CN106330037A - Control method and system for motor's tension force curling zero servo application - Google Patents
Control method and system for motor's tension force curling zero servo application Download PDFInfo
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- CN106330037A CN106330037A CN201610857096.2A CN201610857096A CN106330037A CN 106330037 A CN106330037 A CN 106330037A CN 201610857096 A CN201610857096 A CN 201610857096A CN 106330037 A CN106330037 A CN 106330037A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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Abstract
The invention relates to a control method and system for motor's tension force curling zero servo application. According to the invention, through the acquisition of a given torque before a driver is put into a zero servo and making the torque of the driver the constant given torque, the tension force can be kept unchanged; after the driver is put into the zero servo, the tension force can be steadily changed through the control of the motor to output constant torque. Technically, following the acquisition of the feedback excitation current and the feedback torque current of the motor, the no-load current and the core saturation coefficient as well as the given excitation current of the motor are further obtained so as to acquire the deviation voltage of the M-axis, and at the same time, the deviation signal between the adjustment frequency and feedback frequency undergoes PI adjustment for the given torque current. The deviation signal between the given torque current and the feedback torque current undergoes PI adjustment for the deviation voltage of the T-axis. The deviation voltage of the M-axis and the deviation voltage of the T-axis experience a series of changes, and then a driving signal is obtained and exerted onto the motor. Therefore, a zero servo motor is controlled.
Description
Technical field
The present invention relates to motor control, particularly relate to a kind of tension force and crimp the motor control method of zero servo applications and be
System.
Background technology
Crimp industry at tension force, during system-down, be typically desirable that holding constant tension.The particularly volume of some high requests
Bent equipment, such as intaglio press, high-speed cutter etc., material tensile deformation during for avoiding system to stop, the curling link of system,
Traction link, is desirable that holding some tension, pins spool, prevents material from hanging.During the most also requiring spool locking, have
Enough External Force Actings, can make spool rotate, and external force is cancelled, and spool can also return to home position.This function actual is exactly zero
Servo function.
At present, crimp industry at tension force, be not related to zero servo function, can directly pass through driver control, and require zero
Servo function, the most typically use servo-driver, but most zero servo function of driver at present, the most do not possess and crimp at tension force
The technical conditions of link application.Industry for particular requirement zero servo, it is impossible to meet customer need.And possess above-mentioned functions
The most with high costs, Power Limitation, servo-driver are supporting with servomotor, compatible poor.
Summary of the invention
Based on this, it is necessary to provide a kind of tension force to crimp the motor control method of zero servo applications.
A kind of tension force crimps the motor control method of zero servo applications, comprises the following steps:
Obtain driver and put into the given torque before zero servo, and to make the constant torque of described driver be that this given turns
Square；
The three-phase phase current of motor stator is gone out according to the phase current sensing electric circuit inspection that described driver is built-in；
The three-phase phase current of acquisition is converted to electric current under biphase rest frame by Clarke transformation for mula；
Electric current under biphase rest frame is converted, by park, the described motor be converted under M-T rotating coordinate system
Feedback excitation electric current, feedback torque electric current；
Obtain empty load of motor electric current and core sataration coefficient, calculate given exciting current；
Deviation signal between described given exciting current and described feedback excitation electric current is carried out PI regulation, it is thus achieved that M axle
Deviation voltage；
Obtain motor and be pulled to regulating frequency and the feedback frequency of initial position, by described regulating frequency and described feedback frequency
Deviation signal carry out PI regulation, it is thus achieved that given torque current；
Deviation signal between described given torque current and described feedback torque electric current is carried out PI regulation, it is thus achieved that T axle
Deviation voltage；
The deviation voltage of the deviation voltage of described M axle Yu described T axle is carried out anti-PARK conversion and obtains biphase static coordinate
Under voltage；
Voltage under biphase static coordinate is carried out space voltage vector conversion, it is thus achieved that drive signal, and by described driving
Signal function is on motor.
Wherein in an embodiment, the step of given torque before described acquisition driver puts into zero servo includes:
Calculate current reel diameter；
Setting tension force according to driver and the given torque of the described reel diameter described driver of calculating.
Wherein in an embodiment, the step of the current reel diameter of described calculating includes:
According to formulaCalculating reel diameter, d is reel diameter, and f is the output frequency of driver, and r is that machinery passes
Dynamic ratio, p is motor number of pole-pairs, and v is linear velocity.
