CN105159176A - Periodic synchronization position control method for bus type servo driver - Google Patents
Periodic synchronization position control method for bus type servo driver Download PDFInfo
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- CN105159176A CN105159176A CN201510576207.8A CN201510576207A CN105159176A CN 105159176 A CN105159176 A CN 105159176A CN 201510576207 A CN201510576207 A CN 201510576207A CN 105159176 A CN105159176 A CN 105159176A
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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 invention discloses a periodic synchronization position control method for a bus type servo driver, which comprises the steps of establishing a multistage buffer that synchronizes position instruction periodically; setting an initial synchronization position sampling period of the servo driver; pressing a position increment instruction data into a stack of a multistage buffer when the new position increment instruction is sent to the servo driver by a host computer, and passing the multistage buffer pointer P+1 data to an upper cache region address inside the multistage buffer as a whole; reading the position increment instruction data at that time from the multistage buffer when a position ring processing module finishes the position increment instruction of last period, and passing the multistage buffer pointer P-1 data to a lower cache region address inside the multistage buffer as a whole; and detecting and adjusting the synchronization position sampling period of the servo driver on-line at real time. The method has the advantages of fast servo driver instruction response, stable speed operation, strong communication anti-disturbance capability and good application prospect.
Description
Technical field
The present invention relates to automatic control technology field, be specifically related to a kind of periodic synchronous position control method for bus type servo-driver.
Background technology
When the servo-driver periodic sync bit control model of bus type, position curve and rate curve are by host computer plane-generating, the instruction of servo-driver receive periodic sync bit, servo-driver control structure, as shown in Figure 1, servo-driver receives host computer periodic synchronous position command, speed value is obtained according to the increment size in position command cycle and sync bit instruction cycletime differential, but, because the clock reference of host computer and the clock reference of servo-driver exist minor departures, the factors such as communication fluctuation, there is fluctuation in the position command that servo-driver is obtained, also there is fluctuation in the speed value causing differential to obtain, affect the stationarity of servo-drive system motion and the degree of accuracy of control, even easily produce mechanical vibration in some application scenario, there is control accident.
Summary of the invention
Technical matters solved by the invention is that the clock reference of existing host computer and the clock reference of servo-driver exist the factor such as minor departures, communication fluctuation, there is fluctuation in the position command that servo-driver is obtained, also there is fluctuation in the speed value causing differential to obtain, affects the problem of the stationarity of servo-drive system motion and the degree of accuracy of control.Periodic synchronous position control method for bus type servo-driver of the present invention, solve the fluctuation problem of the speed value caused due to factors such as host computer clock reference and servo-driver clock reference minor departures, communication fluctuations, instruction response is fast, the even ripple disable of instruction increment, speed operates steadily, communication Ability of Resisting Disturbance is strong, extensively can use for reference, have a good application prospect based in the kinetic control system of bus marco.
In order to achieve the above object, the technical solution adopted in the present invention is:
For a periodic synchronous position control method for bus type servo-driver, it is characterized in that: comprise the following steps,
Step (1), sets up the multi-level buffer device of periodic synchronous position command in servo-driver, and described multi-level buffer device with first-in first-out mechanism access periodically sync bit increment information, and sets the maximal value of pointer P;
Step (2), arranges the initial synchronisation position sampling cycle of servo-driver, makes the sync bit sampling period be greater than the bus communication synchronizing cycle of 1/2, ensures the processing speed of renewal speed faster than the position ring module in servo-driver of bus communication data;
Step (3), when host computer sends new positional increment instruction to servo-driver by bus, by the storehouse of positional increment director data press-in multi-level buffer device, and by the pointer P+1 of multi-level buffer device, data are overall passes to the upper buffer area address in multi-level buffer device;
Step (4), when the position ring processing module in servo-driver processed after the positional increment instruction in a upper cycle, positional increment director data is now read in multi-level buffer device, by the pointer P-1 of multi-level buffer device, data are overall passes, for ensureing that the position ring processing module in servo-driver obtains the instruction of up-to-date continuous print positional increment to next the buffer area address in multi-level buffer device;
Step (5), along with the time deviation of the position ring processing module in servo-driver and bus communication is accumulated, in multi-level buffer device, the positional increment director data of buffer area can increase, the value of pointer P can increase, in the position command sampling period of the online servo-driver of adjustment in real time, adjustment process is
(1) after pointer P is greater than the maximal value of setting, reduce the sync bit sampling period of servo-driver, the processing speed of position ring module is accelerated, the corresponding minimizing of buffer area positional increment director data in multi-level buffer device;
(2) when pointer P is zero, the sync bit sampling period of servo-driver is recovered to initial value.
