CN105305921A - Position feedback self-adaption correction method of motor encoder and servo driver of motor encoder - Google Patents
Position feedback self-adaption correction method of motor encoder and servo driver of motor encoder Download PDFInfo
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Abstract
The invention relates to the control technical field of servo motors, and discloses a position feedback self-adaption correction method of a motor encoder and a servo driver of the motor encoder. The method comprises the following steps: the servo driver periodically sends a request data frame for requesting the current position of the motor rotor to the encoder; the servo driver judges whether the feedback information carried by the feedback data frame is correctly transmitted data or not; if the feedback information is not the correctly transmitted data, the servo drivers estimates the current motor rotor position according to the accelerated speed and the speed of the motor rotor detected in the front N periods, and the motor rotor position detected in the last period, and takes the calculated position as the motor rotor position detected by the current period, wherein the N is an integer greater than two. Therefore, the problems in the closed loop control precision caused by the wrong request data frame of the servo driver and the wrong feedback information from the encoder and the like due to the onsite environment is solved, and the problems of the overcurrent of the motor and the machine damage and the like caused by the damaged closed loop control precision are further avoided.
Description
Technical field
The present invention relates to Serve Motor Control technical field, particularly a kind of position feedback self-adapting correction method of motor encoder and servo-driver thereof.
Background technology
Permanent-magnet servo motor system has excellent dynamic quality and higher reliability, has vast potential for future development.In the control procedure of servomotor, the control to the position, rotating speed etc. of motor is realized by closed-loop control, and the speed of servo-driver, position-force control form closed loop with encoder, compared by given position and the actual position measured of encoder, then self-correcting is carried out to reach accurate control in servo-driver inside.But, conventional serial communication encoder is at the scene owing to being subject to radiation and conducted interference, the request msg of encoder and feedback data can make a mistake or admission control, if this thing happens, then closed-loop control precision will be affected, and will cause the problem such as over current of motor, mechanical failure time serious.
Summary of the invention
The object of the present invention is to provide a kind of position feedback self-adapting correction method and servo-driver thereof of motor encoder, thus the closed-loop control precision problem that the request data frame of servo-driver overcome because site environment causes and the feedback information mistake etc. of encoder cause, and then avoid the over current of motor, mechanical failure etc. that cause because closed-loop control precision is damaged.
For solving the problems of the technologies described above, embodiments of the present invention provide a kind of position feedback self-adapting correction method of motor encoder, comprise following steps: servo-driver periodically sends the request data frame for asking rotor current location to encoder; Described servo-driver judges whether the feedback information entrained by feedback data frame received is the correct data transmitted; If be not the data of correct transmission, then according to top n cycle detection to the motor rotor position that arrives of the acceleration of rotor, speed and previous cycle detection, estimation current motor rotor-position, and using motor rotor position that the position calculated detected as this cycle, wherein, described N be greater than 2 integer.
Embodiments of the present invention additionally provide a kind of servo-driver, comprise: sending module, for periodically sending the request data frame for asking rotor current location to encoder; Judge module, for judging that whether feedback information entrained by the feedback data frame that receives is the data of correct transmission; Computing module, during for judging the data not as correct transmission at described judge module, according to top n cycle detection to the motor rotor position that arrives of the acceleration of rotor, speed and previous cycle detection, estimation current motor rotor-position, and using motor rotor position that the position calculated detected as this cycle, wherein, described N be greater than 2 integer.
Embodiment of the present invention in terms of existing technologies, servo-driver judges whether the feedback information entrained by feedback data frame received is the correct data transmitted, if be not the data of correct transmission, the acceleration of the rotor then arrived according to top n cycle detection, the motor rotor position that speed and previous cycle detection are arrived, estimation current motor rotor-position, and using motor rotor position that the position calculated detected as this cycle, thus, the data of the incorrect transmission that the impact due to site environment etc. causes are ignored by doing anticipation to the feedback data frame received, and according to the history acceleration of rotor, the position that historical speed and historical position calculate is as the current real time position of rotor, thus the data transmission exception making servo system cause for the interference of site environment has certain immunocompetence, and then ensure that servomotor is steady, reliably run.