Wherein in an embodiment, the described setting tension force according to driver and described reel diameter calculate described driving
The step of the given torque of device includes:
Calculate the given torque of driver according to formula T=F*d, T is the given torque of driver, and F is for setting tension force, d
For reel diameter.
Wherein in an embodiment, the step of the regulating frequency that described acquisition motor is pulled to initial position includes:
Record initial position and the actual angle that turns over of motor that zero servo puts into；
The umber of pulse turned over relative to zero servo initial position is calculated according to described initial position and described actual angle；
Calculate zero servo initial position and motor and turn over the error of angle respective pulses number；
Described regulating frequency is obtained after described error being processed by position ring.
Additionally, there is a need to the electric machine control system providing a kind of tension force to crimp zero servo applications.
A kind of tension force crimps the electric machine control system of zero servo applications, including detection module, conversion module, adjustment module and
Acquisition module；
Described acquisition module is for obtaining the given torque before driver puts into zero servo, and makes the torque of described driver
Constant for this given torque；
Described detection module for going out the three-phase phase of motor stator according to the phase current sensing electric circuit inspection that driver is built-in
Electric current；
Described conversion module is for being converted to biphase static seat by the three-phase phase current of acquisition by Clarke transformation for mula
The lower electric current of mark system；
Described conversion module is additionally operable to that by park conversion, the electric current under biphase rest frame is converted to M-T and rotates seat
The feedback excitation electric current of described motor under mark system, feedback torque electric current；
Described acquisition module is additionally operable to obtain empty load of motor electric current and core sataration coefficient, calculates given exciting current；
Described adjustment module is for carrying out the described deviation signal determined between exciting current and described feedback excitation electric current
PI regulates, it is thus achieved that the deviation voltage of M axle；
Described acquisition module is pulled to regulating frequency and the feedback frequency of initial position for obtaining motor；
Described adjustment module is additionally operable to the deviation signal of described regulating frequency and described feedback frequency is carried out PI regulation, obtains
Torque current must be given；
Described adjustment module is additionally operable to enter deviation signal between described given torque current and described feedback torque electric current
Row PI regulates, it is thus achieved that the deviation voltage of T axle；
Described conversion module is additionally operable to the deviation voltage of the deviation voltage of described M axle Yu described T axle is carried out anti-PARK change
Change the voltage obtained under biphase static coordinate；
Described conversion module is additionally operable to the voltage under biphase static coordinate is carried out space voltage vector conversion, it is thus achieved that drive
Signal, and by described driving signal function on motor.
Wherein in an embodiment, also include that computing module, described computing module are used for calculating current reel diameter；
Described computing module is additionally operable to the setting tension force according to driver and described reel diameter calculates described driver
Given torque.
Wherein in an embodiment, described computing module is for according to formulaCalculating reel diameter, d is volume
Shaft diameter, f is the output frequency of driver, and r is register ratio, and p is motor number of pole-pairs, and v is linear velocity.
Wherein in an embodiment, described computing module turns for calculating the given of driver according to formula T=F*d
Square, T is the given torque of driver, and F is for setting tension force, and d is reel diameter.
Wherein in an embodiment, described acquisition module includes recording unit, computing unit and processing unit；
The actual angle that described record unit turns over for the initial position and motor recording zero servo input；
Described computing unit turns over the error of angle respective pulses number for calculating zero servo initial position and motor；
Described processing unit obtains described regulating frequency after being processed described error by position ring.
Mentioned strain crimp the motor control method of zero servo applications and system by obtaining driver and putting into zero servo before
Given torque, and to make the constant torque of described driver be this given torque, thus maintains constant tension, and driver puts into zero
After servo logic, by controlling motor output torque constancy achieving system tension smooth transition.Concrete, obtaining the anti-of motor
After feedback exciting current, feedback torque electric current, obtain empty load of motor electric current and core sataration coefficient further, calculate given excitation electricity
Stream, carries out PI regulation by the deviation signal between given exciting current and feedback excitation electric current, it is thus achieved that the deviation voltage of M axle, with
Time, the deviation signal of regulating frequency and feedback frequency is carried out PI regulation, it is thus achieved that given torque current.By given torque current with
Between feedback torque electric current, deviation signal carries out PI regulation, it is thus achieved that the deviation voltage of T axle.The deviation voltage of M axle and the deviation of T axle
Voltage can obtain driving signal after a series of conversion and act on motor, thus reaches zero Serve Motor Control.
