CN106602971B - Motor control method, apparatus and system - Google Patents
Motor control method, apparatus and system Download PDFInfo
- Publication number
- CN106602971B CN106602971B CN201510684616.XA CN201510684616A CN106602971B CN 106602971 B CN106602971 B CN 106602971B CN 201510684616 A CN201510684616 A CN 201510684616A CN 106602971 B CN106602971 B CN 106602971B
- Authority
- CN
- China
- Prior art keywords
- motor
- control
- instruction
- real time
- word
- 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.)
- Active
Links
Landscapes
- Control Of Electric Motors In General (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The embodiment of the invention discloses a kind of motor control methods, apparatus and system, this method comprises: obtaining preset control word；Control motor is switched to operating mode corresponding with control word；Obtain the real time kinematics parameter of motor；Obtain the planning instruction of motor movement track；The operation of tricyclic closed loop is carried out according to planning instruction and real time kinematics parameter to generate control instruction；Control instruction is sent to motor to control the motor.The embodiment of the present invention may be implemented more fully to control motor, such as Fly a car start, slip compensation, current location update, short circuit brake etc..
Description
Technical field
The present invention relates to technical field of motors, more particularly to a kind of motor control method, apparatus and system.
Background technique
Application layer protocol of the CANOPEN agreement as CAN bus has given full play to CAN bus Transmission bit rate height, transmission
Distance, high reliablity, the advantage of fast response time are widely used in dcs, robot control system, vehicle-mounted
The fields such as equipment control, numerically-controlled machine tool, industrial automation.CANOPEN402 agreement, which is used as, is applied to the dedicated association of motion control
View, has the characteristics that easy to use, powerful, is widely used in various motion control fields.
But CANOPEN402 agreement only can satisfy the basic demand of motion control at present, and be unable to satisfy more comprehensively
Control requirement, such as Fly a car start, slip compensation, current location update, short circuit brake.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of motor controls that can be realized and more comprehensively control motor
Method, apparatus and system.
The embodiment of the present invention provides a kind of motor control method, comprising: obtains preset control word；Control motor is switched to
Operating mode corresponding with control word；Obtain the real time kinematics parameter of motor；Obtain the planning instruction of motor movement track；According to
Planning instruction and real time kinematics parameter carry out the operation of tricyclic closed loop to generate control instruction；Control instruction is sent to motor to control
The motor.
Wherein, according to planning instruction and real time kinematics parameter carry out the operation of tricyclic closed loop with generate control instruction step it
Afterwards, further includes: judge whether motor malfunctions according to real time kinematics parameter and preset status word, if error, controls motor and stop
Only run.
Wherein, after determining motor error further include: generate alarm command and send the alarm to robot controller
Instruction.
The embodiment of the present invention also provides a kind of motor control assembly, comprising: first obtains module, for obtaining preset control
Word processed；Control module is switched to operating mode corresponding with control word for controlling motor；Second obtains module, for obtaining
The real time kinematics parameter of motor；Third obtains module, and the planning for obtaining motor movement track instructs；Control instruction generates mould
Block, for carrying out the operation of tricyclic closed loop according to planning instruction and real time kinematics parameter to generate control instruction；Sending module is used for
Control instruction is sent to motor to control the motor.
Wherein, motor control assembly further includes alarm module, for control instruction generation module generate control instruction it
Afterwards, judge whether motor malfunctions according to real time kinematics parameter and preset status word, if error, it is out of service to control motor.
Wherein, alarm module is also used to after determining motor error, is generated alarm command and is sent out to robot controller
Give the alarm command.
The embodiment of the present invention also provides a kind of electric machine control system, comprising: field programmable gate array, for detecting motor
Real time kinematics parameter；Robot controller, the control word for saving presets generate the planning instruction of motor movement track；
Microprocessor, for obtaining preset control word from robot controller, control motor is switched to and control word pair
The operating mode answered；Real time kinematics parameter is obtained from field programmable gate array, obtains planning instruction, root from robot controller
The operation of tricyclic closed loop is carried out to generate control instruction according to the planning instruction and real time kinematics parameter, and is sent the control to motor and referred to
It enables to control the motor.
