CN105137829A - Electric servo control method and system for firebrick pressing skip car - Google Patents
Electric servo control method and system for firebrick pressing skip car Download PDFInfo
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- CN105137829A CN105137829A CN201510469809.3A CN201510469809A CN105137829A CN 105137829 A CN105137829 A CN 105137829A CN 201510469809 A CN201510469809 A CN 201510469809A CN 105137829 A CN105137829 A CN 105137829A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The embodiment of the invention discloses an electric servo control method for a firebrick pressing skip car, and the method comprises the steps that man-machine interaction equipment obtains a target set value of the skip car, and transmitting the target set value to a controller; the controller generates an initial instruction according to the target set value, and outputting the initial instruction to a servo controller; the servo controller generates a control instruction according to the initial instruction, and outputs the control instruction to a servo motor so as to control the rotating speed of the servo motor; the servo motor rotates according to the control instruction; a coder detects a feedback signal in real time and enables the feedback signal to be fed back to the servo controller; and the servo controller enables the feedback signal to be compared with the initial instruction, and adjusts the outputted control instruction. The embodiment of the invention also discloses an electric servo control system for the firebrick pressing skip car. The system provided by the invention replaces a conventional hydraulic control system, effectively simplifies a hydraulic oil path, employs a closed loop mode, improves the control precision, and improves the system response speed and stability.
Description
Technical field
The present invention relates to ceramic equipment manufacturing field, particularly relate to a kind of electrical servo control method for refractory brick press truck and a kind of electrical servo control system for refractory brick press truck.
Background technology
As shown in Figure 1, existing refractory brick press truck uses hydraulic power control system to realize controlling usually, and particularly, hydraulic power control system utilizes oil motor 1 ' as propulsion system, and the rotating speed passing ratio valve 2 ' of oil motor 1 ' controls flow and regulates; Proportioning valve 2 ' front end is provided with oil filter 3 ' and tensimeter 5 ', and wherein, oil filter 3 ' is for filtering the impurity in fluid, and tensimeter 5 ' is for observing the upstream pressure of proportioning valve 2 '; Meanwhile, proportioning valve 2 ' front end is also provided with inserted valve 9 ', and inserted valve 9 ' controls the break-make of truck hydraulic power system, and it is controlled to open and close by solenoid valve 7 ', and solenoid valve 7 ' obtains electric, and inserted valve 9 ' is opened, otherwise closes; Reduction valve 8 ' is equipped with in inserted valve 9 ' rear end, and system pressure can be reduced to the working pressure of applicable oil motor 1 ' by reduction valve 8 ', and oil supply motor 1 ' moves and uses.
Therefore, not enough below the hydraulic power control system ubiquity of existing refractory brick press truck:
(1) structure is too complicated, easily affects by oil state;
(2) oil circuit unavoidably there will be leakage of oil situation, easy contaminated environment;
(3) maintenance is inconvenient, and renewal part needs release to vacuumize, and during maintenance, fluid easily pollutes;
(4) positioning precision is not high enough;
(5) overload capacity is low;
(6), easily there is overshoot in low-response.
Summary of the invention
Embodiment of the present invention technical matters to be solved is, provide a kind of electrical servo control method for refractory brick press truck and system, its precision is high, fast response time, stability are strong.
In order to solve the problems of the technologies described above, embodiments provide a kind of electrical servo control method for refractory brick press truck, comprise: human-computer interaction device obtains the truck target set point that user uploads, and described truck target set point is sent to controller; Described controller generates initial order according to described truck target set point, and exports described initial order to servo controller; Described servo controller generates steering order according to described initial order, and described steering order is exported to servomotor to control the rotating speed of servomotor; Described servomotor produces according to described steering order and rotates to drive truck to move; Scrambler detects feedback signal in real time, and by described feedback signal back to described servo controller; Described feedback signal and initial order are compared by described servo controller, the steering order of regulation output, make to form closed-loop system between described servo controller, servomotor, scrambler.
