CN105717843A - Dual-servo synchronous control method and system - Google Patents
Dual-servo synchronous control method and system Download PDFInfo
- Publication number
- CN105717843A CN105717843A CN201610168505.8A CN201610168505A CN105717843A CN 105717843 A CN105717843 A CN 105717843A CN 201610168505 A CN201610168505 A CN 201610168505A CN 105717843 A CN105717843 A CN 105717843A
- Authority
- CN
- China
- Prior art keywords
- shuttle
- pin
- module
- servo
- driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
Abstract
The invention relates to a dual-servo synchronous control method and system.The control method comprises the steps that independent running of a needle running module and a shuttle running module is achieved by arranging the relatively independent needle running module and shuttle running module; the running synchronism of the needle running module and the shuttle running module is achieved through computer control, and a communication module is arranged between the needle running module and the shuttle running module; a position error between the needle running module and the shuttle running module is calculated in real time and adjusted, and driving command impulses for driving the needle running module and the shuttle running module are sent out.According to the dual-servo synchronous control method and system, free switching of independent running and synchronous running is achieved, the position error is judged and adjusted according to feedback signals, use is more flexible, the universality is high, and the error and the cost are reduced in a high-speed mode.
Description
Technical field
The present invention relates to printing and textile industry technical field, especially relate to equipment double; two servo synchronization control methods and system in a kind of printing and textile industry.
Background technology
Double; two servo synchronization systems have relatively broad application in printing industry and textile industry.In the Synchronization Control that printing industry was all using machinery major axis as power source in the past, but easily there is reforming phenomena in the Synchronization Control scheme of machinery major axis, interfere with each other between each unit, and system has comparatively many machine components, many inconvenience is caused for system maintenance and use.Home textiles in textile industry is typically all the double; two servo servo system of use at present, servo system is as its name suggests: using a servomotor as main frame, another servo servomotor is as from machine, when main frame runs, follow main frame from machine to rotate, so that this pair of servosystem has certain precision.Impact due to system structure, this servo system has an intrinsic following error, additionally on the motility of constructing system is also affected by certain impact, two servos of principal and subordinate lose the ability of independent control simultaneously, need consideration can design a set of synchronization scenario for these reasons can both can double; two servos independently control to run, control can be run by double; two servo synchronization again, a lifting can also be done on running precision simultaneously.
Summary of the invention
Not only the technical problem to be solved is to provide and a kind of can independently control to run but also Synchronization Control can run and promote double; two servo synchronization control methods and the system of running precision.
The technical solution adopted for the present invention to solve the technical problems is: a kind of double, two servo synchronization control methods, described control method is, module and shuttle operation module is run by arranging relatively independent pin, realize pin and run module and the independent operating of shuttle operation module, run module by computer control realization pin and shuttle runs the synchronicity that module is run, and communication module is set between pin operation module and shuttle operation module, site error between measuring and calculating pin operation module and shuttle operation module is adjusted and sends the driving instruction pulse driving needle movement module and shuttle motion module to run in real time.
Further, described computer installation independent operation mode and synchronous operation pattern also realize free switching.
A kind of double; two servo synchronization controls system, including computer control unit and the pin servo control unit controlled by computer control unit and shuttle servo control unit；
Described pin servo control unit includes pin pulsing module, pin feedback pulse receiver module, pin servo-driver, pin motor encoder and pin servomotor, pin pulsing module sends pin run signal to pin servo-driver, pin servo driver drives pin servomotor runs, and pin servomotor run signal is fed back to pin feedback pulse receiver module by pin servo-driver by pin motor encoder；
Described shuttle servo control unit includes shuttle pulsing module, shuttle feedback pulse receiver module, shuttle servo-driver, shuttle motor encoder and shuttle servomotor, shuttle pulsing module sends shuttle run signal to shuttle servo-driver, shuttle servo driver drives shuttle servomotor runs, and shuttle servomotor run signal is fed back to shuttle feedback pulse receiver module by shuttle servo-driver by shuttle motor encoder；
Described computer control unit includes being provided with the control main frame of control software design, pin shuttle signal processing module and pin shuttle and runs communication module, the signal of the pin feedback pulse received and shuttle feedback pulse signal and pin shuttle operation communication module is carried out process and passes to control main frame by pin shuttle signal processing module, controls main frame and sends corresponding pulse signal by pin pulsing module and shuttle pulsing module.
Further, described pin pulsing module, pin feedback pulse receiver module, pin shuttle run communication module, shuttle pulsing module, shuttle feedback pulse receiver module and pin shuttle signal processing module and are integrated on Control card, and described Control card is provided with the PC interface connecting computer.
Further, times frequency module for pin servo-driver and shuttle servo-driver is write by VerilogHDL language in described Control card.
