CN107508512B - Ultra-low speed predictor control algorithm of closed-loop stepping motor - Google Patents
Ultra-low speed predictor control algorithm of closed-loop stepping motor Download PDFInfo
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- CN107508512B CN107508512B CN201710740262.5A CN201710740262A CN107508512B CN 107508512 B CN107508512 B CN 107508512B CN 201710740262 A CN201710740262 A CN 201710740262A CN 107508512 B CN107508512 B CN 107508512B
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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
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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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
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/02—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step specially adapted for single-phase or bi-pole stepper motors, e.g. watch-motors, clock-motors
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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
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/32—Reducing overshoot or oscillation, e.g. damping
Abstract
The invention discloses an ultra-low speed predictor control algorithm of a closed-loop stepping motor, which relates to the technical field of electricity, and is characterized in that counters are added on controller software on the basis of a traditional M/T speed measurement method, and whether the rotating speed is slowed down or not is judged in each speed ring sampling period, so that the rotating speed is updated in a compensation prediction mode.
Description
Technical Field
The invention relates to the technical field of electricity, in particular to an ultra-low speed predictor control algorithm of closed-loop stepping motors.
Background
The two-phase closed-loop stepping motor utilizes feedback information of an incremental encoder installed on a motor rotating shaft to carry out vector control on the motor, speed feedback obtained by the encoder has great influence on the performance of the whole control system, common speed measurement methods include an M method, a T method and an M/T method, the M method is that the number of encoder pulses is counted in a fixed time, the speed measurement accuracy of the M method is low in a low speed measurement time due to the fact that the number of pulses is reduced and a quantization error is increased in a low speed measurement time, the speed measurement accuracy of the T method is low in a high speed measurement time due to the fact that the time interval of two pulses of the encoder is reduced and the quantization error is increased in a high speed measurement time, the speed measurement accuracy of the T method is low in a high speed measurement time due to the fact that the measured time interval is reduced and the detection time and the number of pulses in the high speed measurement time are simultaneously measured in relatively fixed time interval, when the number of pulses is increased and the detection time is basically unchanged, the number of the encoder is equivalent to the M method, the high speed measurement time is equivalent to the M method, the high speed measurement accuracy is equivalent to the problem that the number of the M method, the high speed measurement time is equivalent to the high speed measurement accuracy, the high speed measurement accuracy, the problem that the sampling speed measurement time of the high speed measurement time of the M method is equivalent to the high speed measurement accuracy of the high speed measurement accuracy of the high speed measurement.
Disclosure of Invention
The invention aims to solve the technical problem of providing ultra-low speed predictor control algorithms of the closed-loop stepping motor, updating the rotating speed through the ultra-low speed predictor on the premise of not increasing the cost of an encoder, minimizing the speed detection dead time, avoiding the speed out of control, reducing the low-speed vibration of the motor and further improving the ultra-low speed performance of the closed-loop stepping driver.
In order to achieve the purpose, the invention provides the following technical scheme that the ultra-low speed predictor control algorithm of the closed-loop stepping motor is characterized in that counters are additionally arranged on controller software on the basis of the original traditional M/T speed measurement method, a B-phase edge signal fed back by each encoder is used for resetting the counters, whether the rotating speed is slowed down or not is judged in each speed loop sampling period, and the rotating speed is updated in a compensation prediction mode, so that when the rotating speed is calculated in each speed loop, the current counter value of a timer is read firstly and compared with the count value read last time, and the rotating speed is predicted.
The method specifically comprises the following steps of:
(1) the encoder feedback B phase between t1 and t2 has a falling edge, and the speed value V1 is updated;
(2) reading the counter value of the timer at t2 when the speed loop is entered, wherein the counter value is 1, 1<2, namely the count value is less than the speed loop period, the rotating speed is not compensated, and the rotating speed value V2= V1 calculated in the previous beats is kept;
(3) reading the counter value of the timer at t3, wherein the counter value is 3, 3>2, namely the count value is greater than the speed loop period, compensating the rotating speed, and updating the rotating speed value to 2/3V 2;
(4) reading the counter value of the timer at t4, wherein the counter value is 5, 5>2, namely the count value is greater than the speed loop period, compensating the rotating speed, and updating the rotating speed value to 2/5V 2;
(5) reading the counter value of the timer at t5, wherein the counter value is 7, 7>2, namely the count value is greater than the speed loop period, compensating the rotating speed, and updating the rotating speed value to 2/7V 2;
(6) and at the moment that the encoder feedback B phase between t5 and t6 rises, updating the speed value V6 and clearing the estimated revolution counter.
The control algorithm of the ultra-low speed predictor of the closed-loop stepping motor has the advantages that counters are added on controller software on the basis of a traditional M/T speed measurement method, whether the rotating speed is slowed down or not is judged in each speed loop sampling period, and therefore the rotating speed is updated in a compensation prediction mode.
Drawings
Embodiments of the present invention are described in further detail with reference to the figures.
FIG. 1 is a pulse diagram obtained by a conventional M/T velocimetry method;
fig. 2 is a pulse diagram obtained by an ultra-low speed predictor control algorithm of the closed-loop stepping motor.
Detailed Description
The following describes a preferred embodiment of the ultra-low speed predictor control algorithm of the closed-loop stepping motor in detail with reference to the accompanying drawings.
The specific implementation of the control algorithm of the ultra-low speed predictor of the closed-loop stepping motor of the invention is shown in combination with fig. 1 and 2:
the M/T method is which is the most basic requirement in industrial control systems, the most common method is to measure the rotating speed of a certain shaft by digital pulses and convert the rotating speed into linear speed according to mechanical ratio and diameter.
The M method is to convert the pulse number in unit time into frequency, and because of the problem of half pulse at the head and the tail in the measurement time, the error of 2 pulses may occur, and because the pulse number in the measurement time is less and the proportion of the error is larger when the speed is lower, the M method is suitable for measuring high speed, if the lower limit of the speed is reduced, the line number of the encoder can be increased or the unit time of measurement can be increased, and collected pulse numbers are used as much as possible.
The T method measures the time between two pulses and converts the time into a period to obtain the frequency, because of the problem of half a time unit, the error of 1 time unit can occur, when the speed is higher, the measured period is smaller, the proportion of the error is larger, so the T method is suitable for measuring the low speed, if the upper limit of the speed measurement is increased, the pulse number of an encoder can be reduced, or a smaller and more accurate timing unit is used, so the time value of times of measurement is as large as possible.
Fig. 1 is a conventional M/T velocity measurement method, and it can be seen that, since there is no encoder B phase pulse between T2 and T5, before the next encoder B phase edges arrive, the velocity sampling value keeps V1 unchanged, but the actual velocity has been reduced to a certain value between V1, during this time, the velocity detection value deviates from the true value, resulting in a speed runaway, which is an important reason that the closed loop step drive has large vibration and poor steady-state performance at ultra-low speed operation like , in actual operation , the oscillation is reduced by reducing the gain of the velocity controller, but this reduces the velocity loop bandwidth, and the gain parameter adjustment is also troublesome, and can not achieve the expected effect either.
As shown in fig. 2, the control algorithm of the ultra-low speed predictor of the closed-loop stepping motor is that counters are additionally added on the controller software on the basis of the original traditional M/T speed measurement method, the counter is cleared at the edge signal of each encoder B phase, whether the rotating speed is slowed down or not is judged in each speed loop sampling period, and therefore the rotating speed is updated in a compensation prediction mode, so that when the rotating speed is calculated in each speed loop, the current counter value of the timer is firstly read and compared with the count value read last time, and the rotating speed is predicted.
The method specifically comprises the following steps of:
(1) the encoder feedback B phase between t1 and t2 has a falling edge, and the speed value V1 is updated;
(2) reading the counter value of the timer at t2 when the speed loop is entered, wherein the counter value is 1, 1<2, namely the count value is less than the speed loop period, the rotating speed is not compensated, and the rotating speed value V2= V1 calculated in the previous beats is kept;
(3) reading the counter value of the timer at t3, wherein the counter value is 3, 3>2, namely the count value is greater than the speed loop period, compensating the rotating speed, and updating the rotating speed value to 2/3V 2;
(4) reading the counter value of the timer at t4, wherein the counter value is 5, 5>2, namely the count value is greater than the speed loop period, compensating the rotating speed, and updating the rotating speed value to 2/5V 2;
(5) reading the counter value of the timer at t5, wherein the counter value is 7, 7>2, namely the count value is greater than the speed loop period, compensating the rotating speed, and updating the rotating speed value to 2/7V 2;
(6) and at the moment that the encoder feedback B phase between t5 and t6 rises, updating the speed value V6 and clearing the estimated revolution counter.
The ultra-low speed predictor control algorithm of the closed-loop stepping motor is characterized in that counters are added on a controller software on the basis of a traditional M/T speed measurement method, and whether the rotating speed is slowed down or not is judged in each speed loop sampling period, so that the rotating speed is updated in a compensation prediction mode, the rotating speed is compensated at the time of T2-T5 as shown in fig. 2, and the condition that the speed is out of control due to the fact that a speed detection stagnation occurs because the speed sampling value is kept at V2 is avoided.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the inventive concept of the present invention, which falls into the protection scope of the present invention.
Claims (1)
- The ultra-low speed predictor control algorithm of the closed-loop stepping motor is characterized in that counters are added on controller software on the basis of a traditional M/T speed measurement method, a B-phase edge signal fed back by each encoder is used for resetting the counters, whether the rotating speed is slowed down or not is judged in each speed ring sampling period, the rotating speed is updated in a compensation prediction mode, therefore, when the rotating speed enters a speed ring to be calculated each time, the current counter value of a timer is read firstly and compared with the count value read last time, the rotating speed is predicted, the period of the speed ring is set to be 2 counters, and the specific implementation steps of the ultra-low speed predictor control algorithm of the closed-loop stepping motor are as follows:(1) the encoder feedback B phase between t1 and t2 has a falling edge, and the speed value V1 is updated;(2) reading the counter value of the timer at the time t2 when the speed loop is entered, wherein the counter value is 1, 1<2, namely the counter value is smaller than the speed loop period, the rotating speed is not compensated, and the rotating speed value V2 calculated in the previous beats is kept to be V1;(3) reading the counter value of the timer at t3, wherein the counter value is 3, 3>2, namely the count value is greater than the speed loop period, compensating the rotating speed, and updating the rotating speed value to 2/3V 2;(4) reading the counter value of the timer at t4, wherein the counter value is 5, 5>2, namely the count value is greater than the speed loop period, compensating the rotating speed, and updating the rotating speed value to 2/5V 2;(5) reading the counter value of the timer at t5, wherein the counter value is 7, 7>2, namely the count value is greater than the speed loop period, compensating the rotating speed, and updating the rotating speed value to 2/7V 2;(6) and at the moment that the encoder feedback B phase between t5 and t6 rises, updating the speed value V6 and clearing the estimated revolution counter.
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| CN111030545B (en) * | 2019-11-07 | 2021-01-15 | 郑州嘉晨电器有限公司 | Control method for improving low-speed performance of electric forklift based on improved M/T method |
| CN114070140A (en) * | 2021-11-15 | 2022-02-18 | 浙江众邦机电科技有限公司 | Speed detection method, device and equipment of stepping motor and storage medium |
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| JP2009089560A (en) * | 2007-10-02 | 2009-04-23 | Canon Inc | Motor drive unit |
| CN103048484A (en) * | 2012-12-03 | 2013-04-17 | 苏州汇川技术有限公司 | Speed measurement system and method of servo motor |
| CN105738642A (en) * | 2016-02-03 | 2016-07-06 | 上海新源工业控制技术有限公司 | T-method motor speed measurement method of four-way parallel sampling |
| CN108226560A (en) * | 2016-12-21 | 2018-06-29 | 杭州海康威视数字技术股份有限公司 | A kind of method and device for obtaining motor slow-speed of revolution angular speed |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009089560A (en) * | 2007-10-02 | 2009-04-23 | Canon Inc | Motor drive unit |
| CN103048484A (en) * | 2012-12-03 | 2013-04-17 | 苏州汇川技术有限公司 | Speed measurement system and method of servo motor |
| CN105738642A (en) * | 2016-02-03 | 2016-07-06 | 上海新源工业控制技术有限公司 | T-method motor speed measurement method of four-way parallel sampling |
| CN108226560A (en) * | 2016-12-21 | 2018-06-29 | 杭州海康威视数字技术股份有限公司 | A kind of method and device for obtaining motor slow-speed of revolution angular speed |
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Effective date of registration: 20220315 Address after: 518000 8a, Fusen building, Dongzhou community, Guangming Street, Guangming District, Shenzhen, Guangdong Patentee after: Mochuan Technology (Shenzhen) Co.,Ltd. Address before: 518100 No. 1006, 10th floor, jinfulai building, No. 49-1, Dabao Road, Baocheng 28 District, Xin'an street, Bao'an District, Shenzhen, Guangdong Province Patentee before: SHENZHEN TAIQIKE INTELLIGENT TECHNOLOGY CO.,LTD. |