Accompanying drawing explanation
Fig. 1 is the flow chart that tension force crimps the motor control method of zero servo applications；
Fig. 2 is the module map that tension force crimps the electric machine control system of zero servo applications.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.In accompanying drawing
Give the preferred embodiment of the present invention.But, the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, providing the purpose of these embodiments is to make the understanding to the disclosure more saturating
Thorough comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, and it can be directly on another element
Or element placed in the middle can also be there is.When an element is considered as " connection " another element, and it can be to be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left ",
" right " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technology used herein and scientific terminology and the technical field belonging to the present invention
The implication that technical staff is generally understood that is identical.The term used the most in the description of the invention is intended merely to describe tool
The purpose of the embodiment of body, it is not intended that in limiting the present invention.Term as used herein " and/or " include one or more phase
Arbitrary and all of combination of the Listed Items closed.
As it is shown in figure 1, crimp the flow chart of the motor control method of zero servo applications for tension force.
A kind of tension force crimps the motor control method of zero servo applications, comprises the following steps:
Step S110, obtain driver and put into the given torque before zero servo, and make the constant torque of described driver be
This given torque.
The step obtaining the given torque before driver puts into zero servo includes:
Calculate current reel diameter.
Setting tension force according to driver and the given torque of the described reel diameter described driver of calculating.
The step calculating current reel diameter includes:
According to formulaCalculating reel diameter, d is reel diameter, and f is the output frequency of driver, and r is that machinery passes
Dynamic ratio, p is motor number of pole-pairs, and v is linear velocity.
When driver output torque/reel diameter is constant, i.e. keep material tension constant.
The step of the given torque setting tension force and the described reel diameter described driver of calculating according to driver includes:
Calculate the given torque of driver according to formula T=F*d, T is the given torque of driver, and F is for setting tension force, d
For reel diameter.
In the present embodiment, when system prepares to shut down, record driver currently gives torque T, and detects zero servo startup
Condition, meets driver output frequency≤zero servo initial frequency, automatically engages zero servo, and the torque of restriction is system-down
The driver output torque of front record, it is achieved when putting into zero servo, material tension is steadily without fluctuation.
Step S120, go out the three-phase phase current of motor stator according to the phase current sensing electric circuit inspection that driver is built-in.
Concrete, by the wherein biphase current of the built-in phase current sensing electric circuit inspection motor three-phase output of driver.
It is zero according to three-phase current summation, obtains third phase electric current.
Step S130, the three-phase phase current of acquisition is converted under biphase rest frame electricity by Clarke transformation for mula
Stream.
Step S140, by the electric current under biphase rest frame by park conversion be converted under M-T rotating coordinate system
The feedback excitation electric current of described motor, feedback torque electric current.
Step S142, acquisition empty load of motor electric current and core sataration coefficient, calculate given exciting current.
Step S150, the deviation signal between described given exciting current and described feedback excitation electric current is carried out PI tune
Joint, it is thus achieved that the deviation voltage of M axle.
Concrete, by pi regulator, deviation signal is adjusted, and then obtains the deviation voltage of M axle.
Step S160, acquisition motor are pulled to regulating frequency and the feedback frequency of initial position, by described regulating frequency and institute
The deviation signal stating feedback frequency carries out PI regulation, it is thus achieved that given torque current.
The step obtaining the regulating frequency that motor is pulled to initial position includes:
Record initial position and the actual angle that turns over of motor that zero servo puts into；
The umber of pulse turned over relative to zero servo initial position is calculated according to described initial position and described actual angle；
Calculate zero servo initial position and motor and turn over the error of angle respective pulses number；
Described regulating frequency is obtained after described error being processed by position ring.
Concrete, record the initial position PulseSeqCnt that zero servo puts into；The actual angle that record motor turns over is logical
Cross QEP module count, be configured to the two-way count mode of UP/DN, calculate the umber of pulse turned over relative to zero servo initial position
PulseFeedCnt；Calculate zero servo initial position and motor and turn over the error of angle respective pulses number, it may be assumed that Err=
PulseSeqCnt*4–PulseFeedCnt；By position ring, error E rr is multiplied by Proportional coefficient K P, at the beginning of being pulled to by motor
Regulating frequency WmSet of beginning position.