As the improvement of such scheme, the method that described servo controller generates steering order according to initial order comprises: described servo controller carries out deviation calculating to described initial order, generates deviate; Digital-to-analog conversion process is carried out to described deviate, formation voltage signal; Described voltage signal is carried out amplification process, generate steering order, described steering order is SPWM ripple.
As the improvement of such scheme, feedback signal and initial order are compared by described servo controller, and the method for the steering order of regulation output comprises: feedback signal and initial order are carried out deviation calculating by described servo controller, generate deviate; Digital-to-analog conversion process is carried out to described deviate, formation voltage signal; Described voltage signal is carried out amplification process, generate steering order.
As the improvement of such scheme, described truck target set point is any one in positional value, velocity amplitude, moment values.
As the improvement of such scheme, described servomotor drives truck motion by reductor.
Correspondingly, the embodiment of the present invention additionally provides a kind of electrical servo control system for refractory brick press truck, comprise: human-computer interaction device, controller, servo controller, servomotor and scrambler, described human-computer interaction device, controller, servo controller and servomotor are connected successively, and described scrambler is connected with servo controller and servomotor respectively; The truck target set point that described human-computer interaction device uploads for obtaining user, and described truck target set point is sent to described controller, described truck target set point is any one in positional value, velocity amplitude, moment values; Described controller is used for generating initial order according to described truck target set point, and exports described initial order to described servo controller; Described servo controller is used for generating steering order according to described initial order, and described steering order is exported to described servomotor to control the rotating speed of described servomotor, also for the feedback signal of described scrambler and initial order are compared, the steering order of regulation output; Described servomotor is used for producing according to described steering order rotating to drive truck to move; Described scrambler is used for detecting feedback signal in real time, and by described feedback signal back to described servo controller; Closed-loop system is formed between described servo controller, servomotor, scrambler.
As the improvement of such scheme, described servo controller comprises: offset counter, for carrying out deviation calculating to described initial order, generates deviate; Digital to analog converter; For carrying out digital-to-analog conversion process to described deviate, formation voltage signal; Amplifying circuit, for described voltage signal being carried out amplification process, generate steering order, described steering order is SPWM ripple; Described offset counter, digital to analog converter and amplifying circuit are connected successively.
As the improvement of such scheme, described servo controller also comprises: F/V converter, and described F/V converter one end is connected with described digital to analog converter, and the other end is connected with described scrambler; Pulse frequency multiplier circuit, described pulse frequency multiplier circuit one end is connected with described offset counter, and the other end is connected with described scrambler.
As the improvement of such scheme, described servomotor drives truck motion by reductor.
As the improvement of such scheme, described servomotor is permagnetic synchronous motor.
Implement the embodiment of the present invention, there is following beneficial effect:
The present invention replaces existing hydraulic control system by electrical servo control system, simplifies hydraulic circuit, maintains easily.
Meanwhile, between the servo controller in the present invention, servomotor, scrambler, form closed-loop system, can effectively improve system response time and stability, there is adaptive capacity to environment and the very strong jamproof abilities such as stronger temperature, humidity, vibration.
In addition, the present invention can also regulate the rotating speed of servomotor to regulate speed and the position of truck according to actual pressing process, improves control accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation that existing refractory brick press truck uses hydraulic power control system usually;
Fig. 2 is the first embodiment process flow diagram of the present invention for the electrical servo control method of refractory brick press truck;
Fig. 3 is the second embodiment process flow diagram of the present invention for the electrical servo control method of refractory brick press truck;
Fig. 4 is the structural representation of the present invention for the electrical servo control system of refractory brick press truck;
Fig. 5 is the structural representation of servo controller in Fig. 4.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail.
Fig. 2 is the first embodiment process flow diagram of the present invention for the electrical servo control method of refractory brick press truck, comprising:
S101, human-computer interaction device obtain the truck target set point that user uploads, and described truck target set point is sent to controller.
