor; 6, the first load; 7, the second load; 8, primary importance transducer; 9, second place transducer; 10, position feedback correction-compensation module; 11, the first encoder input interface; 12, the second encoder input interface; 13, the first encoder output interface; 14, the second encoder output interface; 15, arithmetic element.

Embodiment

Technical scheme of the present invention is introduced further below in conjunction with accompanying drawing and specific embodiment.

Embodiment 1

Accompanying drawing 1 is a kind of conventional Dual-motor synchronous control system composition, it comprises host computer 1, and (host computer can be selected as PLC, the controller such as industrial control computer or DSP all can realize, this example selects PLC as host computer 1), first motor driver 2, second motor driver 3, first motor 4, second motor 5, first load 6, second load 7, primary importance transducer 8, second place transducer 9, host computer 1 produces the track of motion control, first motor driver 2, second motor driver 3 controls the first motor 4, second motor 5 runs, and drive the first load 6, the track that second load 7 produces along host computer 1 runs, connection between them is conventional connection, do not repeat them here.

The output data mode of primary importance transducer 8 is that (SSI is synchronous serial encoder interfaces to standard SSI interface, for transmitting absolute value encoder positional value to host computer 1), host computer 1 sends a string clock pulse signal, relevant position data sent by first and second position transducer, in the present invention, published position sensor interface agreement all can realize, as CANOPEN interface etc.

The system composition structure of this example as shown in Figure 2, be add position feedback correction-compensation module 10 (structure is as Fig. 3) on the basis of Fig. 1 circuit structure of prior art, position feedback correction-compensation module 10 is made up of the first encoder input interface 11, second encoder input interface 12, first encoder output interface 13, second encoder output interface 14 and arithmetic element 15.

Position feedback correction-compensation module 10 connects as follows: in conventional Dual-motor synchronous control system (as Fig. 1), first the host computer 1 in fragmentary 1 and primary importance transducer 8, connection between host computer 1 and second place transducer 9, primary importance transducer 8 is connected to the first encoder input interface 11, second place transducer 9 is connected to the second encoder input interface 12, first encoder output interface 13, second encoder output interface 14 respectively with the primary importance transducer 8 in Fig. 1, second place transducer 9 is connected with host computer 1 access point port, by primary importance transducer 8, the signal of second place transducer 9 receives position feedback correction-compensation module 10, with the first encoder output interface 13 of position feedback correction-compensation module 10, second encoder output interface 14 replaces primary importance transducer 8, the signal of second place transducer 9 gives host computer 1.

Position feedback correction-compensation module 10 hardware designs adopts the compositions such as DSP (signal processor) and differential interface chip, be conventional control design, specifically can refer to ZL201020262666.1 and document " encoder SSI agreement and realization " (Xia Xuzhong, volume the 2nd phase April the 29th in 2010, Luoyang Normal College's journal).

Control principle is as follows.

Fig. 4 is the transfer function of conventional Dual-motor synchronous control system, and wherein, s is the complex variable of Laplace change, G _ws transfer function that () is Position Control, G _ss Transmission Function that () is speeds control, G ₀the movement locus function that s Transmission Function that () is load, R (s) produce for host computer; According to control principle, its open-loop transfer function G _k(s) be:

G _k(s)＝G _W(s)×G _s(s)×G ₀(s)。

Fig. 5 adds position feedback correction-compensation link according to cross-coupling control principle on the basis of conventional Dual-motor synchronous control system, carries out closed-loop control to bi-motor alternate position spike, wherein, and G _cs () is the Transmission Function of position feedback correction-compensation module 10; The alternate position spike ε being input as primary importance transducer 8 and second place transducer 9 detection of position feedback correction-compensation module 10, export and compensate the first motor driver 2 and the second motor driver 3 Electric Machine Control speed respectively, transfer function summing point is shown in Fig. 5;

The open-loop transfer function G that alternate position spike controls _k1(s) be:

G _k1(s)＝G _W(s)×G _s(s)×G ₀(s)×G _c(s)。

The open-loop gain K that alternate position spike controls _c2=K × K _c1.

