CN103760788A - Method for realizing position closed-loop controlling by using digital pulse velocity instruction - Google Patents
Method for realizing position closed-loop controlling by using digital pulse velocity instruction Download PDFInfo
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- CN103760788A CN103760788A CN201310492826.XA CN201310492826A CN103760788A CN 103760788 A CN103760788 A CN 103760788A CN 201310492826 A CN201310492826 A CN 201310492826A CN 103760788 A CN103760788 A CN 103760788A
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Abstract
The invention relates to the technical field of a position closed-loop motion control method having advantages of high precision and fast response speed. The provided method comprises the following steps that: (1), a piece of control equipment outputs a velocity instruction that is encoded by using a digital pulse, wherein the pulse frequency indicates a velocity given value; (2), a driver decodes the digital pulse type velocity instruction and realizes velocity controlling; and (3), the control equipment receives position feedback information and controls the velocity instruction outputting based on the information, thereby realizing the position closed-loop mode.
Description
Technical field
The present invention relates to adopt digital type pulse speed command to realize the technical field of the method for position closed loop control.
Background technology
Adopt the instruction of digit pulse output speed, realize full digital position closed loop and control, have advantages of that precision is high, cost is low, antijamming capability is strong.This full digital position closed loop control mode belongs to domestic initiation.
The speed command of traditional location closed loop PID control output is through D/A be converted to-10V～+ 10V voltage, exporting to servo driving carries out A/D conversion and is reduced to velocity amplitude again, due to voltage signal transmission poor anti jamming capability, add the distorted signals in D/A conversion, A/D transfer process, actual speed instruction precision can only reach 0.1% left and right.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of precision higher, response speed adopts digital type pulse speed command to realize the method that position closed loop is controlled faster.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, and comprises the following steps:
1), the instruction of opertaing device output speed adopts digital pulse coding, pulsed frequency indication speed preset value;
2), drivers decode digital pulse type speed command, and the speed that realizes is controlled;
3), opertaing device is accepted position feedback and exports with this control rate instruction, thereby realizing position closed loop.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, and it is the output of two-phase orthogonal pulses or direction output and pulse output that described opertaing device output speed instruction adopts the coded system of digital pulse coding.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, it is 90 degree that two-phase pulse output phase in described two-phase orthogonal pulses output differs, the phase relation of two-phase pulse outlet chamber is determined velocity reversal, and the frequency of two-phase pulse output is determined velocity magnitude.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, servo-driver inbound pacing instruction number word pulse, differentiate that the phase relation of two-phase pulse is defined as the direction of speed preset, the frequency of discriminating two-phase pulse is determined the size of speed.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, and when output encoder is orthogonal pulses, controller, according to the position feedback of topworks, is controlled the phase relation of two-phase pulse and the frequency of two-phase pulse.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, and described direction output and pulse are output as two groups, and direction output level is wherein determined velocity reversal, and pulse output frequency is determined velocity magnitude.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, and during servo-driver inbound pacing instruction number word pulse, differentiates that the level of direction output is defined as the direction of speed preset, and the frequency of discriminating pulse output is determined the size of speed.
Compared with prior art beneficial effect of the present invention is: by above-mentioned setting, can reach precision higher, response speed is object faster.
Embodiment
Below in conjunction with embodiment, the specific embodiment of the present invention is described in further detail.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, and comprises the following steps:
1), the instruction of opertaing device output speed adopts digital pulse coding, pulsed frequency indication speed preset value;
2), drivers decode digital pulse type speed command, and the speed that realizes is controlled;
3), opertaing device is accepted position feedback and exports with this control rate instruction, thereby realizing position closed loop; By above-mentioned setting, can reach precision higher, response speed is object faster.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, and it is the output of two-phase orthogonal pulses or direction output and pulse output that described opertaing device output speed instruction adopts the coded system of digital pulse coding.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, it is 90 degree that two-phase pulse output phase in described two-phase orthogonal pulses output differs, the phase relation of two-phase pulse outlet chamber is determined velocity reversal, and the frequency of two-phase pulse output is determined velocity magnitude.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, servo-driver inbound pacing instruction number word pulse, differentiate that the phase relation of two-phase pulse is defined as the direction of speed preset, the frequency of discriminating two-phase pulse is determined the size of speed.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, and when output encoder is orthogonal pulses, controller, according to the position feedback of topworks, is controlled the phase relation of two-phase pulse and the frequency of two-phase pulse.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled, and described direction output and pulse are output as two groups, and direction output level is wherein determined velocity reversal, and pulse output frequency is determined velocity magnitude.
