CN106970324A - A kind of spacing method for sensing - Google Patents
A kind of spacing method for sensing Download PDFInfo
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- CN106970324A CN106970324A CN201710284501.0A CN201710284501A CN106970324A CN 106970324 A CN106970324 A CN 106970324A CN 201710284501 A CN201710284501 A CN 201710284501A CN 106970324 A CN106970324 A CN 106970324A
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- motor
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- mobile device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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- General Physics & Mathematics (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of spacing method for sensing, including the first contact block and the second contact block are set at fixing equipment zero point and in mobile device respectively；The motor of operation driving mobile device operating, obtains motor real-time characteristic parameter；According to motor real-time characteristic parameter, real-time stall detection is carried out to motor using the stall detection method of feature based parameter threshold；Monitor whether the real-time characteristic parameter is more than default characteristic parameter threshold；Judge whether to reach the steps such as dead-center position.Compared with prior art, limit method of the invention using motor itself controllable stall when significant condition, save the use of trigger-type component, need to only design contact block, optimize the space structure of industrial design.Using the stall characteristic parameter of motor in itself, control system is entered line program for characteristic parameter and judged, you can the zero point completed on industrial control equipment confirms.
Description
Technical field
The present invention relates to technical field of industrial control, more particularly to a kind of spacing method for sensing.
Background technology
In existing industrial control field, the trigger-type member device such as travel switch (limit switch), Hall switch, encoder is utilized
Part there is provided feature electric signal carry out return-to-zero design confirm, with this return-to-zero carry out Industry Control design.This method needs
The sensing device such as additionally mounted trigger-type travel switch in equipment, its device occupies work space, to the normal behaviour of workbench
It will also result in interference.
Motor rotation blockage refers to motor when rotating speed is 0 turn, still output torque.General motor normal work, each item data
With rated value, when motor rotation blockage is moved, the characteristic parameter of stall can be produced, and rating data proportion relation, than
Example relation changes according to the change of the parameter of electric machine.
The content of the invention
The purpose of the present invention is to solve the shortcomings of the prior art a kind of and feature when providing utilization motor itself stall
State carries out the spacing method for sensing of detection judgement, saves the use of trigger-type component.
Above-mentioned purpose is reached, the present invention is achieved through the following technical solutions.
A kind of spacing method for sensing, it is characterised in that comprise the following steps：
(1) the first contact block and the second contact block are set at fixing equipment zero point and in mobile device respectively；
(2) motor of operation driving mobile device operating, obtains motor real-time characteristic parameter；
(3) the motor real-time characteristic parameter in step (2), using the stall detection method of feature based parameter threshold
Real-time stall detection is carried out to motor；
(4) monitor whether the real-time characteristic parameter is more than default characteristic parameter threshold；
(5) if so, i.e. stall occurs in motor, the first contact block is in contact with the second contact block, and mobile device reaches zero point
Position；If it is not, motor is continued to run with until there is stall.
Further, step (5) also includes following judgement：
Whether mobile device is run to dead-center position when stall occurs in motor：If so, then confirming that mobile device reaches zero point
Position；If it is not, stopping motor, motor rotation blockage problem is excluded.
Further, this method is further comprising the steps of, and when confirming mobile device arrival dead-center position, motor control is moved
Device moves to design coordinate points.
Further, the real-time characteristic parameter of the motor includes electric current, voltage, magnetic moment, torque and inductance.
The limit method of the present invention using motor itself controllable stall when significant condition, utilize the stall electricity of generation
The characteristic parameters such as stream, locked-rotor voltage, stall magnetic moment and stall inductance enter line program and judge that there is provided the design of return-to-zero confirmation, section
The use of trigger-type component is saved, contact block need to be only designed, optimizes the space structure of industrial design.Using motor in itself
Stall characteristic parameter, control system is entered line program for characteristic parameter and judged, you can complete the zero point on industrial control equipment
Confirm.
Brief description of the drawings
Fig. 1 is schematic flow sheet of the invention.
Embodiment
In order to further describe the present invention, a kind of specific implementation of spacing method for sensing is expanded on further below in conjunction with the accompanying drawings
Mode, following examples are explanation of the invention and the invention is not limited in following examples.
A kind of spacing method for sensing as shown in Figure 1, comprises the following steps：
Step 1：First contact block and the second contact block are set at fixing equipment zero point and in mobile device respectively.In work
Need to carry out in the structure that zero point design confirms in industry design, the first contact block and the second contact block be set, the first contact block with
Second contact block is carried out in control system during integrally-built zero point design confirmation, carries out relative motion, machine is realized with this
The zero point design of tool structure confirms.
Step 2：The motor of operation driving mobile device operating, obtains motor real-time characteristic parameter.
Step 3：According to the motor real-time characteristic parameter in step 2, using the stall detection side of feature based parameter threshold
Method carries out real-time stall detection to motor.
