CN105459108B - A kind of servo motor driving device and its driving method for mechanical hand - Google Patents
A kind of servo motor driving device and its driving method for mechanical hand Download PDFInfo
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- CN105459108B CN105459108B CN201510464247.3A CN201510464247A CN105459108B CN 105459108 B CN105459108 B CN 105459108B CN 201510464247 A CN201510464247 A CN 201510464247A CN 105459108 B CN105459108 B CN 105459108B
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Abstract
The invention discloses a kind of servo motor driving device for mechanical hand, including drive control device, and the position control module that is electrically connected with drive control device and pulse-width modulated inverter；And the speed control unit electrically connected with position control module, and the servomotor electrically connected with speed control unit；And coordinate the mechanical hand installed with servomotor, and the speed measuring device at servomotor rotating shaft is installed, and the three dimension acceleration sensor on mechanical hand is installed on, the speed measuring device and three dimension acceleration sensor electrically connect drive control device by modulate circuit respectively；The driving method of the above-mentioned servo motor driving device for mechanical hand, comprises the following steps：The first step, initialization drives, second step, feedback signal collection, 3rd step, the response of feedback speed signal, the 4th step, feedback position signal is responded, and the present invention can rectify a deviation and realize position and speed joint debugging for the servo motor driving device and its driving method of mechanical hand.
Description
Technical field
The present invention relates to a kind of drive device, more particularly to a kind of servo motor driving device and its drive for mechanical hand
Dynamic method, belongs to mechanical hand component technology field.
Background technology
Mechanical hand can imitate some holding functions of staff and arm, be used to by fixed routine crawl, carry object or operation
The automatic pilot of instrument；Manipulator is the earliest industrial robot for occurring, and is also the earliest modern machines people for occurring, and it can
Instead of the heavy labor of people with the mechanization and automation realizing producing, can be operated under hostile environment to protect personal safety,
Thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy；Wherein for its core of servo mechanical hand
Part is servomotor, and the working condition of servomotor directly determines the performance of mechanical hand, and existing servomotor needs to pass through
Driver is controlled；It is mainly used in high-precision alignment system；Generally by position, three kinds of modes of speed and torque
Servo motor is controlled, high-precision transmission system positioning is realized；Existing motor servo driver is all individually to feed back
Adjusted with independent, its regulating effect is poor.
The content of the invention
(1) technical problem to be solved
To solve the above problems, the present invention proposes a kind of for the servo motor driving device of mechanical hand and its driving side
Method, can realize that individually correction and joint reconcile position and speed, it is ensured that the accuracy of servomotor work.
(2) technical scheme
Servo motor driving device for mechanical hand of the invention, including drive control device, and it is electric with drive control device
The position control module and pulse-width modulated inverter of connection；And the speed control unit electrically connected with position control module,
And the servomotor electrically connected with speed control unit；And coordinate the mechanical hand installed with servomotor, and servomotor is installed
Speed measuring device at rotating shaft, and be installed on the three dimension acceleration sensor on mechanical hand, the speed measuring device and three-dimensional acceleration
Sensor electrically connects drive control device by modulate circuit respectively；Between the drive control device and position control module, and position
Put and be separately installed between control module and speed control unit the first superimposer and the second superimposer；First superimposer and
Second superimposer also electrically connects pulse-width modulated inverter.
First superimposer and the input of the second superimposer one connection pulse-width modulated inverter；First superposition
Another input connection drive control device of device；Another input electrically connecting position control module of second superimposer.
The driving method of the above-mentioned servo motor driving device for mechanical hand, comprises the following steps：
The first step, initialization drives, and drive control device obtains angular displacement and angle to an initial command, position control module
Rate signal, and speed control unit output signal is controlled, servomotor response signal, mechanical hand action；
Second step, feedback signal collection, after mechanical hand action, three dimension acceleration sensor Real-time Feedback curve movement is surveyed
Speed variator feeds back speed curves；Curve movement and speed curves are by after modulate circuit conditioning, delivering to drive control device；
3rd step, feedback speed signal response, drive control device is obtained feedback speed curve and is made a reservation for by internal calculation
Adopted curve difference, and difference is delivered to position control module and speed control unit successively；Speed is rectified a deviation；
4th step, feedback position signal response, its signal is the signal before the response of feedback speed signal, and drive control device is led to
Cross internal calculation and obtain feedback position curve and predefined curve difference, and difference is delivered into pulse-width modulated inverter；Arteries and veins
Rush width modulated inverter and change pulsewidth and electric current；Position offset and speed are formed into a proportional curve.