Step S170, deviation signal between described given torque current and described feedback torque electric current is carried out PI regulation,
Obtain the deviation voltage of T axle.
Frequency WmSet adjusted by position ring and deviation signal ASRErr passing through PG card feedback frequency WmFed, pass through
Pi regulator obtains given torque current ItRef, and the upper limit of given torque current ItRef is zero servo output torque T, namely
Putting into the output torque T of zero servo Das Vorderradfahrwerkmit Vorderradantrieb, not during carrying material, the output torque of driver is close to zero, during carrying material, defeated
Go out the output torque T that torque is zero servo.
Step S180, the deviation voltage of described M axle and the deviation voltage of described T axle are carried out anti-PARK conversion obtain biphase
Voltage under static coordinate.
Step S190, the voltage under biphase static coordinate is carried out space voltage vector conversion, it is thus achieved that drive signal, and will
Described driving signal function is on motor.
Step S190 includes: the voltage under biphase static coordinate is carried out space voltage vector conversion, it is thus achieved that 6 roads drive letter
Number, and described driving signal is acted on motor through IPM.
By by the control method of above step, at tension force crimping system, enable zero servo-control signal, and zero servo
Frequency arrives, and driver enters zero SERVO CONTROL logic, can independently control the links such as main frame, Scroll, axis of traction and unreeling shaft
Tension force, it is to avoid material hangs, and produces stretcher strain etc..Simultaneously as system has been set up tension force, next time can be more when starting
Add steadily.By arranging the torque limiting under zero servo condition, may be implemented in zero servo condition, when external force > limit torque time turn
Moving spool, external force is cancelled, and spool can automatically return to initial position.
As in figure 2 it is shown, crimp the module map of the control system of zero servomotor application for tension force.
A kind of tension force crimps the electric machine control system of zero servo applications, including detection module 210, conversion module 220, regulation
Module 230 and acquisition module 240.
Acquisition module 240 is for obtaining the given torque before driver puts into zero servo, and makes the torque of described driver
Constant for this given torque.
Described detection module 210 for going out the three-phase of motor stator according to the phase current sensing electric circuit inspection that driver is built-in
Phase current.
Described conversion module 220 for being converted to biphase static by the three-phase phase current of acquisition by Clarke transformation for mula
Electric current under coordinate system.
Described conversion module 220 is additionally operable to that by park conversion, the electric current under biphase rest frame is converted to M-T and revolves
Turn the feedback excitation electric current of described motor under coordinate system, feedback torque electric current.
Obtain motor 240 and be used for obtaining empty load of motor electric current and core sataration coefficient, calculate given exciting current；
Described adjustment module 230 is for by the deviation signal between described given exciting current and described feedback excitation electric current
Carry out PI regulation, it is thus achieved that the deviation voltage of M axle.
Described acquisition module 240 is pulled to regulating frequency and the feedback frequency of initial position for obtaining motor.
Described adjustment module 230 is additionally operable to the deviation signal of described regulating frequency and described feedback frequency is carried out PI tune
Joint, it is thus achieved that given torque current.
Described adjustment module 230 is additionally operable to deviation signal between described given torque current and described feedback torque electric current
Carry out PI regulation, it is thus achieved that the deviation voltage of T axle.
Described conversion module 220 is additionally operable to the deviation voltage of the deviation voltage of described M axle Yu described T axle is carried out anti-PARK
Conversion obtains the voltage under biphase static coordinate.
Described conversion module 220 is additionally operable to the voltage under biphase static coordinate is carried out space voltage vector conversion, it is thus achieved that
Drive signal, and by described driving signal function on motor.
Tension force crimps zero servo control system and also includes that computing module 250, described computing module 250 are worked as calculating
Front reel diameter.
Described computing module 250 is additionally operable to the setting tension force according to driver and described reel diameter calculates described driver
Torque.
Computing module 250 is for according to formulaCalculating reel diameter, d is reel diameter, and f is the defeated of driver
Going out frequency, r is register ratio, and p is motor number of pole-pairs, and v is linear velocity.
Computing module 250 for calculating the torque of driver according to formula T=F*d, and T is the torque of driver, and F is for setting
Tension force, d is reel diameter.
