CN106527352A - Robot servo motor positioning control method - Google Patents
Robot servo motor positioning control method Download PDFInfo
- Publication number
- CN106527352A CN106527352A CN201611038458.1A CN201611038458A CN106527352A CN 106527352 A CN106527352 A CN 106527352A CN 201611038458 A CN201611038458 A CN 201611038458A CN 106527352 A CN106527352 A CN 106527352A
- Authority
- CN
- China
- Prior art keywords
- speed
- servomotor
- servo motor
- control
- control method
- 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.)
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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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
-
- 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
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33086—Interrupt frequency as function of rating of servomotor or desired control frequency
Abstract
The invention discloses a robot servo motor positioning control method. The method comprises the following steps: inputting control signals into a pulse deviation counter of a servo motor for performing addition; inputting encoder pulse feedback of the servo motor into the pulse deviation counter for performing subtraction; when the pulse deviation counter is not at zero, a control unit of the servo motor emitting a speed instruction to a speed ring of the servo motor; and outputting a current instruction through conversion between speed ring parameters and load inertia parameters, wherein the current instruction controls an inversion element of the servo motor through a control loop, and the inversion element drives the servo motor to perform positioning adjustment. By use of such a control method, the servo motor can automatically complete positioning control simply by inputting a control instruction into a driver of the servo motor, the servo driver saves distribution, modification of the parameters in motion is convenient, and the control is accurate.
Description
Technical field
The present invention relates to technical field of robot control, especially, is related to a kind of robot servo motors location control side
Method.
Background technology
The technical research of robot has developed many decades, and main application concentrates on industrial robot, in production scene
People are replaced to be engaged in danger, accurate or dull repeated operation.In recent years because of the rising of human cost, and robot
Correlation technique is more ripe, and in every field, the use of robot is increasingly extensive.
In robot, servomotor is main power output and control unit, and servomotor can be realized smart with load
True location control, rotating speed control and torsion control.Be widely applied the industries such as packaging, printing, mechanical arm, injection from
In Dong Hua robots.Pulse is the most common way for controlling servomotor positioning.At present in host controller（Such as：PLC, fortune
Movement controller, numerical control, axle card etc.）Set the impulse speed of transmission, number of pulses, Acceleration and deceleration time；Then start and send arteries and veins
Punching, it is possible to very easily control servomotor and move according to the speed, displacement that set.But, pulse controlled servo
Driver wiring is more, control device structure very complicated, stable relatively low with reliability.So how to robot servo motors
It is industry good problem to study to carry out accurately location control.
The content of the invention
Present invention aim at providing a kind of robot servo motors' position control method, to solve in prior art, arteries and veins
The servo-driver wiring of punching control is more, control device structure very complicated, the relatively low technical problem of stable and reliability.
For achieving the above object, the present invention provides a kind of robot servo motors' position control method, comprises the following steps：
Input control signal does addition into the pulse deviation enumerator of servomotor；
Be input into the servomotor encoder pulse be fed into the pulse deviation enumerator in do subtraction；
When the pulse deviation enumerator is not zero, from the servomotor speed from control unit to the servomotor
Ring sends speed command；Through the speed ring parameter and load inertia than parameter conversion, output current instruction；The electric current
Instruction controls the inversion element of the servomotor by control loop, and the servomotor by described in the inversion element drives is carried out
Positioning adjustment.
Further, it is further comprising the steps of：Input speed is instructed to the servomotor, detects institute by the speed ring
State the feedback speed of servomotor, the feedback speed compared with the speed command, then according to speed comparative result pair
The frequency of the servomotor speed is adjusted.
Further, the speed ring is closed loop control.
The invention has the advantages that：
Using this control method, it is only necessary to which, to being input into control instruction in the driver of servomotor, servomotor can be automatically complete
Into location control, in servo-driver province distribution, motion, parameter is changed conveniently, control is precisely.
Specific embodiment
Hereinafter embodiments of the invention are described in detail.
The preferred embodiments of the present invention provide a kind of robot servo motors' position control method, comprise the following steps：
Input control signal does addition into the pulse deviation enumerator of servomotor；
Be input into the servomotor encoder pulse be fed into the pulse deviation enumerator in do subtraction；
When the pulse deviation enumerator is not zero, from the servomotor speed from control unit to the servomotor
Ring sends speed command；Through the speed ring parameter and load inertia than parameter conversion, output current instruction；The electric current
Instruction controls the inversion element of the servomotor by control loop, and the servomotor by described in the inversion element drives is carried out
Positioning adjustment.
Using this control method, it is only necessary to which, to being input into control instruction in the driver of servomotor, servomotor can be certainly
It is dynamic to complete location control, parameter is changed conveniently in servo-driver province distribution, motion, control is precisely.