Wherein, microprocessor is also used to judge whether motor malfunctions according to real time kinematics parameter and preset status word, if
Error, then it is out of service to control motor.
Wherein, microprocessor is also used to after determining motor error, is generated alarm command and is sent out to robot controller
Give the alarm command；Robot controller is also used to issue the user with alarm after receiving alarm command.
Compared with prior art, the embodiment of the present invention includes following the utility model has the advantages that microprocessor is after obtaining control word, can
Motor is switched to corresponding operating mode, such as Fly a car start according to the control word；Microprocessor is instructed further according to planning
Control instruction is generated with real time kinematics parameter, motor is more fully controlled so as to realize, such as Fly a car start, slippage are mended
Repay, current location update, short circuit brake etc..
Detailed description of the invention
Fig. 1 is the structural block diagram of one embodiment of electric machine control system in the embodiment of the present invention；
Fig. 2 is the flow chart of one embodiment of motor control method in the embodiment of the present invention；
Fig. 3 is the structural block diagram of one embodiment of motor control assembly in the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described in detail with embodiment with reference to the accompanying drawing.
Embodiment one
Referring to Fig. 1, Fig. 1 is the structural block diagram of one embodiment of electric machine control system in the embodiment of the present invention.Such as Fig. 1
Shown, in the present embodiment, electric machine control system 100 includes: that (Field Programmable Gate Array, scene can by FPGA
Program gate array) 110, RC (Robot Controller, robot controller) 120, DSP (Digital Signal
Processor, microprocessor) 130.
FPGA 110 is connect with communications, and FPGA 110 is used to detect the real time kinematics parameter of motor, which includes
But the parameters such as electric current, speed, the position for being not limited to motor.
Robot controller 120 is used for the control word saved presets, generates the planning instruction of motor movement track.Robot
Controller 120 can be by CAN (Controller Area Network, controller local area network) bus by control word and rule
It draws instruction and sends microprocessor 130 to.In concrete application, the concrete meaning of the position of control word can be as shown in table 1.
| The position of control word | Meaning |
| Bit 0 | Driving restarts: completing |
| Bit 1 | Driving restarts: block |
| Bit 2 | Retain |
| Bit 3 | Retain |
| Bit 4 | Slip compensation |
| Bit 5 | Current location updates |
| Bit 6 | Short circuit brake activation |
| Bit 7-15 | Retain |
Table 1
Microprocessor 130, for obtaining control word from robot controller 120, control motor is switched to and the control word
Corresponding operating mode, such as short-circuit brake mode；Microprocessor 130 is also used to obtain real time kinematics parameter from FPGA120, from
Robot controller 120 obtains the planning instruction of motor movement track, carries out three according to the planning instruction and real time kinematics parameter
The operation of ring closed loop sends the control instruction to motor to generate control instruction to control the motor.
Specifically, microprocessor 130 is made planning instruction and real time kinematics parameter poor, takes the difference as the defeated of control ring
Enter, carry out the operation of tricyclic closed loop, the process of specific tricyclic closed loop operation is the prior art, is not repeated herein.Optionally, micro- place
PWM (Pulse Width Modulation, the pulse width modulation) module for managing device 130 is generated according to tricyclic closed loop operation result
Corresponding control instruction realizes the control to motor by driving plate to control being turned on and off for driving plate.
In the present embodiment, preset control word is sent to by microprocessor 130, micro process by robot controller 120
Motor is switched to corresponding operating mode, such as Fly a car start according to the control word by device 130；Microprocessor 130 is further according to machine
The real time kinematics parameter for the motor that the planning instruction and FPGA that device people controller 120 is sent are sent, generates control instruction, so as to
Motor is more fully controlled with realizing, such as Fly a car start, slip compensation, current location update, short circuit brake etc..