Cross-coupling controller in Fig. 5 is exported summing point and is 1. advanced to summing point 3. according to the inferior principle of plum, in like manner cross-coupling controller in Fig. 5 is exported summing point and be 2. advanced to summing point 4. according to the inferior principle of plum, the summing point that motor driver position coder feeds back first is added with the output of exchange coupling controller simultaneously, thus obtain Fig. 6, export the comprehensive output after the superposition being cross-coupling controller and motor encoder position feedback in the empty frame of Fig. 6;

In Fig. 6:

$G_W\left(s\right)=K_1\frac{{\mathrm{\τ}}_{1}s+1}{{\mathrm{\τ}}_1}$

$G_c\left(s\right)=K_2\frac{{\mathrm{\τ}}_{2}s+1}{{\mathrm{\τ}}_2}$

$G_c\left(s\right)\×1/G_W\left(s\right)=K_2\frac{{\mathrm{\τ}}_2\left(s\right)+1}{{\mathrm{\τ}}_2}\×\frac{{\mathrm{\τ}}_1}{K_1({\mathrm{\τ}}_{1}s+1)}$

Wherein, K ₁for the proportionality coefficient that Position Control PI corrects, K ₂for the proportionality coefficient that cross-couplings alternate position spike control PI corrects, τ ₁, τ ₂all the PI correction integration time constant (τ of position loop ₁for the integration time constant that Position Control PI corrects, τ ₂for cross-couplings alternate position spike control PI corrects integration time constant), for simplifying system control sytsem parameter tuning, in engineering in practice, both orders are equal, then above formula can abbreviation be:

$G_c\left(s\right)\×1/G_W\left(s\right)=K_2\frac{{\mathrm{\τ}}_2\left(s\right)+1}{{\mathrm{\τ}}_2}\×\frac{{\mathrm{\τ}}_1}{K_1({\mathrm{\τ}}_{1}s+1)}$

＝K ₂/K ₁＝K

Fig. 6 is simplified and can obtain Fig. 7, comparison diagram 4 and Fig. 7 can find out, after increasing position feedback correction-compensation module 10, replace the output of primary importance transducer 8, second place transducer 9 respectively with the output of position feedback correction-compensation module 10, the output of primary importance transducer 8, second place transducer 9 is as the input of position feedback correction-compensation module 10.The output data of position feedback correction-compensation module 10 are primary importance transducers 8, the measured value of second place transducer 9 has superposed velocity compensation information, and therefore the control software design of host computer 1 does not need to do any change yet.

Implementation procedure is as follows:

First connect Dual-motor synchronous control system by Fig. 1, the conventional Dual-motor synchronous control system parameter of proportional integral (PI) that line position of going forward side by side controls is adjusted;

Position feedback correction-compensation module 10 is connected in above-mentioned system by Fig. 2, if X ₁for the location feedback value of primary importance transducer 8, if X ₂for the location feedback value of second place transducer 9, if K is the gain of position feedback correction-compensation module 10, Y ₁be the output valve at the first encoder output interface 13 place, Y ₂it is the output valve at the second encoder output interface 14 place; Then from control principle introductory section, the arithmetic element 15 of position feedback correction-compensation module 10 carries out following computing:

Y ₁＝X ₁+K×(X ₁-X ₂)

Y ₂＝X ₂-K×(X ₁-X ₂)

Adopt examination method of gathering to adjust parameter K (0.01) to start to increase gradually, until there is concussion in Dual-motor synchronous control system, this K value is solidificated in cross-coupling control device divided by 1.5 as setting value, so far completes the debugging of debugging bi-motor cross-coupling control system.

Claims (3)

1. the control method of a Dual-motor synchronous control system, use a kind of Dual-motor synchronous control system, it comprises host computer (1), first motor driver (2), second motor driver (3), first motor (4), second motor (5), first load (6), second load (7), primary importance transducer (8) and second place transducer (9), the output of described host computer (1) respectively with the first motor driver (2), second motor driver (3) connects, described the first motor driver (2), first motor (4), first load (6), primary importance transducer (8) connects successively, described the second motor driver (3), second motor (5), second load (7), second place transducer (9) connects successively, it is characterized in that, it also comprises position feedback correction-compensation module (10), the primary importance transducer (8) described in input termination of described position feedback correction-compensation module (10) and second place transducer (9), export the input of the host computer (1) described in termination,

Described position feedback correction-compensation module (10) comprises the first encoder input interface (11), the second encoder input interface (12), the first encoder output interface (13), the second encoder output interface (14) and arithmetic element (15), and described first encoder input interface (11), the second encoder input interface (12), the first encoder output interface (13), the second encoder output interface (14) are connected with described arithmetic element (15) respectively;