Acquisition module 240 includes recording unit, computing unit and processing unit；
The actual angle that described record unit turns over for the initial position and motor recording zero servo input.
Described computing unit turns over the error of angle respective pulses number for calculating zero servo initial position and motor.
Described processing unit obtains described regulating frequency after being processed described error by position ring.
Mentioned strain crimp the motor control method of zero servo applications and system by obtaining driver and putting into zero servo before
Given torque, and to make the constant torque of described driver be this given torque, thus maintains constant tension, and driver puts into zero
After servo logic, by controlling motor output torque constancy achieving system tension smooth transition.Concrete, obtaining the anti-of motor
After feedback exciting current, feedback torque electric current, obtain empty load of motor electric current and core sataration coefficient further, calculate given excitation electricity
Stream, carries out PI regulation by the deviation signal between given exciting current and feedback excitation electric current, it is thus achieved that the deviation voltage of M axle, with
Time, the deviation signal of regulating frequency and feedback frequency is carried out PI regulation, it is thus achieved that given torque current.By given torque current with
Between feedback torque electric current, deviation signal carries out PI regulation, it is thus achieved that the deviation voltage of T axle.The deviation voltage of M axle and the deviation of T axle
Voltage can obtain driving signal after a series of conversion and act on motor, thus reaches zero Serve Motor Control.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic executed in example is all described, but, as long as the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that, come for those of ordinary skill in the art
Saying, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a tension force crimps the motor control method of zero servo applications, it is characterised in that comprise the following steps:
Obtain driver and put into the given torque before zero servo, and to make the constant torque of described driver be this given torque；
The three-phase phase current of motor stator is gone out according to the phase current sensing electric circuit inspection that described driver is built-in；
The three-phase phase current of acquisition is converted to electric current under biphase rest frame by Clarke transformation for mula；
Electric current under biphase rest frame is converted to by park conversion the feedback of the described motor under M-T rotating coordinate system
Exciting current, feedback torque electric current；
Obtain empty load of motor electric current and core sataration coefficient, calculate given exciting current；
Deviation signal between described given exciting current and described feedback excitation electric current is carried out PI regulation, it is thus achieved that M axle inclined
Potential difference；
Obtain motor and be pulled to regulating frequency and the feedback frequency of initial position, inclined by described regulating frequency and described feedback frequency
Difference signal carries out PI regulation, it is thus achieved that given torque current；
Deviation signal between described given torque current and described feedback torque electric current is carried out PI regulation, it is thus achieved that the deviation of T axle
Voltage；
The deviation voltage of the deviation voltage of described M axle Yu described T axle carries out anti-PARK conversion obtain under biphase static coordinate
Voltage；
Voltage under biphase static coordinate is carried out space voltage vector conversion, it is thus achieved that drive signal, and by described driving signal
Act on motor.
Tension force the most according to claim 1 crimps the motor control method of zero servo applications, it is characterised in that described acquisition
The step of given torque before driver puts into zero servo includes:
Calculate current reel diameter；
Setting tension force according to driver and the given torque of the described reel diameter described driver of calculating.
Tension force the most according to claim 2 crimps the motor control method of zero servo applications, it is characterised in that described calculating
The step of current reel diameter includes:
According to formulaCalculating reel diameter, d is reel diameter, and f is the output frequency of driver, and r is machine driving
Ratio, p is motor number of pole-pairs, and v is linear velocity.
Tension force the most according to claim 2 crimps the motor control method of zero servo applications, it is characterised in that described basis
The step of the given torque setting tension force and the described reel diameter described driver of calculating of driver includes:
Calculate the given torque of driver according to formula T=F*d, T is the given torque of driver, and F is for setting tension force, and d is volume
Shaft diameter.
Tension force the most according to claim 1 crimps the motor control method of zero servo applications, it is characterised in that described acquisition
The step of the regulating frequency that motor is pulled to initial position includes:
Record initial position and the actual angle that turns over of motor that zero servo puts into；
The umber of pulse turned over relative to zero servo initial position is calculated according to described initial position and described actual angle；
Calculate zero servo initial position and motor and turn over the error of angle respective pulses number；
Described regulating frequency is obtained after described error being processed by position ring.