Described truck target set point is positional value, but is not limited to this, and described truck target set point can also be velocity amplitude or moment values.
User uploads truck target set point according to the actual requirements, and the electrical servo control system for use in refractory brick press truck controls truck, improves control accuracy.
S102, described controller generate initial order according to described truck target set point, and export described initial order to servo controller.
S103, described servo controller generate steering order according to described initial order, and described steering order are exported to servomotor to control the rotating speed of servomotor.
It should be noted that, when truck target set point is positional value, then servo controller adopts position control mode to control servomotor, and now initial order is pulse signal; When truck target set point is velocity amplitude, then servo controller adopts speed control mode to control servomotor, and now initial order is analog quantity voltage signal; When truck target set point is moment values, then servo controller adopts Torque Control Schema control servomotor, and now initial order is analog quantity voltage signal.
S104, described servomotor produce according to described steering order and rotate to drive truck to move.
Described servomotor drives truck motion by reductor, but is not limited thereto.
S105, scrambler detect feedback signal in real time, and by described feedback signal back to described servo controller.
Described feedback signal and initial order are compared by S106, described servo controller, the steering order of regulation output, make to form closed-loop system between described servo controller, servomotor, scrambler.
It should be noted that, in step S106, after the steering order of regulation output, jump to step S103 and make the closed loop configuration that between step S103 ~ S106, formation one is complete, make to form closed-loop system between described servo controller, servomotor, scrambler.
Particularly, the present invention monitors the position of truck in real time by human-computer interaction device, user can upload truck target set point according to the actual requirements, controller sends initial order to servo controller according to truck target set point, servo controller controls the rotation of servomotor, the feedback information detected in real time is fed back to servo controller, from having formed a closed-loop system completed by scrambler simultaneously.
Fig. 3 is the second embodiment process flow diagram of the present invention for the electrical servo control method of refractory brick press truck, comprising:
S201, human-computer interaction device obtain the truck target set point that user uploads, and described truck target set point is sent to controller.
Described truck target set point is positional value, but is not limited to this, and described truck target set point can also be velocity amplitude or moment values.
User uploads truck target set point according to the actual requirements, and the electrical servo control system for use in refractory brick press truck controls truck.
S202, described controller generate initial order according to described truck target set point, and export described initial order to servo controller.
S203, described servo controller carry out deviation calculating to described initial order, generate deviate.
S204, digital-to-analog conversion process is carried out to described deviate, formation voltage signal.
S205, described voltage signal carried out amplification process, generate steering order.
Described steering order is SPWM ripple.
S206, export described steering order to servomotor to control the rotating speed of servomotor.
It should be noted that, when truck target set point is positional value, then servo controller adopts position control mode to control servomotor, and now initial order is pulse signal; When truck target set point is velocity amplitude, then servo controller adopts speed control mode to control servomotor, and now initial order is analog quantity voltage signal; When truck target set point is moment values, then servo controller adopts Torque Control Schema control servomotor, and now initial order is analog quantity voltage signal.
S207, described servomotor produce according to described steering order and rotate to drive truck to move.
Described servomotor drives truck motion by reductor, but is not limited thereto.
S208, scrambler detect feedback signal in real time, and by described feedback signal back to described servo controller.
Feedback signal and initial order are carried out deviation calculating by S209, described servo controller, generate deviate.
It should be noted that, in step S209, after generating deviate, jump to step S203 and make the closed loop configuration that between step S203 ~ S209, formation one is complete, make to form closed-loop system between described servo controller, servomotor, scrambler.
Particularly, controller exports initial order to servo controller, carry out the calculation process such as deviation calculating, digital-to-analog conversion, amplification process through servo controller after, export steering order to control servomotor, feedback signal then compares with initial order by scrambler simultaneously, then according to the steering order that bias adjustment exports.