Wherein, the first described encoder input interface (11) is connected with described primary importance transducer (8), the second described encoder input interface (12) is connected with described second place transducer (9), and the first described encoder output interface (13), the second encoder output interface (14) access the input of described host computer (1) respectively;

The control method of described Dual-motor synchronous control system, the steps include:

A. first the proportional integral conventional parameter that conventional Dual-motor synchronous control system carries out Position Control is adjusted;

B. build described position feedback correction-compensation module (10), and described position feedback correction-compensation module (10) is connected to the Dual-motor synchronous control system of step (a) according to above-mentioned circuit connecting relation;

C. acquisition parameter X ₁, X ₂, Y ₁and Y ₂and be input to described position feedback correction-compensation module (10), wherein, the arithmetic element (15) of position feedback correction-compensation module (10) carries out following computing:

Y ₁＝X ₁+K×(X ₁-X ₂) (1)

Y ₂＝X ₂-K×(X ₁-X ₂) (2)

In formula, X ₁for the location feedback value of primary importance transducer (8), X ₂for the location feedback value of second place transducer (9), K is the gain of position feedback correction-compensation module (10), Y ₁be the output valve at the first encoder output interface (13) place, Y ₂it is the output valve at the second encoder output interface (14) place;

D. adopt trial and error procedure adjustment parameter K, increase K value gradually, until concussion appears in Dual-motor synchronous control system;

E. T is solidificated in position feedback correction-compensation module (10) as setting value, so far completes the debugging of debugging Dual-motor synchronous control system, wherein:

T＝K/1.5 (3)。

2. the control method of a kind of Dual-motor synchronous control system according to claim 1, is characterized in that, in described step (a), and the open-loop transfer function G of Dual-motor synchronous control system _k(s) be:

G _k(s)＝G _W(s)×G _s(s)×G ₀(s)，

Wherein, G _ws transfer function that () is Position Control, G _ss Transmission Function that () is speeds control, G ₀s Transmission Function that () is load.

3. the control method of a kind of Dual-motor synchronous control system according to claim 2, is characterized in that, in described step (b), and the open-loop transfer function G of the alternate position spike control of described position feedback correction-compensation module (10) _k1(s) be:

G _k1(s)＝G _W(s)×G _s(s)×G ₀(s)×G _c(s)，

Wherein, s is the complex variable of Laplace change, G _cs () is the Transmission Function of position feedback correction-compensation module (10); Position feedback correction-compensation module (10) be input as the alternate position spike ε that primary importance transducer (8) and second place transducer (9) detect, export and respectively the first motor driver (2) and the second motor driver (3) Electric Machine Control speed compensated;

Again according to the inferior principle of plum, following formula can be obtained:

$G_W\left(s\right)=K_1\frac{{\mathrm{\τ}}_{1}s+1}{{\mathrm{\τ}}_1}---\left(6\right)$

$G_c\left(s\right)=K_2\frac{{\mathrm{\τ}}_{2}s+1}{{\mathrm{\τ}}_2}---\left(7\right)$

$G_c\left(s\right)\×1/G_w\left(s\right)=K_2\frac{{\mathrm{\τ}}_2\left(s\right)+1}{{\mathrm{\τ}}_2}\×\frac{{\mathrm{\τ}}_1}{K_1({\mathrm{\τ}}_{1}s+1)}---\left(8\right)$

Wherein, s is the complex variable of Laplace change, K ₁for the proportionality coefficient that Position Control PI corrects, K ₂for the proportionality coefficient that cross-couplings alternate position spike control PI corrects, τ ₁, τ ₂for the PI of position loop corrects integration time constant, τ ₁for the integration time constant that Position Control PI corrects, τ ₂for cross-couplings alternate position spike control PI corrects integration time constant, be simplified control system parameter tuning, in engineering in practice, both orders are equal, then above formula (8) can abbreviation be:

$\begin{array}{c}{G}_c\left(s\right)\×1/G_W\left(s\right)=K_2\frac{{\mathrm{\τ}}_{2}s+1}{{\mathrm{\τ}}_2}\×\frac{{\mathrm{\τ}}_1}{K_1({\mathrm{\τ}}_{1}s+1)}\\ =K_2/K_1=K\end{array}---\left(9\right)$

Thus obtain feedback compensation computing formula (1), (2) of step (c), so far, cross-coupling control is converted to position compensation correction.