Beneficial effect
Compared with prior art, the present invention is used for the servo motor driving device and its driving method of mechanical hand, by speed
Feedback signal is used as correction feedback signal, and the position signalling that will be fed back, used as Regulate signal, its regulation process can realize angle
The regulation of displacement, angular speed and speed, its regulation process can realize position and speed joint debugging.
Brief description of the drawings
Fig. 1 is overall structure block diagram of the invention.
Specific embodiment
As shown in figure 1, servo motor driving device of the present invention for mechanical hand, including drive control device 1, and with driving
The position control module 2 and pulse-width modulated inverter 3 of controller electrical connection；And the speed electrically connected with position control module
Control unit 4, and the servomotor 5 electrically connected with speed control unit；And coordinate the mechanical hand 6 installed with servomotor, and
Speed measuring device 7 at servomotor rotating shaft is installed, and is installed on the three dimension acceleration sensor 8 on mechanical hand, the dress that tests the speed
Put 7 and three dimension acceleration sensor 8 respectively by modulate circuit 9 electrically connect drive control device 1；The drive control device 1 and position
Put between control module 2, and the first superimposer 10 and are separately installed between position control module 2 and speed control unit 3
Two superimposers 11；The superimposer 11 of first superimposer 10 and second also electrically connects pulse-width modulated inverter 3.
The input of first superimposer, 10 and second superimposer 11 1 connects pulse-width modulated inverter 3；Described
Another input connection drive control device 1 of one superimposer 10；Another input electrically connecting position control of second superimposer 11
Module 2.
The driving method of the above-mentioned servo motor driving device for mechanical hand, comprises the following steps：
The first step, initialization drives, and drive control device obtains angular displacement and angle to an initial command, position control module
Rate signal, and speed control unit output signal is controlled, servomotor response signal, mechanical hand action；
Second step, feedback signal collection, after mechanical hand action, three dimension acceleration sensor Real-time Feedback curve movement is surveyed
Speed variator feeds back speed curves；Curve movement and speed curves are by after modulate circuit conditioning, delivering to drive control device；
3rd step, feedback speed signal response, drive control device is obtained feedback speed curve and is made a reservation for by internal calculation
Adopted curve difference, and difference is delivered to position control module and speed control unit successively；Speed is rectified a deviation；
4th step, feedback position signal response, its signal is the signal before the response of feedback speed signal, and drive control device is led to
Cross internal calculation and obtain feedback position curve and predefined curve difference, and difference is delivered into pulse-width modulated inverter；Arteries and veins
Rush width modulated inverter and change pulsewidth and electric current；Position offset and speed are formed into a proportional curve.
Because the average value and dutycycle of level are directly proportional, in regulating frequency, change the dutycycle of output voltage pulse,
The use pulse-width modulated inverter just can simultaneously realize frequency conversion and transformation, and the servomotor for having needs to carry out electric current
Control, can Jia one and press turn of tidal stream module after transformation output.
The present invention is used for the servo motor driving device and its driving method of mechanical hand, using feedback speed signal as correction
Feedback signal, and the position signalling that will be fed back, used as Regulate signal, its regulation process can realize angular displacement, angular speed and speed
Regulation, its regulation process can realize position and speed joint debugging.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to structure of the invention
Think and scope is defined.On the premise of design concept of the present invention is not departed from, this area ordinary person is to technology of the invention
The all variations and modifications that scheme is made, all should drop into protection scope of the present invention, claimed technology contents of the invention,
All record in detail in the claims.