Step 4：Monitor whether the real-time characteristic parameter is more than default characteristic parameter threshold.First contact block and second
Contact block is in contact, and relative mechanical movement stops, now characteristic parameter during motor generation stall, and the stall characteristic parameter is anti-
Control system is fed to, enters line program judgement.
Step 5：If so, i.e. there is stall in motor.Reason one is that the stuck failure of belt causes motor rotation blockage, and reason two is the
One contact block is in contact with the second contact block.
Step 6：Continuation judges whether mobile device is run to dead-center position when stall occurs in motor：If so, then confirming to move
Dynamic device reaches dead-center position.
Step 7：For the judgement of step 6, if it is not, stopping motor, motor rotation blockage problem, the first contact block and second are excluded
Contact block is in contact, and mobile device reaches dead-center position.The reason for for motor rotation blockage, the stuck situation of belt is excluded, it is remaining
Situation is then in contact for the first contact block with the second contact block, now can confirm that mobile device is run to dead-center position.
Step 8：For the judgement of step 4, if it is not, motor is continued to run with until there is stall.For what is monitored in step 4
The alignment programs of real-time characteristic data and characteristic parameter threshold, judge that motor operation is without exception, i.e., do not occur stall.
Step 9：When confirming mobile device arrival dead-center position, motor control mobile device moves to design coordinate points.
The real-time characteristic parameter of motor includes any parameter in electric current, voltage, magnetic moment, torque or inductance.Adopted in data
During collection and program judge, test data selecting method has a variety of, optional various data parameters, and also selecting data feature is bent
Line parameter, to reach the optimal case in industrial control field.
Embodiment
By taking existing 3D printer equipment as an example, motor is stepper motor.Stepper motor, is that electroporation is by one kind
The executing agency of angular displacement.
Stepper motor uses pulse-width modulation type sub-driver circuit, is that the control voltage that DPA is exported is added in pulsewidth modulation
The control voltage of input is converted into the square wave of corresponding pulses width by the input of circuit, pulse-width modulation circuit, by work(
The control of pipe make-and-break time is put, changes the average current being output in machine winding.Using the rotation time of a step angle as week
In phase T, detection cycle T, the dutycycle of the level of output, the dutycycle of the voltage of normal operating conditions output is not more than 95%,
Dutycycle under locked rotor condition is greater than equal to 99%.
To reach the purpose detected in a cycle, environment motor speed is detected in 10r/s to 100r/s, motor
20% of load less than the holding torque of motor；N=θb*υ/(360*D)；N, motor speed (r/s), θb, the intrinsic step angle of motor
(degree), υ pulse frequencies (Hz), D high-subdividing numbers；The holding torque of stepper motor is relevant with the design of voltage, electric current, self-resistance,
Power=K × moment of torsion × rotating speed, wherein K is conversion coefficient.
When stall occurs in stepper motor operation, the dutycycle increase of its voltage is corresponding to turn more than normal status value
The characteristic parameter that square, voltage, electric current, inductance and magnetic moment etc. can detect or calculate can change, and deviate normal range (NR).
Existing 3D printer is general to use the trigger-type electric signals such as limit switch for all directions of 3 D-printing
Component, this electric signal feeds back to control system, and control system carries out integrally-built return-to-zero design and confirmed.The side of the present invention
Method saves a class trigger-type electric signal components such as limit switch, only contact block need to be designed, using the feature of motor in itself
Rotation blocking parameter, control system is entered line program for feature rotation blocking parameter and judged, you can complete return-to-zero in the structure of 3D printer
Design confirms.
The course of work：
1st, turn on the power；
2nd, printer is initialized：Control system carries out integrally-built return-to-zero design and confirmed；
3rd, X-direction zero point design confirms：Control system control X-axis motor driving nozzle structure, carries out the test of X-direction,
Confirm X-direction working condition；The first contact block XA is set in the either end of printer X-direction structure, nozzle end sets second to connect
Contact block XB, works as motor-driven belt, control shower nozzle is from initial position setting in motion, as the first contact block XA and the second contact block XB
It is in contact, relative mechanical movement stops, and now motor produces feature locked rotor current, and current feedback enters stroke to control system
Sequence judges, if judgment value X-direction zero point designs verification value, control system provides stop signal, and X-direction motor is stopped,
Confirm X-direction zero point, and then control system control shower nozzle moves to design coordinate points position；Initialization is completed；
4th, the return-to-zero design of Y-direction and Z-direction confirms that control process is similar to the process of X-direction, unlike, root
According to different structure and control selections, contact block can be arranged in different structure devices.
The limit method of the present invention using motor itself controllable stall when significant condition parameter, utilize the stifled of generation
Turn the characteristic parameters such as electric current, locked-rotor voltage, stall magnetic moment and stall inductance and enter line program to judge that there is provided the design of return-to-zero is true
Recognize, save the use of trigger-type component, optimize the space structure of industrial design.
Obviously, above-mentioned embodiment of the invention is only intended to clearly illustrate example of the present invention, and is not
Restriction to embodiments of the present invention.For those of ordinary skill in the field, on the basis of the above description also
It can make other changes in different forms.Here all embodiments can not be exhaustive.It is every to belong to this
Row of the obvious changes or variations that the technical scheme of invention is extended out still in protection scope of the present invention.
Claims (4)
1. a kind of spacing method for sensing, it is characterised in that comprise the following steps：
(1) the first contact block and the second contact block are set at fixing equipment zero point and in mobile device respectively；
(2) motor of operation driving mobile device operating, obtains motor real-time characteristic parameter；
(3) the motor real-time characteristic parameter in step (2), using the stall detection method of feature based parameter threshold to electricity
Machine carries out real-time stall detection；
(4) monitor whether the real-time characteristic parameter is more than default characteristic parameter threshold；
(5) if so, i.e. stall occurs in motor, the first contact block is in contact with the second contact block, and mobile device reaches dead-center position；
If it is not, motor is continued to run with until there is stall.
2. spacing method for sensing according to claim 1, it is characterised in that step (5) also includes following judgement：
Whether mobile device is run to dead-center position when stall occurs in motor：If so, then confirming that mobile device reaches dead-center position；
If it is not, stopping motor, motor rotation blockage problem is excluded.
3. spacing method for sensing according to claim 1, it is characterised in that further comprising the steps of, when the mobile dress of confirmation
Arrival dead-center position is put, motor control mobile device moves to design coordinate points.
4. spacing method for sensing according to claim 1, it is characterised in that the motor real-time characteristic parameter includes electricity
Any parameter in stream, voltage, magnetic moment, torque or inductance.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710284501.0A CN106970324A (en) | 2017-04-25 | 2017-04-25 | A kind of spacing method for sensing |
| PCT/CN2017/093187 WO2018196177A1 (en) | 2017-04-25 | 2017-07-17 | Limit sensing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710284501.0A CN106970324A (en) | 2017-04-25 | 2017-04-25 | A kind of spacing method for sensing |
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| Publication Number | Publication Date |
|---|---|
| CN106970324A true CN106970324A (en) | 2017-07-21 |
Family
ID=59332783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710284501.0A Pending CN106970324A (en) | 2017-04-25 | 2017-04-25 | A kind of spacing method for sensing |
Country Status (2)
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|---|---|
| CN (1) | CN106970324A (en) |
| WO (1) | WO2018196177A1 (en) |
Cited By (8)
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| CN109856537A (en) * | 2018-12-28 | 2019-06-07 | 神驰机电股份有限公司 | A kind of the stall detection method and system of the BLDC control circuit of list comparator |
| CN111352386A (en) * | 2018-12-21 | 2020-06-30 | 大隈株式会社 | Power calculating device |
| CN111781447A (en) * | 2020-06-28 | 2020-10-16 | 珠海格力智能装备有限公司 | Method and device for determining mechanical zero point and machine tool equipment |
| WO2020238582A1 (en) * | 2019-05-31 | 2020-12-03 | 维沃移动通信有限公司 | Stepper motor detection method, apparatus and system |
| CN113296472A (en) * | 2021-05-25 | 2021-08-24 | 北京太尔时代科技有限公司 | System origin confirming method, system origin confirming device, processing equipment and readable storage medium |
| CN113476111A (en) * | 2021-07-08 | 2021-10-08 | 上海导向医疗系统有限公司 | Rotary-cut mammary gland system and motor control system and control method thereof |
| CN113866547A (en) * | 2021-10-09 | 2021-12-31 | 四川鼎鸿智电装备科技有限公司 | Base point confirmation method and device, electric cylinder and storage medium |
| CN114016819A (en) * | 2021-10-11 | 2022-02-08 | 德施曼机电（中国）有限公司 | Method and device for adjusting opening angle of intelligent lock, intelligent lock and storage medium |
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| CN111781447A (en) * | 2020-06-28 | 2020-10-16 | 珠海格力智能装备有限公司 | Method and device for determining mechanical zero point and machine tool equipment |
| CN113296472A (en) * | 2021-05-25 | 2021-08-24 | 北京太尔时代科技有限公司 | System origin confirming method, system origin confirming device, processing equipment and readable storage medium |
| CN113476111A (en) * | 2021-07-08 | 2021-10-08 | 上海导向医疗系统有限公司 | Rotary-cut mammary gland system and motor control system and control method thereof |
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| CN113866547A (en) * | 2021-10-09 | 2021-12-31 | 四川鼎鸿智电装备科技有限公司 | Base point confirmation method and device, electric cylinder and storage medium |
| CN114016819A (en) * | 2021-10-11 | 2022-02-08 | 德施曼机电（中国）有限公司 | Method and device for adjusting opening angle of intelligent lock, intelligent lock and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018196177A1 (en) | 2018-11-01 |
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Application publication date: 20170721 |
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