Such as, when initial order is 1 pulse, the operational process of closed loop configuration is as follows:
(1) initial order is after deviation calculates, and generates deviate+1;
(2), after deviate+1 carries out digital-to-analog conversion process, corresponding voltage is changed into;
(3), after voltage carries out amplification process, produce steering order (i.e. SPWM ripple) and drive servomotor to rotate;
(4) scrambler produces corresponding rotation with servomotor, detects that feedback signal is 1 pulse oscillating;
(5) 1 pulse oscillatings carry out deviation calculating in feed back input to servo controller again, now original deviate+1 are deducted 1 pulse oscillating, make up-to-date deviate be 0;
(6), after deviate 0 carries out digital-to-analog conversion process, change corresponding voltage 0V into, therefore, amplifier makes servomotor stop;
(7) location of 1 pulse is completed.
As from the foregoing, the present invention replaces existing hydraulic power control method by electrical servo control method, simplify hydraulic circuit significantly, improve system response time and stability, the rotating speed of servomotor can also be regulated to regulate speed and the position of truck according to actual pressing process, improve control accuracy.
As shown in Figure 4, Fig. 4 shows the structural representation of a kind of electrical servo control system 100 for refractory brick press truck of the present invention, comprise human-computer interaction device 1, controller 2, servo controller 3, servomotor 4 and scrambler 5, described human-computer interaction device 1, controller 2, servo controller 3 and servomotor 4 are connected successively, and described scrambler 5 is connected with servo controller 3 and servomotor 4 respectively.
The truck target set point that described human-computer interaction device 1 uploads for obtaining user, and described truck target set point is sent to described controller 2.
Described controller 2 for generating initial order according to described truck target set point, and exports described initial order to described servo controller 3.
Described servo controller 3 is for generating steering order according to described initial order, and described steering order is exported to described servomotor 4 to control the rotating speed of described servomotor 4, also for the feedback signal of described scrambler 5 and initial order are compared, the steering order of regulation output.
Described servomotor 4 rotates for producing according to described steering order to drive truck to move.Described servomotor is permagnetic synchronous motor, but not as restriction.Particularly, described servomotor 4 drives truck motion by reductor, but not as restriction.
Described scrambler 5 for detecting feedback signal in real time, and by described feedback signal back to described servo controller.
Described truck target set point is positional value, but is not limited to this, and described truck target set point can also be velocity amplitude or moment values.User uploads truck target set point according to the actual requirements, and the electrical servo control system 100 pairs of trucks for use in refractory brick press truck control.
It should be noted that, when truck target set point is positional value, then servo controller 3 adopts position control mode to control servomotor 4, and now initial order is pulse signal; When truck target set point is velocity amplitude, then servo controller 3 adopts speed control mode to control servomotor 4, and now initial order is analog quantity voltage signal; When truck target set point is moment values, then servo controller 3 adopts Torque Control Schema control servomotor 4, and now initial order is analog quantity voltage signal.
As from the foregoing, the present invention monitors the position of truck in real time by human-computer interaction device 1, user can upload truck target set point according to the actual requirements, controller 2 sends initial order to servo controller 3 according to truck target set point, servo controller 3 controls the rotation of servomotor 4, the feedback information detected in real time is fed back to servo controller 3 by scrambler 5 simultaneously, thus makes the closed-loop system that between servo controller 3, servomotor 4, scrambler 5, formation one is complete.
As shown in Figure 5, described servo controller 3 comprises:
Offset counter 31, for carrying out deviation calculating to described initial order, generates deviate.
Digital to analog converter 32; For carrying out digital-to-analog conversion process to described deviate, formation voltage signal.
Amplifying circuit 33, for described voltage signal being carried out amplification process, generate steering order, described steering order is SPWM ripple.
Described offset counter 31, digital to analog converter 32 and amplifying circuit 33 are connected successively.