Further, pin servo-driver and shuttle servo-driver are reached 4 frequencys multiplication by described times frequency module.
Further, described times frequency module by pin servo-driver and shuttle servo-driver from 2500 lines/circle frequency multiplication to 10000 lines/circle.
Further, described PC interface is connected with main frame by PC104 bus.
Further, fpga chip is adopted to control in described Control card.
Further, one group of on all four lock-out pulse module in sequential and dutycycle is write by VerilogHDL language in described fpga chip.
The invention has the beneficial effects as follows: compared with the system of follower model, the feature of this servo synchronization system:
1, pin, shuttle drive with lock-out pulse, coordinate the parameter adjustment of servo-drive to be adjusted by synchronization accuracy to optimum state, avoid the existence of constant error under follower model；
2, pin, shuttle can have 2 kinds of mode operations: synchronous mode and stand-alone mode, stronger than follower model in control flexibility ratio；
3, there is the servo-drive feedback position of encoder input port of correspondence, it is possible to the real time position data of pin shuttle is read out, multinomial derivative function, the range of application of expansion can be extended by this function；
4, for servo-driver, as follower model, amendment general-purpose servo internal drive software is not needed, it is possible to use the generic servo driver on market, so being better than the synchronous servo system of follower model in the versatility of system；
5, in synchronous mode, it is possible to according to corresponding servo feedback position signalling, forming a self-checking system, detect the net synchronization capability of pin, shuttle in real time, the synchronization fault for occurring provides the protection of a high response.
Accompanying drawing explanation
Fig. 1 is the module by signal transmission block diagram of the present invention.
Detailed description of the invention
A kind of double, two servo synchronization control method, described control method is, module and shuttle operation module is run by arranging relatively independent pin, realize pin and run module and the independent operating of shuttle operation module, run module by computer control realization pin and shuttle runs the synchronicity that module is run, and communication module is set between pin operation module and shuttle operation module, run location error between measuring and calculating pin operation module and shuttle operation module is adjusted and sends the driving instruction pulse driving needle movement module and shuttle motion module to run in real time, thus reaching pin, the requirement that shuttle synchronization accuracy is controlled and ensures；Described computer installation independent operation mode and synchronous operation pattern also realize free switching, in order to reach independently to control pin, shuttle motion again can Synchronization Control pin, shuttle motion purpose, add a control bit, it is possible to pin, shuttle operational mode are freely switched to independent operation mode and synchronous operation pattern；Under independent operation mode, pin, shuttle can independently control, and do not have any contact between pin, shuttle, and pin, shuttle can according to instruction isolated operations；In synchronous mode, pin, shuttle can only synchronous operation, namely control pin, the instruction of shuttle is sequential and the identical set of pulses of dutycycle.
Design and produce a pair of servo synchronization according to said method and controlled system, as it is shown in figure 1, include computer control unit and the pin servo control unit controlled by computer control unit and shuttle servo control unit；
Described pin servo control unit includes pin pulsing module, pin feedback pulse receiver module, pin servo-driver, pin motor encoder and pin servomotor, pin pulsing module sends pin run signal to pin servo-driver, pin servo driver drives pin servomotor runs, and pin servomotor run signal is fed back to pin feedback pulse receiver module by pin servo-driver by pin motor encoder；
Described shuttle servo control unit includes shuttle pulsing module, shuttle feedback pulse receiver module, shuttle servo-driver, shuttle motor encoder and shuttle servomotor, shuttle pulsing module sends shuttle run signal to shuttle servo-driver, shuttle servo driver drives shuttle servomotor runs, and shuttle servomotor run signal is fed back to shuttle feedback pulse receiver module by shuttle servo-driver by shuttle motor encoder；
Described computer control unit includes being provided with the control main frame of control software design, pin shuttle signal processing module and pin shuttle and runs communication module, the signal of the pin feedback pulse received and shuttle feedback pulse signal and pin shuttle operation communication module is carried out process and passes to control main frame by pin shuttle signal processing module, controls main frame and sends corresponding pulse signal by pin pulsing module and shuttle pulsing module.
Described pin pulsing module, pin feedback pulse receiver module, pin shuttle run communication module, shuttle pulsing module, shuttle feedback pulse receiver module and pin shuttle signal processing module and are integrated on Control card, and described Control card is provided with the PC interface connecting computer and by PC104 bus connection computer.