The aforesaid periodic synchronous position control method for bus type servo-driver, is characterized in that: the maximal value of step (1) setting pointer P is 8.
The aforesaid periodic synchronous position control method for bus type servo-driver, it is characterized in that: step (2), the initial synchronisation position sampling cycle of servo-driver is set, make the sync bit sampling period be greater than the bus communication synchronizing cycle of 1/2, the deviation of sync bit sampling period and 1/2 bus communication synchronizing cycle is set to 500ns.
The invention has the beneficial effects as follows: the periodic synchronous position control method for bus type servo-driver of the present invention, solve the fluctuation problem of the speed value caused due to factors such as host computer clock reference and servo-driver clock reference minor departures, communication fluctuations, instruction response is fast, the even ripple disable of instruction increment, speed operates steadily, communication Ability of Resisting Disturbance is strong, extensively can use for reference, have a good application prospect based in the kinetic control system of bus marco.
Accompanying drawing explanation
Fig. 1 is the servo-driver periodic synchronous position control mode structural drawing of prior art for bus type servo-driver.
Fig. 2 is the process flow diagram of the periodic synchronous position control method for bus type servo-driver of the present invention.
Fig. 3 is the structural representation setting up multi-level buffer device of the present invention.
Embodiment
Below in conjunction with Figure of description, the present invention is further illustrated.
Periodic synchronous position control method for bus type servo-driver of the present invention, solve the fluctuation problem of the speed value caused due to factors such as host computer clock reference and servo-driver clock reference minor departures, communication fluctuations, instruction response is fast, the even ripple disable of instruction increment, speed operates steadily, and communication Ability of Resisting Disturbance is strong, can extensively use for reference based in the kinetic control system of bus marco, as shown in Figure 2, comprise the following steps
Step (1), the multi-level buffer device of periodic synchronous position command is set up in servo-driver, as shown in Figure 3, described multi-level buffer device is with first-in first-out mechanism access periodically sync bit increment information, and set the maximal value of pointer P, the storage depth of multi-level buffer device can arrange size according to according to the communication fluctuation situation between system, and the maximal value of the pointer P of multi-level buffer device is set to 8 here.
Step (2), the initial synchronisation position sampling cycle of servo-driver is set, the sync bit sampling period is made to be greater than the bus communication synchronizing cycle of 1/2, the position ring resume module cycle is sync bit sampling period of 2 times, ensures the processing speed of renewal speed faster than the position ring module in servo-driver of bus communication data; General upper and lower computer clock jitter is within delicate, and therefore the deviation of sync bit sampling period and 1/2 bus communication synchronizing cycle is set to 500ns.
Step (3), when host computer sends new positional increment instruction to servo-driver by bus, by the storehouse of positional increment director data press-in multi-level buffer device, and by the pointer P+1 of multi-level buffer device, data are overall passes to the upper buffer area address in multi-level buffer device;
Step (4), when the position ring processing module in servo-driver processed after the positional increment instruction in a upper cycle, positional increment director data is now read in multi-level buffer device, by the pointer P-1 of multi-level buffer device, data are overall passes to next the buffer area address in multi-level buffer device, for ensureing that the position ring processing module in servo-driver obtains the instruction of up-to-date continuous print positional increment, do not have the positional increment instruction of losing and upgrading;
Step (5), along with the time deviation of the position ring processing module in servo-driver and bus communication is accumulated, in multi-level buffer device, the positional increment director data of buffer area can increase, the value of pointer P can increase, in the position command sampling period of the online servo-driver of adjustment in real time, adjustment process is
(1) after pointer P is greater than the maximal value of setting, reduce the sync bit sampling period of servo-driver, the processing speed of position ring module is accelerated, the corresponding minimizing of buffer area positional increment director data in multi-level buffer device;
(2) when pointer P is zero, the sync bit sampling period of servo-driver is recovered to initial value.
By the position command sampling period of the online servo-driver of adjustment in real time, effectively can eliminate the fluctuation problem of the position command increment size that the clock reference minor departures due to host computer clock reference and servo-driver causes, servo-driver instruction is responded fast, the even ripple disable of instruction increment, speed operates steadily, and communication Ability of Resisting Disturbance is strong.The method is simple and practical, similar based on the kinetic control system of bus marco in can extensively use for reference.