Preferably, if described servo-driver judges feedback information entrained by the described feedback data frame data as correct transmission, then judge the whether occurrence positions sudden change of rotor that this cycle detects further; If occurrence positions suddenlys change, then according to the motor rotor speed in peak acceleration this cycle of matching preset; According to the motor rotor speed in this cycle of described matching, the motor rotor position detected with upper one-period, calculates the motor rotor position in this cycle, and using motor rotor position that the position calculated detected as this cycle.Thus avoid the output of servo-driver to occur larger fluctuation, ensure the stable operation of servo system.
Preferably, described servo-driver judges whether the feedback information entrained by feedback data frame that receives is in the step of the data of correct transmission, comprises following sub-step: described servo-driver judges that whether the feedback data frame that receives is the feedback data frame of the request data frame for the last time transmission; If it is determined that be not the feedback data frame of the request data frame for the last time transmission, then judge described feedback information not as the data of correct transmission; If be the feedback data frame of the request data frame for the last time transmission, then whether the feedback data frame received described in judging there is error of transmission; If there is not error of transmission, then judge the data of described feedback information as correct transmission; If described feedback data frame generation error of transmission, then judge described feedback information not as the data of correct transmission.By judging that whether feedback data frame is the feedback data frame of the request data frame sent for the last time, thus whether what can judge encoder feedback easily is the real time position of rotor; Whether server is correctly transmit data by decision-feedback information, thus according to result of determination adjustment motor rotor position closed loop control process.
Preferably, the identification number for this request data frame of unique identification is carried in described request Frame; Described servo-driver judges that whether the feedback data frame that receives is in the step of the feedback data frame of the request data frame sent for the last time, comprises following sub-step: described servo-driver obtains the identification number be carried in described feedback data frame; If the identification number obtained is consistent with the identification number in the last request data frame sent, then judge the feedback data frame that the receives feedback data frame as the request data frame sent for the last time.Judge that whether feedback data frame is the feedback data frame of the request data frame sent for the last time by identification number, there is accuracy of judgement, advantage that efficiency is high.
Preferably, whether the feedback data frame that described judgement receives occurs in the step of error of transmission, comprise following sub-step: according to the cyclic redundancy check (CRC) code CRC in the feedback data frame received and parity check bit, judge whether described feedback information is the correct data transmitted; And/or, according to the length of the feedback data frame received, judge whether described feedback information is the correct data transmitted.Thus improve the accuracy of feedback data frame judgement.
Preferably, also comprise following steps: after described servo-driver sends the step of described request Frame to encoder, after monitoring described request dataframe, whether in preset duration, receive feedback data frame; If do not receive feedback data frame in preset duration, then decision request dataframe mistake; Described servo-driver is after decision request dataframe mistake, according to top n cycle detection to the motor rotor position that arrives of the acceleration of rotor, speed and previous cycle detection, estimation current motor rotor-position, and using motor rotor position that the position calculated detected as this cycle, wherein, described N be greater than 2 integer.Thus, request data frame can be determined efficiently and accurately and whether send mistake, and adjust accuracy, the reliability of servo system closed-loop control accordingly.
Accompanying drawing explanation
Fig. 1 is the flow chart of the position feedback self-adapting correction method of motor encoder according to first embodiment of the invention;
The sub-process figure of Fig. 2 whether be the servo-driver of the position feedback self-adapting correction method of motor encoder according to the first embodiment of the invention feedback information entrained by feedback data frame that judges to receive be step of the data of correct transmission;
Fig. 3 is the structured flowchart of the servo-driver according to second embodiment of the invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail.But, persons of ordinary skill in the art may appreciate that in each execution mode of the present invention, proposing many ins and outs to make reader understand the application better.But, even without these ins and outs with based on the many variations of following execution mode and amendment, each claim of the application technical scheme required for protection also can be realized.