During work, controller 2 exports initial order to servo controller 3, after offset counter 31 through servo controller inside, digital to analog converter 32, amplifying circuit 33 carry out the calculation process such as deviation calculating, digital-to-analog conversion, amplification process successively, export steering order to control servomotor, feedback signal then compares with initial order by scrambler simultaneously, then according to the steering order that bias adjustment exports.
Such as, when initial order is 1 pulse, the operational process of closed loop configuration is as follows:
(1) controller 2 exports 1 initial order to servo controller 3, and the deviate of offset counter 31 is+1;
(2), after digital to analog converter 32 pairs of deviates+1 carry out digital-to-analog conversion process, corresponding voltage is changed into;
(3), after amplifying circuit 33 pairs of voltages carry out amplification process, produce steering order (i.e. SPWM ripple) and drive servomotor to rotate;
(4) scrambler produces corresponding rotation with servomotor, detects that feedback signal is 1 pulse oscillating;
(5) 1 pulse oscillatings again feed back input carry out deviation calculating to the offset counter 31 in servo controller, now original deviate+1 are deducted 1 pulse oscillating, make up-to-date deviate be 0;
(6) deviate 0 is after digital to analog converter 32 carries out digital-to-analog conversion process, and change corresponding voltage 0V into, therefore, amplifying circuit 33 makes servomotor stop;
(7) location of 1 pulse is completed.
Further, described servo controller 3 also comprises:
F/V converter 34, described F/V converter 34 one end is connected with described digital to analog converter 32, and the other end is connected with described scrambler 5.
Pulse frequency multiplier circuit 35, described pulse frequency multiplier circuit 35 one end is connected with described offset counter 31, and the other end is connected with described scrambler 5.
It should be noted that, the present invention adopts closed loop control mode.Wherein, Figure 4 shows that position-force control pattern, position closed loop control pattern is the three closed-loop control system be made up of a position ring and speed ring, an electric current loop, (1) offset counter 31, data transformations device 32, amplifying circuit 33, servomotor 4, scrambler 5 and pulse frequency multiplier circuit 35 forming position ring; (2) in figure, M place forms electric current loop; (3) amplifying circuit 33, servomotor 4, scrambler 5, F/V converter 34 form speed ring.
As from the foregoing, the present invention replaces existing hydraulic control system by electrical servo control system, simplifies hydraulic circuit significantly, maintains easily, improve system response time and stability, there is adaptive capacity to environment and the very strong jamproof abilities such as stronger temperature, humidity, vibration; In addition, by closed loop mode, respond fast, the rotating speed of servomotor can also be regulated to regulate speed and the position of truck according to actual pressing process, improve control accuracy.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications are also considered as protection scope of the present invention.
Claims (10)
1., for an electrical servo control method for refractory brick press truck, it is characterized in that, comprising:
Human-computer interaction device obtains the truck target set point that user uploads, and described truck target set point is sent to controller;
Described controller generates initial order according to described truck target set point, and exports described initial order to servo controller;
Described servo controller generates steering order according to described initial order, and described steering order is exported to servomotor to control the rotating speed of servomotor;
Described servomotor produces according to described steering order and rotates to drive truck to move;
Scrambler detects feedback signal in real time, and by described feedback signal back to described servo controller;
Described feedback signal and initial order are compared by described servo controller, the steering order of regulation output, make to form closed-loop system between described servo controller, servomotor, scrambler.
2. as claimed in claim 1 for the electrical servo control method of refractory brick press truck, it is characterized in that, the method that described servo controller generates steering order according to initial order comprises:
Described servo controller carries out deviation calculating to described initial order, generates deviate;
Digital-to-analog conversion process is carried out to described deviate, formation voltage signal;
Described voltage signal is carried out amplification process, generate steering order, described steering order is SPWM ripple.
3., as claimed in claim 2 for the electrical servo control method of refractory brick press truck, it is characterized in that, feedback signal and initial order are compared by described servo controller, and the method for the steering order of regulation output comprises:
Feedback signal and initial order are carried out deviation calculating by described servo controller, generate deviate;
Digital-to-analog conversion process is carried out to described deviate, formation voltage signal;
Described voltage signal is carried out amplification process, generate steering order.