More than show and describe ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (3)
1., for a periodic synchronous position control method for bus type servo-driver, it is characterized in that: comprise the following steps,
Step (1), sets up the multi-level buffer device of periodic synchronous position command in servo-driver, and described multi-level buffer device with first-in first-out mechanism access periodically sync bit increment information, and sets the maximal value of pointer P;
Step (2), arranges the initial synchronisation position sampling cycle of servo-driver, makes the sync bit sampling period be greater than the bus communication synchronizing cycle of 1/2, ensures the processing speed of renewal speed faster than the position ring module in servo-driver of bus communication data;
Step (3), when host computer sends new positional increment instruction to servo-driver by bus, by the storehouse of positional increment director data press-in multi-level buffer device, and by the pointer P+1 of multi-level buffer device, data are overall passes to the upper buffer area address in multi-level buffer device;
Step (4), when the position ring processing module in servo-driver processed after the positional increment instruction in a upper cycle, positional increment director data is now read in multi-level buffer device, by the pointer P-1 of multi-level buffer device, data are overall passes, for ensureing that the position ring processing module in servo-driver obtains the instruction of up-to-date continuous print positional increment to next the buffer area address in multi-level buffer device;
Step (5), along with the time deviation of the position ring processing module in servo-driver and bus communication is accumulated, in multi-level buffer device, the positional increment director data of buffer area can increase, the value of pointer P can increase, in the position command sampling period of the online servo-driver of adjustment in real time, adjustment process is
(1) after pointer P is greater than the maximal value of setting, reduce the sync bit sampling period of servo-driver, the processing speed of position ring module is accelerated, the corresponding minimizing of buffer area positional increment director data in multi-level buffer device;
(2) when pointer P is zero, the sync bit sampling period of servo-driver is recovered to initial value.
2. the periodic synchronous position control method for bus type servo-driver according to claim 1, is characterized in that: the maximal value of step (1) setting pointer P is 8.
3. the periodic synchronous position control method for bus type servo-driver according to claim 1, it is characterized in that: step (2), the initial synchronisation position sampling cycle of servo-driver is set, make the sync bit sampling period be greater than the bus communication synchronizing cycle of 1/2, the deviation of sync bit sampling period and 1/2 bus communication synchronizing cycle is set to 500ns.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106707876A (en) * | 2017-01-23 | 2017-05-24 | 雅科贝思精密机电(上海)有限公司 | Central network motion controller arrangement method and control system |
| CN111176213A (en) * | 2020-01-06 | 2020-05-19 | 重庆智能机器人研究院 | Position subdivision method and device for bus type servo driver and storage medium |
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| CN100448190C (en) * | 2005-03-04 | 2008-12-31 | 发那科株式会社 | Control system |
| CN102566515A (en) * | 2010-12-09 | 2012-07-11 | 沈阳高精数控技术有限公司 | Data Interoperation method used for bus-based numerical control system |
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| US20130043822A1 (en) * | 2011-08-19 | 2013-02-21 | Oriental Motor Boston Technology Group Incorporated | Method and apparatus for misstep detection and recovery in a stepper motor |
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- 2015-09-11 CN CN201510576207.8A patent/CN105159176B/en active Active
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| CN1516024A (en) * | 1998-02-17 | 2004-07-28 | 国际商业机器公司 | High speed slow storage dynamic word line drive |
| CN100448190C (en) * | 2005-03-04 | 2008-12-31 | 发那科株式会社 | Control system |
| JP2007213113A (en) * | 2006-02-07 | 2007-08-23 | Yaskawa Electric Corp | Numerical control system |
| US8307165B1 (en) * | 2009-07-10 | 2012-11-06 | Nvidia Corporation | Sorting requests to the DRAM for high page locality |
| CN102566515A (en) * | 2010-12-09 | 2012-07-11 | 沈阳高精数控技术有限公司 | Data Interoperation method used for bus-based numerical control system |
| US20130043822A1 (en) * | 2011-08-19 | 2013-02-21 | Oriental Motor Boston Technology Group Incorporated | Method and apparatus for misstep detection and recovery in a stepper motor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106707876A (en) * | 2017-01-23 | 2017-05-24 | 雅科贝思精密机电(上海)有限公司 | Central network motion controller arrangement method and control system |
| CN111176213A (en) * | 2020-01-06 | 2020-05-19 | 重庆智能机器人研究院 | Position subdivision method and device for bus type servo driver and storage medium |
| CN111176213B (en) * | 2020-01-06 | 2021-04-02 | 重庆智能机器人研究院 | Position subdivision method and device for bus type servo driver and storage medium |
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