First execution mode of the present invention relates to a kind of position feedback self-adapting correction method of motor encoder.As shown in Figure 1, the method comprises the following steps 10-step 18 to idiographic flow.
Step 10: judge current the need of sending request Frame.Need to send request Frame if current, then perform step 11; Otherwise, then step 10 is returned.Namely, in the closed loop control process of servomotor position, servo-driver periodically sends the signal for asking rotor current location to motor encoder.Because encoder is arranged at the clutch end of motor, so detected the position of rotor by this encoder, and export the position data representing rotor current location according to this request data frame,
Step 11: send request Frame.Each request data frame that servo-driver sends corresponds to the motor position that encoder collects.Requested position data is fed back to servo-driver by serial communication mode by encoder, because the site environment interference of servo system work is larger, the transfer of data between motor encoder and servo-driver is caused to occur asynchronous, the problem of packet loss etc., causes servo-driver to get motor position that is inconsistent or mistake as feedback thus.
Step 12: judge whether to receive feedback data frame in preset duration.To send request the step of Frame to encoder at servo-driver after, monitor whether request data frame receives feedback data frame after sending in preset duration.If receive feedback data frame in preset duration, then perform step 13; Otherwise, if do not receive feedback data frame in preset duration, then decision request dataframe mistake, and enter step 14.
Step 13: servo-driver judges whether the feedback information entrained by feedback data frame received is the correct data transmitted.If be not the data of correct transmission, then enter step 14; Otherwise, then step 15 is entered.Particularly, as shown in Figure 2, step 13 comprises following sub-step: sub-step 130-sub-step 133.
Sub-step 130: servo-driver judges that whether the feedback data frame that receives is the feedback data frame of the request data frame sent for the last time.If be the feedback data frame of the request data frame for the last time transmission, then perform sub-step 131; Otherwise, if it is determined that be not the feedback data frame of the request data frame for the last time transmission, then perform sub-step 133.
Specifically, the identification number for this request data frame of unique identification is carried in request data frame, servo-driver obtains the identification number be carried in feedback data frame, if the identification number obtained is consistent with the identification number in the last request data frame sent, then judge the feedback data frame that the receives feedback data frame as the request data frame sent for the last time.Such as, sequence number etc. is carried as identification number in every bar request data frame that servo-driver sends, and this identification number is added in motor position data and feeds back to servo-driver in the lump as feedback information by encoder, as long as with whether the identification number in feedback information is consistent, the identification number in the request data frame that servo-driver comparison the last time sends can judge whether both mate, thus it is efficient, judge that whether the feedback data frame that receives is the feedback data frame for this request data frame exactly, and then avoid site environment to disturb the data mode mistake caused to the harmful effect of servo system.
Sub-step 131: judge whether the feedback data frame received error of transmission occurs.If there is not error of transmission, then perform step 132; Otherwise, if feedback data frame generation error of transmission, then perform sub-step 133.
Particularly, servo-driver, according to the cyclic redundancy check (CRC) code CRC in the feedback data frame received and parity check bit, judges whether feedback information is the correct data transmitted.In addition, servo-driver according to the length of the feedback data frame received, can also judge whether feedback information is the correct data transmitted.Or, judge whether feedback information is the correct data transmitted according to the length of CRC, parity check bit and feedback data frame simultaneously.Thus, can judge whether feedback information is the correct data transmitted efficiently and accurately.
Sub-step 132: decision-feedback information is the data of correct transmission, then perform step 15.
Sub-step 133: decision-feedback information is not the data of correct transmission, and performs step 14.
It should be noted that, in other execution modes, also first can judge whether the feedback data frame that servo-driver receives error of transmission occurs, then judge that whether the feedback data frame that receives is the feedback data frame of the request data frame sent for the last time.Present embodiment is not restricted for both orders.