In another preferred embodiment, microprocessor 130 can be also used for according to the real time kinematics parameter of motor and preset
Status word judge whether motor malfunctions, if error, it is out of service to control motor, and generate alarm command and to robot control
Device 120 processed sends the alarm command；And robot controller 120 issues the user with alarm after receiving the alarm command, from
And realize and the various states of motor are monitored in real time, and alarm and protection can be more effectively carried out, improve the safety of system
Energy.Preset status word can be stored in microprocessor 130, can also be obtained from external equipment by microprocessor 130.Tool
In body application, the concrete meaning of the position of status word can be as shown in table 2 and table 3.
| The position of status word | Meaning |
| Bit 0 | The output limit value of positioner |
| Bit 1 | The input limit value of speed control 1 |
| Bit 2 | The output limit value of speed control 1 |
| Bit 3 | Target torque limit value |
| Bit 4 | Current setting value limit value |
| Bit 5 | The input limit value of speed control 2 |
| Bit 6 | The activation of speed limit value |
| Bit 7 | The activation of lower velocity limit value |
| Bit 8 | Under V/f control: driving restarts activation |
| Bit 9 | Under V/f control: driving restarts ready |
| Bit 10 | Under V/f control: frequency limit |
| Bit11 | Retain |
| Bit12 | Motor phase fault detection activation |
| Bit13 | Position feedback is interrupted |
| Bit14 | The delay time of erroneous resets activation |
| Bit15 | Band-type brake activation |
Table 2
| The position of status word | Meaning |
| Bit 0 | Feedback modifiers |
| Bit 1 | Manual test mode activation |
| Bit 2 | MANUAL CONTROL mode activation |
| Bit 3 | Angular Trackong control activation |
| Bit 4 | Select absolute value encoder |
| Bit 5 | Absolute position is effective |
| Bit 6 | Short circuit brake activation |
| Bit7-15 | Retain |
Table 3
Embodiment two
The embodiment of the present invention also provides a kind of motor control method.Referring to Fig. 2, Fig. 2 is motor in the embodiment of the present invention
The flow chart of one embodiment of control method.As shown in Fig. 2, the motor control method in the present embodiment includes:
210, preset control word is obtained；
The executing subject of the present embodiment can be microprocessor.Microprocessor can obtain preset control word from FPGA；
Certainly, control word can also pre-save in the microprocessor, and microprocessor directly reads control word from local.Concrete application
In, the concrete meaning of the position of control word can be as shown in table 1.
220, control motor is switched to operating mode corresponding with control word；
For microprocessor after getting control word, control motor is switched to operating mode corresponding with the control word, such as
Short-circuit brake mode.
230, the real time kinematics parameter of motor is obtained；
After executing step 220, microprocessor executes step 230.Electricity can be read by the FPGA outside microprocessor
The real time kinematics parameter of machine, then the parameter is sent to microprocessor by FPGA.It is of course also possible to one built in the microprocessor
A parameter acquisition devices directly read the real time kinematics parameter of motor.
240, the planning instruction of motor movement track is obtained；
The planning that motor movement track can be generated by robot controller instructs, and sends micro- place to by CAN bus
Manage device.There is no inevitable chronological order between step 240 and step 230.
250, the operation of tricyclic closed loop is carried out to generate control instruction according to planning instruction and real time kinematics parameter；
Specifically, microprocessor is made planning instruction and real time kinematics parameter poor, takes the difference as the input of control ring, into
The process of row tricyclic closed loop operation, specific tricyclic closed loop operation is the prior art, is not repeated herein.
260, control instruction is sent to control the motor to motor.
After step 250 generates control instruction, microprocessor executes step 260.Optionally, the PWM mould of microprocessor
Root tuber generates corresponding control instruction according to tricyclic closed loop operation result, to control being turned on and off for driving plate, by driving plate reality
Now to the control of motor.Microprocessor directly can also send control instruction to motor to control the motor.