Claims (2)
1. a kind of servo motor driving device for mechanical hand, it is characterised in that：Including drive control device, and and drive control
The position control module and pulse-width modulated inverter of device electrical connection；And the speed control list electrically connected with position control module
Unit, and the servomotor electrically connected with speed control unit；And coordinate the mechanical hand installed with servomotor, and servo electricity is installed
Speed measuring device at machine rotating shaft, and the three dimension acceleration sensor on mechanical hand is installed on, the speed measuring device and three-dimensional accelerate
Degree sensor electrically connects drive control device by modulate circuit respectively；Between the drive control device and position control module, and
The first superimposer and the second superimposer are separately installed between position control module and speed control unit；First superimposer
Pulse-width modulated inverter is also electrically connected with the second superimposer；First superimposer and the input of the second superimposer one are connected
Pulse-width modulated inverter；Another input connection drive control device of first superimposer；Second superimposer is another
Input electrically connecting position control module.
2. the driving method of a kind of servo motor driving device for mechanical hand as claimed in claim 1, it is characterised in that：
Methods described comprises the following steps：
The first step, initialization drives, and drive control device obtains angular displacement and angular speed to an initial command, position control module
Signal, and speed control unit output signal is controlled, servomotor response signal, mechanical hand action；
Second step, feedback signal collection, after mechanical hand action, three dimension acceleration sensor Real-time Feedback curve movement, test the speed dress
Put feedback speed curves；Curve movement and speed curves are by after modulate circuit conditioning, delivering to drive control device；
3rd step, feedback speed signal response, drive control device obtains feedback speed curve with predefined song by internal calculation
Line difference, and difference is delivered to position control module and speed control unit successively；Speed is rectified a deviation；
4th step, feedback position signal response, its signal is the signal before the response of feedback speed signal, and drive control device is in
Portion is calculated feedback position curve and predefined curve difference, and difference is delivered into pulse-width modulated inverter；Pulse is wide
Degree modulated inverter changes pulsewidth and electric current；Position offset and speed are formed into a proportional curve.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510464247.3A CN105459108B (en) | 2015-07-31 | 2015-07-31 | A kind of servo motor driving device and its driving method for mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510464247.3A CN105459108B (en) | 2015-07-31 | 2015-07-31 | A kind of servo motor driving device and its driving method for mechanical hand |
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| CN105459108A CN105459108A (en) | 2016-04-06 |
| CN105459108B true CN105459108B (en) | 2017-07-07 |
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Citations (2)
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| CN101741312A (en) * | 2010-01-29 | 2010-06-16 | 吴琼海 | Method for controlling servo motor driving system |
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| JP3643597B2 (en) * | 1994-07-25 | 2005-04-27 | ダイキン工業株式会社 | Motor device capable of obtaining high efficiency and motor control method |
| JP3442941B2 (en) * | 1996-09-30 | 2003-09-02 | 株式会社東芝 | Robot vibration suppression control device and control method thereof |
| JP4391218B2 (en) * | 2003-02-20 | 2009-12-24 | 三菱電機株式会社 | Servo control device |
| CN101458497A (en) * | 2007-12-13 | 2009-06-17 | 刘小勇 | Concurrency controlled cooking device by employing multi motor position rings and speed rings |
| CN101518937A (en) * | 2008-02-29 | 2009-09-02 | 鸿富锦精密工业（深圳）有限公司 | Servo motor control device of electric injection machine |
| CN102064753A (en) * | 2009-11-12 | 2011-05-18 | 程基江 | Alternating current permanent-magnet synchronous machine controller |
| CN203109954U (en) * | 2013-02-27 | 2013-08-07 | 湖北铁人机器人自动化有限公司 | Minimum amplitude control device at operation tail end of mechanical arm |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101587327A (en) * | 2008-05-21 | 2009-11-25 | 深圳市先阳软件技术有限公司 | General kinetic control system and control method on the Industry Control platform |
| CN101741312A (en) * | 2010-01-29 | 2010-06-16 | 吴琼海 | Method for controlling servo motor driving system |
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Address after: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee after: Ningxia giant robot Limited by Share Ltd Address before: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee before: Ningxia Juneng Robot System Co., Ltd. |
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