6. a tension force crimps the electric machine control system of zero servo applications, it is characterised in that include detection module, conversion module,
Adjustment module and acquisition module；
Described acquisition module is for obtaining the given torque before driver puts into zero servo, and makes the constant torque of described driver
For this given torque；
Described detection module for going out the three-phase phase current of motor stator according to the phase current sensing electric circuit inspection that driver is built-in；
Described conversion module is for being converted to biphase rest frame by the three-phase phase current of acquisition by Clarke transformation for mula
Lower electric current；
Described conversion module is additionally operable to by park conversion, the electric current under biphase rest frame is converted to M-T rotating coordinate system
Under the feedback excitation electric current of described motor, feedback torque electric current；
Described acquisition module is additionally operable to obtain empty load of motor electric current and core sataration coefficient, calculates given exciting current；
Described adjustment module is for carrying out PI tune by the described deviation signal determined between exciting current and described feedback excitation electric current
Joint, it is thus achieved that the deviation voltage of M axle；
Described acquisition module is pulled to regulating frequency and the feedback frequency of initial position for obtaining motor；
Described adjustment module is additionally operable to the deviation signal of described regulating frequency and described feedback frequency is carried out PI regulation, it is thus achieved that give
Determine torque current；
Described adjustment module is additionally operable to deviation signal between described given torque current and described feedback torque electric current is carried out PI
Regulation, it is thus achieved that the deviation voltage of T axle；
Described conversion module is additionally operable to that the deviation voltage of the deviation voltage of described M axle with described T axle carries out anti-PARK conversion and obtains
Obtain the voltage under biphase static coordinate；
Described conversion module is additionally operable to the voltage under biphase static coordinate is carried out space voltage vector conversion, it is thus achieved that drive letter
Number, and by described driving signal function on motor.
Tension force the most according to claim 6 crimps the electric machine control system of zero servo applications, it is characterised in that also include meter
Calculating module, described computing module is used for calculating current reel diameter；
Described computing module is additionally operable to the setting tension force according to driver and described reel diameter calculates the given of described driver
Torque.
Tension force the most according to claim 7 crimps the electric machine control system of zero servo applications, it is characterised in that described calculating
Module is for according to formulaCalculating reel diameter, d is reel diameter, and f is the output frequency of driver, and r is that machinery passes
Dynamic ratio, p is motor number of pole-pairs, and v is linear velocity.
Tension force the most according to claim 7 crimps the electric machine control system of zero servo applications, it is characterised in that described calculating
Module for calculating the given torque of driver according to formula T=F*d, and T is the given torque of driver, and F is for setting tension force, d
For reel diameter.
Tension force the most according to claim 6 crimps the electric machine control system of zero servo applications, it is characterised in that described in obtain
Delivery block includes recording unit, computing unit and processing unit；
The actual angle that described record unit turns over for the initial position and motor recording zero servo input；
Described computing unit turns over the error of angle respective pulses number for calculating zero servo initial position and motor；
Described processing unit obtains described regulating frequency after being processed described error by position ring.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108415474A (en) * | 2018-03-12 | 2018-08-17 | 深圳市海浦蒙特科技有限公司 | Frequency converter control method and frequency converter applied to filter press |
| CN109534063A (en) * | 2018-11-30 | 2019-03-29 | 长春工业大学 | More motor coupled system indirect tension control methods based on multiple agent |
| CN114476864A (en) * | 2022-01-13 | 2022-05-13 | 北京精密机电控制设备研究所 | Control method of electromechanical servo flexible cable driving device |
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| CN108415474A (en) * | 2018-03-12 | 2018-08-17 | 深圳市海浦蒙特科技有限公司 | Frequency converter control method and frequency converter applied to filter press |
| CN108415474B (en) * | 2018-03-12 | 2020-04-28 | 深圳市海浦蒙特科技有限公司 | Frequency converter control method applied to filter press and frequency converter |
| CN109534063A (en) * | 2018-11-30 | 2019-03-29 | 长春工业大学 | More motor coupled system indirect tension control methods based on multiple agent |
| CN114476864A (en) * | 2022-01-13 | 2022-05-13 | 北京精密机电控制设备研究所 | Control method of electromechanical servo flexible cable driving device |
| CN114476864B (en) * | 2022-01-13 | 2024-05-10 | 北京精密机电控制设备研究所 | Control method of electromechanical servo flexible cable driving device |
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| CN106330037B (en) | 2019-02-01 |
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