In the present embodiment, motor can be switched to corresponding by microprocessor after obtaining control word according to the control word
Operating mode, such as Fly a car start；Microprocessor generates control instruction further according to planning instruction and real time kinematics parameter, so as to
Motor is more fully controlled with realizing, such as Fly a car start, slip compensation, current location update, short circuit brake etc..
Preferably, microprocessor is after executing step 230, can also according to the real time kinematics parameter of the motor of acquisition and
Preset status word judges whether motor malfunctions, if error, it is out of service to control motor, and generate alarm command.Micro process
Device can directly issue the user with alarm after generating alarm command, and the alarm can also be sent to robot controller and is referred to
It enables, alarm is issued the user with by robot controller, the various states of motor are monitored in real time to realize, and can more have
Effect ground carries out alarm and protection, improves the security performance of system.Preset status word can save in the microprocessor, can also be by
Microprocessor is obtained from external equipment.In concrete application, the concrete meaning of the position of status word can be as shown in table 2 and table 3.
In another embodiment, customized state machine can also be designed, simultaneously for realizing each state of microprocessor
Switching.Firstly, microprocesser initialization parameter, microprocessor is in power-down state, waits to be launched.When robot controller is sent
When carrying the start command of control word, microprocessor is switched to power-up state, carries out IPM (Intelligent Power
Module, intelligent power module) bootstrap charge circuit.After charging complete, microprocessor jumps into servo closed state automatically.Work as machine
Device people's controller sends servo open command, and microprocessor is cut into servo open state, starts to carry out tricyclic closed-loop control, root
The planning instruction sent according to robot controller is operated.When robot controller sends cutoff command, under microprocessor
Electricity.In entire control process, if there is alarm generates, then microprocessor is switched to error condition, and servo is closed, and waits at mistake
Reason.
Embodiment three
Corresponding to embodiment two, the embodiment of the present invention also provides a kind of motor control assembly.Referring to Fig. 3, Fig. 3 is this hair
The structural block diagram of one embodiment of motor control assembly in bright embodiment.As shown in figure 3, in the present embodiment, motor control dress
It sets and includes:
First obtains module 310, for obtaining preset control word；
Control module 320 is switched to operating mode corresponding with control word for controlling motor, and triggers second and obtain mould
Block 330 and third obtain module 340 and execute operation；
Second obtains module 330, for obtaining the real time kinematics parameter of motor；
Third obtains module 340, and the planning for obtaining motor movement track instructs；
Control instruction generation module 350, real time kinematics parameter and third for being sent according to the second acquisition module 330 obtain
The planning instruction that modulus block 340 is sent carries out the operation of tricyclic closed loop to generate control instruction；
Sending module 360, for sending the control instruction of the generation of control instruction generation module 350 to motor to control the electricity
Machine.
In the present embodiment, motor can be switched to pair by motor control assembly after obtaining control word according to the control word
The operating mode answered, such as Fly a car start；Motor control assembly generates control further according to planning instruction and real time kinematics parameter and refers to
It enables, motor is more fully controlled so as to realize, such as Fly a car start, slip compensation, current location update, short circuit brake
Deng.
In another preferred embodiment, motor control assembly can also include alarm module, for generating in control instruction
After module 350 carries out the operation of tricyclic closed loop according to planning instruction and real time kinematics parameter to generate control instruction, according to second
The real time kinematics parameter and preset status word for obtaining the transmission of module 330 judge whether motor malfunctions, if error, controls motor
It is out of service, and generate alarm command and send to robot controller.