Preferably, further comprising the steps of input speed is instructed to the servomotor, described by speed ring detection
The feedback speed of servomotor, the feedback speed compared with the speed command, then according to speed comparative result to institute
The frequency for stating servomotor speed is adjusted.The deviation of servomotor and command speed so can be constantly corrected, is made
The rotating speed of servomotor and command speed match, and improve running accuracy.
Preferably, in order that servomotor accurately can be moved by constant setting speed, the speed ring is
Closed loop control.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to；For the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (3)
1. a kind of robot servo motors' position control method, it is characterised in that comprise the following steps：
Input control signal does addition into the pulse deviation enumerator of servomotor；
Be input into the servomotor encoder pulse be fed into the pulse deviation enumerator in do subtraction；
When the pulse deviation enumerator is not zero, from the servomotor speed from control unit to the servomotor
Ring sends speed command；Through the speed ring parameter and load inertia than parameter conversion, output current instruction；The electric current
Instruction controls the inversion element of the servomotor by control loop, and the servomotor by described in the inversion element drives is carried out
Positioning adjustment.
2. robot servo motors' position control method according to claim 1, it is characterised in that also including following step
Suddenly：
Input speed is instructed to the servomotor, detects the feedback speed of the servomotor by the speed ring, described anti-
Then feedback speed entered to the frequency of the servomotor speed according to speed comparative result compared with the speed command
Row adjustment.
3. robot servo motors' position control method according to claim 2, it is characterised in that：
The speed ring is closed loop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611038458.1A CN106527352A (en) | 2016-11-23 | 2016-11-23 | Robot servo motor positioning control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611038458.1A CN106527352A (en) | 2016-11-23 | 2016-11-23 | Robot servo motor positioning control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106527352A true CN106527352A (en) | 2017-03-22 |
Family
ID=58356761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611038458.1A Pending CN106527352A (en) | 2016-11-23 | 2016-11-23 | Robot servo motor positioning control method |
Country Status (1)
| Country | Link |
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| CN (1) | CN106527352A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109194200A (en) * | 2018-09-20 | 2019-01-11 | 珠海格力智能装备有限公司 | A kind of control method of servo motor and device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000152693A (en) * | 1998-11-10 | 2000-05-30 | Nikki Denso Kk | Control method and system of servo motor, machine tool, and friction-compressing device |
| CN101944870A (en) * | 2009-07-10 | 2011-01-12 | 北京兴大豪科技开发有限公司 | Control method and circuit of servo motor |
| CN102497141A (en) * | 2011-12-06 | 2012-06-13 | 北京特种机械研究所 | High torque starting method for high power alternating current (AC) servo driver |
| CN103163829A (en) * | 2011-12-13 | 2013-06-19 | 东芝机械株式会社 | Servo-controller and adjusting method thereof |
| CN203449314U (en) * | 2013-08-02 | 2014-02-26 | 无锡信捷电气股份有限公司 | Full closed-loop servo movement control system |
| CN103676653A (en) * | 2013-12-16 | 2014-03-26 | 成都乐创自动化技术股份有限公司 | Servo synchronous control method and system applied to gantry mechanism |
| CN203562986U (en) * | 2013-10-28 | 2014-04-23 | 湖南工业大学 | Printing machine sliding mode servo control system |
| CN104779894A (en) * | 2015-05-08 | 2015-07-15 | 广东技术师范学院 | Torque control method of servo driver |
-
2016
- 2016-11-23 CN CN201611038458.1A patent/CN106527352A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000152693A (en) * | 1998-11-10 | 2000-05-30 | Nikki Denso Kk | Control method and system of servo motor, machine tool, and friction-compressing device |
| CN101944870A (en) * | 2009-07-10 | 2011-01-12 | 北京兴大豪科技开发有限公司 | Control method and circuit of servo motor |
| CN102497141A (en) * | 2011-12-06 | 2012-06-13 | 北京特种机械研究所 | High torque starting method for high power alternating current (AC) servo driver |
| CN103163829A (en) * | 2011-12-13 | 2013-06-19 | 东芝机械株式会社 | Servo-controller and adjusting method thereof |
| CN203449314U (en) * | 2013-08-02 | 2014-02-26 | 无锡信捷电气股份有限公司 | Full closed-loop servo movement control system |
| CN203562986U (en) * | 2013-10-28 | 2014-04-23 | 湖南工业大学 | Printing machine sliding mode servo control system |
| CN103676653A (en) * | 2013-12-16 | 2014-03-26 | 成都乐创自动化技术股份有限公司 | Servo synchronous control method and system applied to gantry mechanism |
| CN104779894A (en) * | 2015-05-08 | 2015-07-15 | 广东技术师范学院 | Torque control method of servo driver |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109194200A (en) * | 2018-09-20 | 2019-01-11 | 珠海格力智能装备有限公司 | A kind of control method of servo motor and device |
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Application publication date: 20170322 |