Employing digital type pulse speed command of the present invention is realized the method that position closed loop is controlled; during servo-driver inbound pacing instruction number word pulse; differentiate that the level of direction output is defined as the direction of speed preset; the frequency of discriminating pulse output is determined the size of speed; do not need D/A and A/D conversion chip; shorten the response time, and reduced hardware cost; Digit pulse speed command transmission antijamming capability is better than analog speed command, has improved velocity control accuracy.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (7)
1. adopt digital type pulse speed command to realize the method that position closed loop is controlled, it is characterized in that, comprise the following steps:
1), the instruction of opertaing device output speed adopts digital pulse coding, pulsed frequency indication speed preset value;
2), drivers decode digital pulse type speed command, and the speed that realizes is controlled;
3), opertaing device is accepted position feedback and exports with this control rate instruction, thereby realizing position closed loop.
2. employing digital type pulse speed command as claimed in claim 1 is realized the method that position closed loop is controlled, it is characterized in that, it is the output of two-phase orthogonal pulses or direction output and pulse output that described opertaing device output speed instruction adopts the coded system of digital pulse coding.
3. employing digital type pulse speed command as claimed in claim 2 is realized the method that position closed loop is controlled, it is characterized in that, it is 90 degree that two-phase pulse output phase in described two-phase orthogonal pulses output differs, the phase relation of two-phase pulse outlet chamber is determined velocity reversal, and the frequency of two-phase pulse output is determined velocity magnitude.
4. employing digital type pulse speed command as claimed in claim 3 is realized the method that position closed loop is controlled, it is characterized in that, servo-driver inbound pacing instruction number word pulse, differentiate that the phase relation of two-phase pulse is defined as the direction of speed preset, the frequency of discriminating two-phase pulse is determined the size of speed.
5. employing digital type pulse speed command as claimed in claim 3 is realized the method that position closed loop is controlled, it is characterized in that, when output encoder is orthogonal pulses, controller, according to the position feedback of topworks, is controlled the phase relation of two-phase pulse and the frequency of two-phase pulse.
6. employing digital type pulse speed command as claimed in claim 2 is realized the method that position closed loop is controlled, it is characterized in that, described direction output and pulse are output as two groups, and direction output level is wherein determined velocity reversal, and pulse output frequency is determined velocity magnitude.
7. employing digital type pulse speed command as claimed in claim 6 is realized the method that position closed loop is controlled, it is characterized in that, during servo-driver inbound pacing instruction number word pulse, differentiate that the level of direction output is defined as the direction of speed preset, the frequency of discriminating pulse output is determined the size of speed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310492826.XA CN103760788A (en) | 2013-10-18 | 2013-10-18 | Method for realizing position closed-loop controlling by using digital pulse velocity instruction |
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| CN201310492826.XA CN103760788A (en) | 2013-10-18 | 2013-10-18 | Method for realizing position closed-loop controlling by using digital pulse velocity instruction |
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| CN103760788A true CN103760788A (en) | 2014-04-30 |
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| CN201310492826.XA Pending CN103760788A (en) | 2013-10-18 | 2013-10-18 | Method for realizing position closed-loop controlling by using digital pulse velocity instruction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104932540A (en) * | 2015-05-08 | 2015-09-23 | 广东技术师范学院 | Servo driver position control method |
Citations (4)
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| US5955861A (en) * | 1997-11-10 | 1999-09-21 | Samsung Electronics Co., Ltd. | Sensorless switched reluctance motor driving apparatus and method thereof |
| CN102945024A (en) * | 2012-10-12 | 2013-02-27 | 中国航空工业空气动力研究院 | Acquisition system and acquisition method for wind tunnel continuous variable-angle movement force measurement data |
| JP2013118745A (en) * | 2011-12-02 | 2013-06-13 | Minebea Motor Manufacturing Corp | Motor drive controller and integrated circuit device |
| CN203119841U (en) * | 2013-02-27 | 2013-08-07 | 东菱技术股份有限公司 | Full-digital AC servo driver |
-
2013
- 2013-10-18 CN CN201310492826.XA patent/CN103760788A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5955861A (en) * | 1997-11-10 | 1999-09-21 | Samsung Electronics Co., Ltd. | Sensorless switched reluctance motor driving apparatus and method thereof |
| JP2013118745A (en) * | 2011-12-02 | 2013-06-13 | Minebea Motor Manufacturing Corp | Motor drive controller and integrated circuit device |
| CN203206178U (en) * | 2011-12-02 | 2013-09-18 | 美蓓亚株式会社 | Motor drive control device and integrated circuit device |
| CN102945024A (en) * | 2012-10-12 | 2013-02-27 | 中国航空工业空气动力研究院 | Acquisition system and acquisition method for wind tunnel continuous variable-angle movement force measurement data |
| CN203119841U (en) * | 2013-02-27 | 2013-08-07 | 东菱技术股份有限公司 | Full-digital AC servo driver |
Non-Patent Citations (1)
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| 郭超: "基于DSP的数字化永磁同步电机位置", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》, 15 December 2011 (2011-12-15) * |
Cited By (1)
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| CN104932540A (en) * | 2015-05-08 | 2015-09-23 | 广东技术师范学院 | Servo driver position control method |
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Application publication date: 20140430 |