4. as claimed in claim 1 for the electrical servo control method of refractory brick press truck, it is characterized in that, described truck target set point is any one in positional value, velocity amplitude, moment values.
5. as claimed in claim 1 for the electrical servo control method of refractory brick press truck, it is characterized in that, described servomotor drives truck motion by reductor.
6. the electrical servo control system for refractory brick press truck, it is characterized in that, comprise human-computer interaction device, controller, servo controller, servomotor and scrambler, described human-computer interaction device, controller, servo controller and servomotor are connected successively, and described scrambler is connected with servo controller and servomotor respectively;
The truck target set point that described human-computer interaction device uploads for obtaining user, and described truck target set point is sent to described controller, described truck target set point is any one in positional value, velocity amplitude, moment values;
Described controller is used for generating initial order according to described truck target set point, and exports described initial order to described servo controller;
Described servo controller is used for generating steering order according to described initial order, and described steering order is exported to described servomotor to control the rotating speed of described servomotor, also for the feedback signal of described scrambler and initial order are compared, the steering order of regulation output;
Described servomotor is used for producing according to described steering order rotating to drive truck to move;
Described scrambler is used for detecting feedback signal in real time, and by described feedback signal back to described servo controller;
Closed-loop system is formed between described servo controller, servomotor, scrambler.
7., as claimed in claim 6 for the electrical servo control system of refractory brick press truck, it is characterized in that, described servo controller comprises:
Offset counter, for carrying out deviation calculating to described initial order, generates deviate;
Digital to analog converter; For carrying out digital-to-analog conversion process to described deviate, formation voltage signal;
Amplifying circuit, for described voltage signal being carried out amplification process, generate steering order, described steering order is SPWM ripple;
Described offset counter, digital to analog converter and amplifying circuit are connected successively.
8., as claimed in claim 7 for the electrical servo control system of refractory brick press truck, it is characterized in that, described servo controller also comprises:
F/V converter, described F/V converter one end is connected with described digital to analog converter, and the other end is connected with described scrambler;
Pulse frequency multiplier circuit, described pulse frequency multiplier circuit one end is connected with described offset counter, and the other end is connected with described scrambler.
9. as claimed in claim 6 for the electrical servo control system of refractory brick press truck, it is characterized in that, described servomotor drives truck motion by reductor.
10., as claimed in claim 6 for the electrical servo control system of refractory brick press truck, it is characterized in that, described servomotor is permagnetic synchronous motor.
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| CN201510469809.3A CN105137829B (en) | 2015-08-04 | 2015-08-04 | A kind of electrical servo control method and system for refractory brick press truck |
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| CN201510469809.3A CN105137829B (en) | 2015-08-04 | 2015-08-04 | A kind of electrical servo control method and system for refractory brick press truck |
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| CN108799213A (en) * | 2018-07-27 | 2018-11-13 | 佛山市恒力泰机械有限公司 | A kind of security system and method for refractory brick automatic hydraulic press |
| CN109028097A (en) * | 2018-06-28 | 2018-12-18 | 光大环保技术研究院（深圳）有限公司 | It is a kind of for being fed the control system of fire grate |
| CN109719991A (en) * | 2018-12-18 | 2019-05-07 | 博众精工科技股份有限公司 | A kind of pressing device and compress control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109028097A (en) * | 2018-06-28 | 2018-12-18 | 光大环保技术研究院（深圳）有限公司 | It is a kind of for being fed the control system of fire grate |
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| CN109719991A (en) * | 2018-12-18 | 2019-05-07 | 博众精工科技股份有限公司 | A kind of pressing device and compress control method |
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| Publication number | Publication date |
|---|---|
| CN105137829B (en) | 2018-09-14 |
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