System is when design, in order to ensure the versatility of system, it is necessary to make pulsing specification meet the requirement (comprising import servo-drive and domestic servo-drive) of major part servo-driver, therefore pulse command sending mode adopts differential pulse form.Servo-drive pulse feedback reception part is also required to meet versatility requirement, the function of frequency multiplication is not had owing to the feedback pulse of domestic part servo-drive is generally adopted 2500 lines/circle, and the resolution of 2500 lines/circle can not meet the current system required precision for feedback position pulse, must to the feedback pulse of current 2500 lines/circle frequency multiplication in addition, perfect condition is changed into 10000 lines/circle for 2500 lines/circle is carried out 4 frequencys multiplication, therefore the functional module of frequency multiplication must be made among Control card function.The rising edge of the feedback pulse of original 2500 lines/circle is carried out the process of a series of counting with trailing edge and can realize easily 4 frequencys multiplication of 2500 lines/circle being 10000 lines/circle by the motility utilizing VerilogHDL hardware language.
In order to ensure pin, the shuttle synchronization accuracy when high-speed cruising in pin, shuttle command pulse, needing to meet pin, shuttle pulse when designing this group pulse should be completely the same in sequential and dutycycle, therefore utilize VerilogHDL hardware language in master chip (fpga chip) indoor design one group on all four lock-out pulse module in sequential and dutycycle, for the command pulse of pin servo-drive Yu shuttle servo-drive.
At the aspect of performance accepting external position feedback, system is able to receive that the encoder feedback pulse signal from servo-drive, thus reaching pin, the function that the real time position of shuttle is read out, by this feedback signal to pin, the target location of shuttle positions accurately, simultaneously can also to pin, the synchronization accuracy that shuttle runs in synchronous mode measures accurately, utilize this functional realiey under high speed operation mode, the higher limit setting an error is protected, after there is error in the virtual condition of external environment influence to pin or shuttle, after error exceeds the error higher limit of this setting, system can give the response with a high speed, stop current pin, the output of shuttle pulse command, thus playing the effect of a protection.
Owing to the feedback pulse signal of servo-drive is general all with the interference of respective degrees, thus hardware handles with software filtering all employ corresponding process, it is ensured that to accurately identifying of servo-drive feedback pulse.
Compared with the system of follower structure before, the motility with height of this servo synchronization system makes scope of application expanded, except textile industry, it is possible to meet other industry having same requirements, such as press, steel-making industry etc..
It is emphasized that: be only presently preferred embodiments of the present invention above, not the present invention is done any pro forma restriction, every any simple modification, equivalent variations and modification above example made according to the technical spirit of the present invention, all still falls within the scope of technical solution of the present invention.
Claims (10)
1. a double; two servo synchronization control method, it is characterized in that, described control method is, module and shuttle operation module is run by arranging relatively independent pin, realize pin and run module and the independent operating of shuttle operation module, run module by computer control realization pin and shuttle runs the synchronicity that module is run, and communication module is set between pin operation module and shuttle operation module, real-time measuring and calculating pin runs the site error between module and shuttle operation module and is adjusted and sends driving needle movement module and the driving instruction pulse of shuttle motion module operation.
2. according to claim 1 pair of servo synchronization control method, it is characterised in that described computer installation independent operation mode and synchronous operation pattern also realize free switching.
3. double; two servo synchronization of claim 1 control a system, including computer control unit and the pin servo control unit controlled by computer control unit and shuttle servo control unit, it is characterised in that
Described pin servo control unit includes pin pulsing module, pin feedback pulse receiver module, pin servo-driver, pin motor encoder and pin servomotor, pin pulsing module sends pin run signal to pin servo-driver, pin servo driver drives pin servomotor runs, and pin servomotor run signal is fed back to pin feedback pulse receiver module by pin servo-driver by pin motor encoder；
Described shuttle servo control unit includes shuttle pulsing module, shuttle feedback pulse receiver module, shuttle servo-driver, shuttle motor encoder and shuttle servomotor, shuttle pulsing module sends shuttle run signal to shuttle servo-driver, shuttle servo driver drives shuttle servomotor runs, and shuttle servomotor run signal is fed back to shuttle feedback pulse receiver module by shuttle servo-driver by shuttle motor encoder；
Described computer control unit includes being provided with the control main frame of control software design, pin shuttle signal processing module and pin shuttle and runs communication module, the signal of the pin feedback pulse received and shuttle feedback pulse signal and pin shuttle operation communication module is carried out process and passes to control main frame by pin shuttle signal processing module, controls main frame and sends corresponding pulse signal by pin pulsing module and shuttle pulsing module.
4. according to claim 3 pair of servo synchronization controls system, it is characterized in that, described pin pulsing module, pin feedback pulse receiver module, pin shuttle run communication module, shuttle pulsing module, shuttle feedback pulse receiver module and pin shuttle signal processing module and are integrated on Control card, and described Control card is provided with the PC interface connecting computer.
5. according to claim 4 pair of servo synchronization controls system, it is characterised in that write times frequency module for pin servo-driver and shuttle servo-driver by VerilogHDL language in described Control card.
6. according to claim 5 pair of servo synchronization controls system, it is characterised in that pin servo-driver and shuttle servo-driver are reached 4 frequencys multiplication by described times frequency module.