The functional interpretation and description of each module refer to the corresponding steps in embodiment two in the present embodiment, do not go to live in the household of one's in-laws on getting married herein
It states.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (9)
1. a kind of motor control method characterized by comprising
Obtain preset control word；
It controls the motor and is switched to operating mode corresponding with the control word, the operating mode includes Fly a car start, cunning
Difference compensation, current location update and short circuit brake；
Obtain the real time kinematics parameter of the motor；
The planning instruction of the motor movement track is obtained, after the planning instruction saves the control word by robot controller
It is produced；
Calculate the difference of the planning instruction and the real time kinematics parameter；
The input for taking the difference as control ring carries out the operation of tricyclic closed loop, and to obtain control instruction, the control instruction is used
In being turned on and off for control driving plate；
The control instruction is sent to the motor to control the motor.
2. motor control method according to claim 1, which is characterized in that described according to planning instruction and described
After real time kinematics parameter carries out the operation of tricyclic closed loop to generate control instruction step, further includes:
Judge whether the motor malfunctions according to the real time kinematics parameter and preset status word, if error, controls motor
It is out of service.
3. motor control method according to claim 2, which is characterized in that also wrapped after determining the motor error
It includes:
It generates alarm command and sends the alarm command to robot controller.
4. a kind of motor control assembly characterized by comprising
First obtains module, for obtaining preset control word；
Control module is switched to operating mode corresponding with the control word, the operating mode packet for controlling the motor
Include Fly a car start, slip compensation, current location update and short circuit brake；
Second obtains module, for obtaining the real time kinematics parameter of the motor；
Third obtains module, and the planning for obtaining the motor movement track instructs, and the planning instruction is controlled by robot
Produced by device saves after the control word；
Control instruction generation module, for calculating the difference of the planning instruction and the real time kinematics parameter；By the difference
Input as control ring carries out the operation of tricyclic closed loop, and to obtain control instruction, the control instruction is for controlling driving plate
It is turned on and off；
Sending module, for sending the control instruction to the motor to control the motor.
5. motor control assembly according to claim 4, which is characterized in that the device further includes alarm module, is used for
After the control instruction generation module generates the control instruction, sentenced according to the real time kinematics parameter and preset status word
Whether the motor that breaks malfunctions, if error, it is out of service to control motor.
6. motor control assembly according to claim 5, which is characterized in that the alarm module is also used to described in the judgement
After motor error, generates alarm command and send the alarm command to robot controller.
7. a kind of electric machine control system characterized by comprising
Field programmable gate array, for detecting the real time kinematics parameter of motor；
Robot controller, the control word for saving presets generate the planning instruction of the motor movement track；
Microprocessor, for obtaining the preset control word from the robot controller, control the motor be switched to
The corresponding operating mode of the control word, the operating mode include that Fly a car start, slip compensation, current location update and short
Road brake；The real time kinematics parameter is obtained from the field programmable gate array, described in robot controller acquisition
Planning instruction, produced by planning instruction is saved after the control word by robot controller, calculate the planning instruct with
The difference of the real time kinematics parameter；The input for taking the difference as control ring carries out the operation of tricyclic closed loop, to be controlled
Instruction, the control instruction is for controlling being turned on and off for driving plate；
And the control instruction is sent to control the motor to the motor.
8. electric machine control system according to claim 7, which is characterized in that the microprocessor is also used to according to the reality
When kinematic parameter and preset status word judge whether the motor malfunctions, if error, it is out of service to control motor.