Step 14: then according to top n cycle detection to the motor rotor position that arrives of the acceleration of rotor, speed and previous cycle detection, estimation current motor rotor-position, and using motor rotor position that the position calculated detected as this cycle.Wherein, N be greater than 2 integer, the value of N is larger, the history acceleration of the rotor obtained and speed more, be more conducive to driver and understand rotor laws of motion; And the value of N is less, the data processing amount of driver is less, and processing speed is faster, in practical application, and can according to the value of concrete scene settings N.As can be seen here, for the data not being correct transmission, servo-driver is taked to ignore these data and the position of the motor rotor position estimation current period rotor obtained according to the history acceleration of rotor, historical speed and previous cycle separately.Due to not for current request Frame or the motor position data of error of transmission and the motor position of current reality occur differ greatly, by comparison, the current period motor rotor position that the motor rotor position obtained according to history acceleration, speed and previous cycle calculates more meets the real-world operation situation of motor, the output of servo-driver can be avoided to occur larger fluctuation as the motor position feedback information of current period reality the latter, ensure the reliability service of servo system.
Step 15: judge the whether occurrence positions sudden change of rotor that this cycle detects.If undetected rotor occurrence positions sudden change, then enter step 16; Otherwise, then step 17 is performed.In the servo system course of work, due to the reason of CRC and parity check failure and mechanical breakdown etc., may exception be there is in motor rotation, between the position causing the position of current motor and user to expect, difference is larger, when servo-driver directly controls according to the position data of this sudden change, the reliability of servo system can be had influence on.To the detection method whether current motor rotor-position undergos mutation can be such as, judged with the motor speed calculating current period by the motor speed in more last cycle, these computational methods are such as by trying to achieve as differential the position of current period.
Step 16: then servo-driver completes the closed-loop control of current period according to the feedback information received.
Step 17: according to the motor rotor speed in peak acceleration this cycle of matching preset.Thus, avoid the motor speed causing trouble that suddenlys change occur or reduce system useful life.
Step 18: according to the motor rotor speed in this cycle of matching, the motor rotor position detected with upper one-period, calculate the motor rotor position in this cycle, and using the motor rotor position that the position calculated detected as this cycle, thus guarantee the reliability service of servo system.
Embodiment of the present invention in terms of existing technologies, servo-driver judges whether the feedback information entrained by feedback data frame received is the correct data transmitted, if be not the data of correct transmission, the acceleration of the rotor then arrived according to top n cycle detection, the motor rotor position that speed and previous cycle detection are arrived and speed, estimation obtains current motor rotor-position, and using motor rotor position that this position detected as this cycle, thus, easy data servo system being caused to dysgenic incorrect transmission that the impact due to site environment etc. causes are ignored by doing anticipation to the feedback data frame received, thus the data transmission exception making servo system cause for the interference of site environment has certain immunocompetence, and then ensure that servomotor is steady, reliably run.
The step of various method divides above, just in order to be described clearly, can merge into a step or splitting some step, being decomposed into multiple step, when realizing as long as comprise identical logical relation, all in the protection range of this patent; To adding inessential amendment in algorithm or in flow process or introducing inessential design, but the core design not changing its algorithm and flow process is all in the protection range of this patent.
Second embodiment of the invention relates to a kind of servo-driver, as shown in Figure 3, comprises: sending module, judge module, computing module, position abrupt climatic change module.
Sending module, for periodically sending the request data frame for asking rotor current location to encoder.
Judge module, for judging that whether feedback information entrained by the feedback data frame that receives is the data of correct transmission.Particularly, judge module comprises: request data frame judges that submodule and feedback data frame judge submodule.Request data frame judges submodule, for judging that whether the feedback data frame that receives is the feedback data frame of the request data frame sent for the last time, and when judging the feedback data frame not as the request data frame sent for the last time, decision-feedback information is not the data of correct transmission.Preferably, request data frame judges that submodule comprises: identification number obtains subelement and compares subelement.Identification number obtains subelement for obtaining the identification number be carried in described feedback data frame, relatively whether subelement is consistent with the identification number in the last request data frame sent for the identification number comparing acquisition, and judges the feedback data frame that the receives feedback data frame as the request data frame sent for the last time when comparative result is consistent.Feedback data frame judges that submodule is used for when relatively subelement is judged to be the feedback data frame of the request data frame sent for the last time, judge whether the feedback data frame received error of transmission occurs, and when judging error of transmission does not occur, output feedack information is the testing result of the data of correct transmission; When the generation error of transmission of decision-feedback Frame, output feedack information is not the testing result of the data of correct transmission.
Position abrupt climatic change module, during for being judged to be the data of correct transmission at judge module, judges the whether occurrence positions sudden change of rotor that this cycle detects.
Computing module, during for judging the data not as correct transmission at judge module, according to the acceleration of the rotor that top n cycle detection is arrived, the motor rotor position that speed and previous cycle detection are arrived, estimation current motor rotor-position, and using motor rotor position that the position calculated detected as this cycle, wherein, N be greater than 2 integer, and when judge module is judged to be the data of correct transmission and position abrupt climatic change module judges occurrence positions sudden change, according to the motor rotor speed in peak acceleration this cycle of matching preset, according to the motor rotor speed in this cycle of matching, the motor rotor position detected with upper one-period, calculate the motor rotor position in this cycle, and using motor rotor position that the position calculated detected as this cycle.
Embodiment of the present invention in terms of existing technologies, servo-driver judges request data frame that sending module sends whether as the data of correct transmission by judge module, and when determining the data not for correct transmission, neglecting this is not the data of correct transmission, replace, by the position of rotor that calculates using computing module as servo-driver closed-loop control institute according to motor rotor position real-time feedback data, thus, avoid the control precision of site environment interference servo system, ensure the reliability of servo system work.
Be not difficult to find, present embodiment is the system embodiment corresponding with the first execution mode, and present embodiment can be worked in coordination with the first execution mode and be implemented.The relevant technical details mentioned in first execution mode is still effective in the present embodiment, in order to reduce repetition, repeats no more here.Correspondingly, the relevant technical details mentioned in present embodiment also can be applicable in the first execution mode.
It is worth mentioning that, each module involved in present embodiment is logic module, and in actual applications, a logical block can be a physical location, also can be a part for a physical location, can also realize with the combination of multiple physical location.In addition, in order to outstanding innovative part of the present invention, the unit not too close with solving technical problem relation proposed by the invention is not introduced in present embodiment, but this does not show the unit that there is not other in present embodiment.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above realize specific embodiments of the invention, and in actual applications, various change can be done to it in the form and details, and without departing from the spirit and scope of the present invention.
Claims (10)
1. a position feedback self-adapting correction method for motor encoder, is characterized in that, comprise following steps:
Servo-driver periodically sends the request data frame for asking rotor current location to encoder;
Described servo-driver judges whether the feedback information entrained by feedback data frame received is the correct data transmitted;
If be not the data of correct transmission, then according to top n cycle detection to the motor rotor position that arrives of the acceleration of rotor, speed and previous cycle detection, estimation current motor rotor-position, and using motor rotor position that the position calculated detected as this cycle, wherein, described N be greater than 2 integer.
2. the position feedback self-adapting correction method of motor encoder according to claim 1, is characterized in that, also comprise following steps:
If described servo-driver judges feedback information entrained by the described feedback data frame data as correct transmission, then judge the whether occurrence positions sudden change of rotor that this cycle detects further;
If occurrence positions suddenlys change, then according to the motor rotor speed in peak acceleration this cycle of matching preset;
According to the motor rotor speed in this cycle of described matching, the motor rotor position detected with upper one-period, calculates the motor rotor position in this cycle, and using motor rotor position that the position calculated detected as this cycle.
3. the position feedback self-adapting correction method of motor encoder according to claim 1, it is characterized in that, described servo-driver judges whether the feedback information entrained by feedback data frame received is in the step of the data of correct transmission, comprises following sub-step:
Described servo-driver judges that whether the feedback data frame that receives is the feedback data frame of the request data frame sent for the last time;
If it is determined that be not the feedback data frame of the request data frame for the last time transmission, then judge described feedback information not as the data of correct transmission;
If be the feedback data frame of the request data frame for the last time transmission, then whether the feedback data frame received described in judging there is error of transmission;
If there is not error of transmission, then judge the data of described feedback information as correct transmission; If described feedback data frame generation error of transmission, then judge described feedback information not as the data of correct transmission.
4. the position feedback self-adapting correction method of motor encoder according to claim 3, is characterized in that, carries the identification number for this request data frame of unique identification in described request Frame;
Described servo-driver judges that whether the feedback data frame that receives is in the step of the feedback data frame of the request data frame sent for the last time, comprises following sub-step:
Described servo-driver obtains the identification number be carried in described feedback data frame;
If the identification number obtained is consistent with the identification number in the last request data frame sent, then judge the feedback data frame that the receives feedback data frame as the request data frame sent for the last time.
5. the position feedback self-adapting correction method of motor encoder according to claim 3, is characterized in that, whether the feedback data frame that described judgement receives occurs in the step of error of transmission, comprises following sub-step:
According to the cyclic redundancy check (CRC) code CRC in the feedback data frame received and parity check bit, judge whether described feedback information is the correct data transmitted; And/or,
According to the length of the feedback data frame received, judge whether described feedback information is the correct data transmitted.
6. the position feedback self-adapting correction method of motor encoder according to claim 1, is characterized in that, also comprise following steps:
After described servo-driver sends the step of described request Frame to encoder, after monitoring described request dataframe, whether in preset duration, receive feedback data frame;
If do not receive feedback data frame in preset duration, then decision request dataframe mistake;
Described servo-driver is after decision request dataframe mistake, according to top n cycle detection to the motor rotor position that arrives of the acceleration of rotor, speed and previous cycle detection, estimation current motor rotor-position, and using motor rotor position that the position calculated detected as this cycle, wherein, described N be greater than 2 integer.
7. a servo-driver, is characterized in that, comprises:
Sending module, for periodically sending the request data frame for asking rotor current location to encoder;
Judge module, for judging that whether feedback information entrained by the feedback data frame that receives is the data of correct transmission;
Computing module, during for judging the data not as correct transmission at described judge module, according to top n cycle detection to the motor rotor position that arrives of the acceleration of rotor, speed and previous cycle detection, estimation current motor rotor-position, and using motor rotor position that the position calculated detected as this cycle, wherein, described N be greater than 2 integer.
8. servo-driver according to claim 7, is characterized in that, also comprises:
Position abrupt climatic change module, during for being judged to be the data of correct transmission at described judge module, judges the whether occurrence positions sudden change of rotor that this cycle detects;
Described computing module is also for judging occurrence positions sudden change during in described position abrupt climatic change module, according to the motor rotor speed in peak acceleration this cycle of matching preset, according to the motor rotor speed in this cycle of described matching, the motor rotor position detected with upper one-period, calculate the motor rotor position in this cycle, and using motor rotor position that the position calculated detected as this cycle.
9. servo-driver according to claim 7, is characterized in that, described judge module comprises following submodule:
Request data frame judges submodule, for judging that whether the feedback data frame that receives is the feedback data frame of the request data frame sent for the last time, and when judging the feedback data frame not as the request data frame sent for the last time, judge described feedback information not as the data of correct transmission;
Feedback data frame judges submodule, during for judging that at described request Frame submodule is judged to be the feedback data frame of the request data frame sent for the last time, whether the feedback data frame received described in judgement there is error of transmission, and when judging error of transmission does not occur, export the testing result that described feedback information is the data of correct transmission; When judging described feedback data frame generation error of transmission, exporting described feedback information is not the testing result of the data of correct transmission.
10. servo-driver according to claim 9, is characterized in that, carries the identification number for this request data frame of unique identification in described request Frame;
Described request Frame judges that submodule comprises:
Identification number obtains subelement, for obtaining the identification number be carried in described feedback data frame;
Relatively subelement, whether the identification number for more described acquisition is consistent with the identification number in the request data frame that sends of the last time, and judges the feedback data frame that the receives feedback data frame as the request data frame sent for the last time when comparative result is consistent.
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