7. the according to claim 6 pair of servo synchronization controls system, it is characterised in that described times frequency module by pin servo-driver and shuttle servo-driver from 2500 lines/circle frequency multiplication to 10000 lines/circle.
8. according to claim 4 pair of servo synchronization controls system, it is characterised in that described PC interface is connected with main frame by PC104 bus.
9. according to claim 4 pair of servo synchronization controls system, it is characterised in that adopt fpga chip to control in described Control card.
10. according to claim 9 pair of servo synchronization controls system, it is characterised in that write one group of on all four lock-out pulse module in sequential and dutycycle by VerilogHDL language in described fpga chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610168505.8A CN105717843A (en) | 2016-03-23 | 2016-03-23 | Dual-servo synchronous control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610168505.8A CN105717843A (en) | 2016-03-23 | 2016-03-23 | Dual-servo synchronous control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105717843A true CN105717843A (en) | 2016-06-29 |
Family
ID=56158040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610168505.8A Pending CN105717843A (en) | 2016-03-23 | 2016-03-23 | Dual-servo synchronous control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105717843A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0157191A2 (en) * | 1984-03-05 | 1985-10-09 | Berkeley Process Controls Inc. | Method and apparatus for measuring velocity and position in servo system |
| CN101442283A (en) * | 2007-11-23 | 2009-05-27 | 沈阳新松机器人自动化股份有限公司 | Dual-motor synchronous servo drive device based on DSP |
| CN102545733A (en) * | 2010-12-30 | 2012-07-04 | 沈阳新松机器人自动化股份有限公司 | Double-motor synchronous control device and method for silicon chip conveying manipulator |
| CN104005190A (en) * | 2013-07-27 | 2014-08-27 | 温州亿生科技有限公司 | Double-motor sewing machine remote comprehensive control system |
-
2016
- 2016-03-23 CN CN201610168505.8A patent/CN105717843A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0157191A2 (en) * | 1984-03-05 | 1985-10-09 | Berkeley Process Controls Inc. | Method and apparatus for measuring velocity and position in servo system |
| CN101442283A (en) * | 2007-11-23 | 2009-05-27 | 沈阳新松机器人自动化股份有限公司 | Dual-motor synchronous servo drive device based on DSP |
| CN102545733A (en) * | 2010-12-30 | 2012-07-04 | 沈阳新松机器人自动化股份有限公司 | Double-motor synchronous control device and method for silicon chip conveying manipulator |
| CN104005190A (en) * | 2013-07-27 | 2014-08-27 | 温州亿生科技有限公司 | Double-motor sewing machine remote comprehensive control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107505882A (en) | A kind of multi-axis motion controller and control method | |
| CN102540965A (en) | Bus-based synchronization control method for two servo shafts | |
| CN103425106A (en) | Linux-based Ethercat maser/slave station control system and method | |
| CN103488126B (en) | The method of multi-shaft motion control system development platform and exploitation platform courses machine operation | |
| CN102662349B (en) | Cross-platform numerical control system | |
| CN102109836A (en) | Expandable and cuttable multi-shaft movement control system | |
| CN105159227A (en) | Biaxial motion platform positioning and dynamic locus tracking control device and method | |
| CN105163510A (en) | Chip mounting machine control system based on Ethernet control automation technology (EtherCAT) bus | |
| CN204143223U (en) | A kind of kinetic control system | |
| CN109361330A (en) | A kind of servo motor synchronisation control means based on bus | |
| CN104793569A (en) | Intelligent controller for tool rests of direct-drive numerical-control turrets | |
| CN206224181U (en) | A kind of multiple-axis servo drive system position feedback data interface card based on FPGA | |
| CN205507449U (en) | Two servo synchronous control system | |
| CN104181863A (en) | Numerical-control machine tool error compensation system based on position feedback signals | |
| CN108241317B (en) | 8-axis motion control system of chip mounter | |
| CN203250190U (en) | Controller of industrial robot | |
| CN107192361A (en) | The kinetic control system and its control method of a kind of three coordinate measuring machine | |
| CN206710827U (en) | A kind of modular motion controller | |
| CN105717843A (en) | Dual-servo synchronous control method and system | |
| CN103244137B (en) | Synchronous servo control simulation device of cutter disc driving motor of earth pressure balance shield | |
| CN104181904A (en) | Flexible tool control system based on Ether CAT and CAN buses | |
| CN103984290A (en) | CANopen-based CNC mechanical arm control system and method thereof | |
| CN105373080A (en) | Collaborative numerical control system based on soft bus | |
| CN103454967B (en) | A kind of adding shaft device and adding axle method for torque shaft bending machine | |
| CN204408370U (en) | A kind of CAN network monitor diagnostic system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160629 |
|
| RJ01 | Rejection of invention patent application after publication |