9. electric machine control system according to claim 8, which is characterized in that the microprocessor is also used to described in the judgement
After motor error, generates alarm command and send the alarm command to the robot controller；The robot controller
It is also used to issue the user with alarm after receiving the alarm command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684616.XA CN106602971B (en) | 2015-10-20 | 2015-10-20 | Motor control method, apparatus and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684616.XA CN106602971B (en) | 2015-10-20 | 2015-10-20 | Motor control method, apparatus and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106602971A CN106602971A (en) | 2017-04-26 |
| CN106602971B true CN106602971B (en) | 2019-10-11 |
Family
ID=58555260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510684616.XA Active CN106602971B (en) | 2015-10-20 | 2015-10-20 | Motor control method, apparatus and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106602971B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154030B (en) * | 2019-06-13 | 2021-05-18 | 哈尔滨玄智科技有限公司 | Control method of fighting robot, fighting robot and control terminal |
| CN114253176A (en) * | 2021-11-09 | 2022-03-29 | 北京特种机械研究所 | AGV traveling motor fault emergency control device and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005080332A (en) * | 2003-08-28 | 2005-03-24 | Yaskawa Electric Corp | Method for detecting abnormal following of motor |
| CN101274626A (en) * | 2007-11-16 | 2008-10-01 | 中国科学院电工研究所 | Control method for hybrid power automobile equipped with two mechanical end motors |
| CN102096374A (en) * | 2010-11-02 | 2011-06-15 | 浙江大学 | Energy minimum control method of input limited double-integrating system |
| CN104476544A (en) * | 2014-10-23 | 2015-04-01 | 广东工业大学 | Self-adaptive dead zone inverse model generating device of visual servo mechanical arm system |
| CN104589367A (en) * | 2014-11-26 | 2015-05-06 | 中国科学院沈阳自动化研究所 | Modular robot driver based on EtherCAT and control method |
-
2015
- 2015-10-20 CN CN201510684616.XA patent/CN106602971B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005080332A (en) * | 2003-08-28 | 2005-03-24 | Yaskawa Electric Corp | Method for detecting abnormal following of motor |
| CN101274626A (en) * | 2007-11-16 | 2008-10-01 | 中国科学院电工研究所 | Control method for hybrid power automobile equipped with two mechanical end motors |
| CN102096374A (en) * | 2010-11-02 | 2011-06-15 | 浙江大学 | Energy minimum control method of input limited double-integrating system |
| CN104476544A (en) * | 2014-10-23 | 2015-04-01 | 广东工业大学 | Self-adaptive dead zone inverse model generating device of visual servo mechanical arm system |
| CN104589367A (en) * | 2014-11-26 | 2015-05-06 | 中国科学院沈阳自动化研究所 | Modular robot driver based on EtherCAT and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106602971A (en) | 2017-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102208888B (en) | Motor driving system, motor controller, and safety function expander | |
| CN106602971B (en) | Motor control method, apparatus and system | |
| CN103112576B (en) | A kind of servos control method | |
| WO2012033661A3 (en) | Electric drive power response management system and method | |
| CN108393895A (en) | Control system of live overhaul and maintenance operation robot for substation equipment | |
| CN110579980A (en) | Universal type servo control algorithm validity verification device | |
| CN104393814A (en) | Control method for permanent magnet synchronous motor | |
| CN107053005A (en) | A kind of control system and control method of the two axial plane grinding machines based on PLC | |
| CN101157218A (en) | Apparatus for controlling robot | |
| CN105373079A (en) | Motion controller and servo driver cooperative control system | |
| CN103412492A (en) | Multi-electromechanical-system distributed intelligent synchronous control device and method | |
| JP2011147279A (en) | Motor control device, and control device for fan filter unit | |
| CN115021389A (en) | Industrial robot power-off self-protection method | |
| CN208147858U (en) | Control system of live overhaul and maintenance operation robot for substation equipment | |
| CN105150189A (en) | Wheel type robot drive mode seamless switching method | |
| CN104935231A (en) | Current control method of induction motor based on forecast mode, and current controller of induction motor | |
| CN101783640A (en) | Motor speed closed loop control method | |
| CN108615647B (en) | High-voltage combined electrical apparatus and servo motor drive mechanism thereof | |
| CN203769950U (en) | Accelerator control system applicable to single-engine cleaning and sweeping vehicle | |
| CN205721324U (en) | Machine control equipment, control system and driving means, control device | |
| CN201945836U (en) | Embedded controller based on ARM operation robot | |
| CN203293204U (en) | Control system of four-shaft SCARA industrial robot | |
| CN114285332B (en) | Motor driving system, method and storage medium | |
| CN203858774U (en) | Training platform for skill training | |
| CN107479430B (en) | Gearbox electromagnetic valve driving circuit and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |