CN107026588A - A kind of motor driver, the control system and its control method of release rate fluctuation - Google Patents
A kind of motor driver, the control system and its control method of release rate fluctuation Download PDFInfo
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- CN107026588A CN107026588A CN201710392934.8A CN201710392934A CN107026588A CN 107026588 A CN107026588 A CN 107026588A CN 201710392934 A CN201710392934 A CN 201710392934A CN 107026588 A CN107026588 A CN 107026588A
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- China
- Prior art keywords
- motor
- speed
- motor driver
- armature
- speed information
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- 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
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
-
- 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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention relates to the control system and its control method that a kind of motor driver, release rate are fluctuated, the motor driver includes：Speed ring control module, current loop control module, speed observation module；A kind of control system is further related to, the control system includes：Motor, mechanical stage body and motor driver；A kind of control method is further related to, this method includes：Motor driver exports armature voltage to motor according to default First Speed information；Motor is rotated to be rotated with driving mechanical stage body, and output armature current is to motor driver；Motor driver calculates second speed information.Second speed information is replaced by the velocity information that initial turntable final stage sensor is obtained by the present invention, output voltage control machinery stage body motion, the gear of mechanical stage body can be so caused to carry out speed closed loop, the velocity perturbation that driving-chain middle gear gap is caused is eliminated, the stationarity of system running speed is improved.
Description
Technical field
The invention belongs to the control in the field of multipole decelerator, more particularly to the fluctuation of a kind of motor driver, release rate
System and its control method.
Background technology
It is existing driving-chain using multipole decelerator DC servomechanism in, be used as speed using final stage angular transducer
During degree feedback, due to the influence of gear clearance, the problem of velocity perturbation occurs in rotation process, servo-drive system has been had a strong impact on
Control performance.
The content of the invention
The technical problems to be solved by the invention are：Driving-chain of the prior art uses multipole decelerator, is using end
When level angular transducer is as velocity feedback, due to the influence in driving-chain middle gear gap, in rotation process final stage angle sensor
Velocity perturbation occurs in device, has had a strong impact on the control performance of servo-drive system.
To solve technical problem above, the invention provides a kind of motor driver, the motor driver includes：Speed
Ring control module, current loop control module, speed observation module；The speed ring control module, for according to default first
Velocity information outputs current to the current loop control module；
The current loop control module, for exporting armature voltage according to the electric current, while it is anti-to be additionally operable to reception motor
The armature supply of feedback；
The speed observation module, the armature supply for receiving the motor feedback, and according to armature electricity
Pressure and the armature supply calculate second speed information, while the second speed feedback of the information is controlled into mould to the speed ring
Block.
Beneficial effects of the present invention：Armature voltage and armature supply are calculated using the motor driver of the present invention,
And judge whether outside equipment is stablized according to result of calculation.
Further, the speed ring control module is additionally operable to according to the First Speed information and second speed letter
Breath exports corresponding electric current to the current loop control module.
The invention further relates to a kind of control system of release rate fluctuation, the control system includes：Motor, mechanical stage body and
Motor driver described above, wherein, the motor driver, the motor and the mechanical stage body are sequentially connected；
The armature voltage that the motor driver is exported according to default First Speed information drive the motor to rotate with
The mechanical stage body is driven to rotate；
The motor driver is always according to the First Speed information and according to the armature voltage and the motor feedback
Armature supply calculate obtained second speed information output armature voltage, to drive the motor to rotate to drive the machinery
Stage body is rotated, until the mechanical stage body stops operating.
Beneficial effects of the present invention：Using above-mentioned system, the second speed information obtained using motor driver, according to
First Speed information and the mechanical stage body motion of second speed information output voltage control, can so cause the gear of mechanical stage body
Speed closed loop is carried out, the velocity perturbation that driving-chain middle gear gap is caused is eliminated, improves the stationarity of system running speed.
Further, the motor is direct current generator.
Further, the second speed information is calculated according to below equation：
Wherein, U is armature voltage, and I is armature supply, and R is armature resistance, KeBack emf coefficient, Φ is magnetic flux, n
For motor speed, and Ke, Φ, R be constant, U and I are related to velocity information, Ke' it is second speed information.
The invention further relates to a kind of control method of release rate fluctuation, the control method comprises the following steps：
S1, motor driver exports armature voltage to motor according to default First Speed information；
S2, the motor is rotated according to the armature voltage and rotated with driving mechanical stage body, and exports the armature supply
To the motor driver；
S3, the motor driver calculates second speed letter according to the armature supply and the armature voltage of output
Breath；
S4, the motor driver exports armature voltage extremely according to the First Speed information and the second speed information
Motor, performs S2 and S3, until the mechanical stage body stops operating.
Beneficial effects of the present invention：Adopt with the aforedescribed process, the second speed information obtained using motor driver, according to
First Speed information and the mechanical stage body motion of second speed information output voltage control, can so cause the gear of mechanical stage body
Speed closed loop is carried out, the velocity perturbation that driving-chain middle gear gap is caused is eliminated, improves the stationarity of system running speed.
Further, the motor is direct current generator.
Further, in the S3, the second speed information is calculated according to below equation：
Wherein, U is armature voltage, and I is armature supply, and R is armature resistance, KeBack emf coefficient, Φ is magnetic flux, n
For motor speed, and Ke, Φ, R be constant, U and I are related to velocity information, Ke' it is second speed information.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of motor driver of the present invention；
The schematic diagram for the control system that Fig. 2 fluctuates for a kind of release rate of the present invention；
The schematic diagram for the control system that Fig. 3 fluctuates for observation speed in the prior art；
The flow chart for the control method that Fig. 4 fluctuates for a kind of release rate of the present invention.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
Embodiment 1
As shown in figure 1, the present embodiment 1 is a kind of motor driver, the motor driver includes：Speed ring control module,
Current loop control module, speed observation module；The speed ring control module, for being exported according to default First Speed information
Electric current is to the current loop control module；
The current loop control module, for exporting armature voltage according to the electric current, while it is anti-to be additionally operable to reception motor
The armature supply of feedback；
The speed observation module, the armature supply for receiving the motor feedback, and according to armature electricity
Pressure and the armature supply calculate second speed information, while the second speed feedback of the information is controlled into mould to the speed ring
Block.
It should be noted that the motor driver used in the present embodiment 1 is added in traditional motor driver
Speed observes module, and speed observation module is that, in traditional some increased software codes of motor driver, these codes are
Realize detection and calculating speed function.In addition, in addition it is also necessary to which parsing is that First Speed information is to be set in advance in motor driving
" speed preset " in one velocity amplitude of one velocity amplitude of device or outside input, as accompanying drawing 1-3, then motor driver
Initial armature voltage can be exported according to this velocity amplitude, motor is rotated and output armature current according to armature voltage, so that
Motor driver can receive the armature supply of motor feedback.The software code meeting basis set in motor driver is received
Armature supply and the armature voltage of itself output calculate second speed information, and by the second speed feedback of the information to speed ring
" velocity feedback " in control module, as accompanying drawing 1-3.
Alternatively, in the present embodiment 1, the speed ring control module is additionally operable to according to the First Speed information and institute
State second speed information and export corresponding electric current to the current loop control module.
It should also be noted that, motor driver is according to above-mentioned second speed information and First Speed information, armature is exported
Voltage, motor is rotated and output armature current according to armature voltage, so that motor driver can receive the armature of motor feedback
Electric current.The software code set in motor driver can be according to the armature supply received and the armature voltage meter of itself output
Second speed information is calculated, so as to continue to repeat above-mentioned operation.
Embodiment 2
As shown in Fig. 2 the present embodiment 2 is a kind of control system of release rate fluctuation, the control system includes：Motor,
Motor driver described in mechanical stage body and the present embodiment 1, wherein, the motor driver, the motor and the mechanical stage
Body is sequentially connected；
The armature voltage that the motor driver is exported according to default First Speed information drive the motor to rotate with
The mechanical stage body is driven to rotate；
The motor driver is always according to the First Speed information and according to the armature voltage and the motor feedback
Armature supply calculate the armature voltage of obtained second speed information output, to drive the motor to rotate to drive the machine
Tool stage body is rotated, until the mechanical stage body stops operating.
It should be noted that as shown in figure 3, be the control system of observation speed of the prior art fluctuation, and this implementation
Control system in example 2 employs a kind of motor driver of embodiment 1, and the motor driver includes：Speed ring control module,
Current loop control module, speed observation module；The speed ring control module, for being exported according to default First Speed information
Electric current is to the current loop control module；
The current loop control module, for exporting armature voltage according to the electric current, while it is anti-to be additionally operable to reception motor
The armature supply of feedback；
The speed observation module, the armature supply for receiving the motor feedback, and according to armature electricity
Pressure and the armature supply calculate second speed information, while the second speed feedback of the information is controlled into mould to the speed ring
Block.
It should be noted that the motor driver used in the present embodiment 2 is added in traditional motor driver
Speed observes module, and speed observation module is that, in traditional some increased software codes of motor driver, these codes are
Realize detection and calculating speed function.In addition, in addition it is also necessary to which parsing is that First Speed information is to be set in advance in motor driving
" speed preset " in one velocity amplitude of one velocity amplitude of device or outside input, as accompanying drawing 1-3, then motor driver
Initial armature voltage can be exported according to this velocity amplitude, motor is rotated and output armature current according to armature voltage, so that
Motor driver can receive the armature supply of motor feedback.The software code meeting basis set in motor driver is received
Armature supply and the armature voltage of itself output calculate second speed information, and by the second speed feedback of the information to speed ring
" velocity feedback " in control module, as accompanying drawing 1-3.
Alternatively, in the present embodiment 2, the speed ring control module be additionally operable to and according to the First Speed information and
The second speed information exports corresponding electric current to the current loop control module.
It should also be noted that, above-mentioned second speed information and First Speed information are exported armature electricity by motor driver
Pressure, motor is rotated and output armature current according to armature voltage, so that motor driver can receive the armature electricity of motor feedback
Stream.The software code set in motor driver can be calculated according to the armature voltage of the armature supply received and itself output
Second speed information, so as to continue to repeat above-mentioned operation.
It should also be noted that, the motor driver motor in the present embodiment 2 rotates to drive so as to mechanical stage
Body is rotated；And motor driver is also by the above-mentioned second speed information being mentioned to and initial First Speed information, so that after
It is continuous to start the circulate operation of the control system, until the control system is stopped operating.Such as：Driven when first time to motor
After dynamic device input speed information, system starts operation according to this velocity information, and motor driver can calculate second speed letter
Cease, then system can start operation, motor driver accounting again according to this second speed information and the First Speed information
Second speed information is calculated, the adjustment of system speed is constantly carried out, until mechanical stage body stops operating, just stops feedback second
Velocity information.
Alternatively, the motor in the present embodiment 2 is direct current generator.
Alternatively, the second speed information is calculated according to below equation：
Wherein, U is armature voltage, and I is armature supply, and R is armature resistance, KeBack emf coefficient, Φ is magnetic flux, n
For motor speed, and Ke, Φ, R be constant, U and I are related to velocity information, Ke' it is second speed information.
Wherein, the kinematical equation of direct current generator is：U=I*R+Ke* Φ * n (1),
Wherein U is armature voltage, and I is armature supply, and R is armature resistance, KeBack emf coefficient, Φ is magnetic flux, and n is
Motor speed.Entering line translation to kinematical equation can obtain：
Ke, Φ, R be constant, U and I are related to the speed of service.
Embodiment 3
As shown in figure 4, being a kind of control method of release rate fluctuation in the present embodiment 3, the control method includes
Following steps：
S1, motor driver exports armature voltage to motor according to default First Speed information；
S2, the motor is rotated according to the armature voltage and rotated with driving mechanical stage body, and exports the armature supply
To the motor driver；
S3, the motor driver calculates second speed letter according to the armature supply and the armature voltage of output
Breath；
S4, the motor driver exports armature voltage extremely according to the First Speed information and the second speed information
Motor, performs S2 and S3, until the mechanical stage body stops operating.
It should be noted that being First Speed information first to be preset in motor driver or from outer in the present embodiment 3
Portion inputs First Speed information to motor driver, while motor driver can export armature electricity according to this First Speed information
Motor is depressed into, motor receives meeting own rotation after armature voltage, and driving mechanical stage body is moved in the case of own rotation, by
Know from experience in mechanical stage and fluctuated according to different speed, so using what the present embodiment 3 can fluctuate with release rate to ask
Topic.Meeting output armature current is to motor driver while motor is rotated, and motor driver can be according to the armature electricity itself exported
Pressure and armature supply calculate second speed information, then export armature again according to this second speed information and First Speed information
Voltage performs S2 and S3 to motor, until mechanical stage body stops operating, just stops velocity feedback.Such as：Motor is given when first time
After driver input speed information, operation is started according to this velocity information, motor driver can calculate second speed information,
Then operation can be started according to this second speed information and the First Speed information, motor driver can calculate second again
Velocity information, until mechanical stage body stops operating, just stops feedback second speed information.
Alternatively, the motor in the present embodiment 3 is to be rotated to drive the mechanical stage body to turn according to the armature voltage
It is dynamic, and the armature supply is exported to the motor driver.
Alternatively, the motor in the present embodiment 3 is direct current generator.
Alternatively, the second speed information is calculated according to below equation：
Wherein, U is armature voltage, and I is armature supply, and R is armature resistance, KeBack emf coefficient, Φ is magnetic flux, n
For motor speed, and Ke, Φ, R be constant, U and I are related to velocity information, Ke' it is second speed information.
Wherein, the kinematical equation of direct current generator is：U=I*R+Ke* Φ * n (1),
Wherein U is armature voltage, and I is armature supply, and R is armature resistance, KeBack emf coefficient, Φ is magnetic flux, and n is
Motor speed.Entering line translation to kinematical equation can obtain：
Ke, Φ, R be constant, U and I are related to the speed of service.
In this manual, identical embodiment or example are necessarily directed to the schematic representation of above-mentioned term.
Moreover, specific features, structure, material or the feature of description can be in any one or more embodiments or example with suitable
Mode is combined.In addition, in the case of not conflicting, those skilled in the art can be by the difference described in this specification
The feature of embodiment or example and non-be the same as Example or example is combined and combined.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (8)
1. a kind of motor driver, it is characterised in that the motor driver includes：Speed ring control module, current loop control mould
Block, speed observation module；The speed ring control module, for outputing current to the electricity according to default First Speed information
Flow ring control module；
The current loop control module, for exporting armature voltage according to the electric current, while being additionally operable to receive motor feedback
Armature supply；
The speed observes module, the armature supply for receiving the motor feedback, and according to the armature voltage and
The armature supply calculates second speed information, while giving the speed ring control module by the second speed feedback of the information.
2. motor driver according to claim 1, it is characterised in that the speed ring control module is additionally operable to according to institute
State First Speed information and second speed information exports corresponding electric current to the current loop control module.
3. a kind of control system of release rate fluctuation, it is characterised in that the control system includes：Motor, mechanical stage body and such as
Motor driver described in claim 1 or 2, wherein, the motor driver, the motor and the mechanical stage body connect successively
Connect；
The armature voltage that the motor driver is exported according to default First Speed information drives the motor to rotate to drive
The mechanical stage body is rotated；
The motor driver is always according to the First Speed information and according to the armature voltage and the electricity of the motor feedback
The second speed information output armature voltage that pivot Current calculation is obtained, to drive the motor to rotate to drive the mechanical stage body
Rotate, until the mechanical stage body stops operating.
4. control system according to claim 3, it is characterised in that the motor is direct current generator.
5. control system according to claim 4, it is characterised in that the second speed is calculated according to below equation and believed
Breath：
Wherein, U is armature voltage, and I is armature supply, and R is armature resistance, KeBack emf coefficient, Φ is magnetic flux, and n is motor
Rotating speed, and Ke, Φ, R be constant, U and I are related to velocity information, K 'eFor second speed information.
6. a kind of control method of release rate fluctuation, it is characterised in that the control method comprises the following steps：
S1, motor driver exports armature voltage to motor according to default First Speed information；
S2, the motor is rotated according to the armature voltage and rotated with driving mechanical stage body, and exports the armature supply to institute
State motor driver；
S3, the motor driver calculates second speed information according to the armature supply and the armature voltage of output；
S4, the motor driver exports armature voltage to electricity according to the First Speed information and the second speed information
Machine, performs S2 and S3, until the mechanical stage body stops operating.
7. control method according to claim 6, it is characterised in that the motor is direct current generator.
8. control method according to claim 7, it is characterised in that in the S3, described the is calculated according to below equation
Two velocity informations：
Wherein, U is armature voltage, and I is armature supply, and R is armature resistance, KeBack emf coefficient, Φ is magnetic flux, and n is motor
Rotating speed, and Ke, Φ, R be constant, U and I are related to velocity information, K 'eFor second speed information.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710392934.8A CN107026588A (en) | 2017-05-27 | 2017-05-27 | A kind of motor driver, the control system and its control method of release rate fluctuation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710392934.8A CN107026588A (en) | 2017-05-27 | 2017-05-27 | A kind of motor driver, the control system and its control method of release rate fluctuation |
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Family
ID=59529990
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| DE2229171A1 (en) * | 1972-06-15 | 1974-01-10 | Barmag Barmer Maschf | Level control system - using continuous radiant heat measurement of material |
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Application publication date: 20170808 |