CN107528502A - A kind of four motor resultant motion control methods - Google Patents
A kind of four motor resultant motion control methods Download PDFInfo
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- CN107528502A CN107528502A CN201610453292.3A CN201610453292A CN107528502A CN 107528502 A CN107528502 A CN 107528502A CN 201610453292 A CN201610453292 A CN 201610453292A CN 107528502 A CN107528502 A CN 107528502A
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- motor
- origin position
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- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
Abstract
The present invention relates to industrial movement control technology field, discloses a kind of four motor resultant motion control methods, and the control method is synchronized with the movement using the combination of broadcasting instructions controlled motor；Equipment is obtained in origin position using point type reverse thinking is played after first terminal, the distance between each motor current location and sensor location；According to the origin position, using the change of inductor state when current location and origin position, movement tendency of the equipment with respect to origin position, then control device batch (-type) counter motion are obtained, equipment is carried out preventing suppressing dead dither operation of relaxing one's efforts；Initialization is reset after the position of inductor is carried out go back to each motor, is moved further according to the relation control device Aligning control of sensor location and origin position.The present invention can fast and easily determine inductor and origin position relation, Fast Labeling origin, can also effectively solve equipment and suppress the unfavoured state for extremely, suppressing strength, can be with smooth completion Aligning control action, and whole control method is simple, reliable, is also easy to realize.
Description
Technical field
The present invention relates to industrial movement control technology field, in particular, more particularly to a kind of four motor resultant motions
Control method.
Background technology
Some equipment need to carry out XY θ (translation rotation) motion, but are limited by installing space, and load is also larger, is
Solve motor to contribute and the contradiction of space limitation, often using four motor resultant motions, as shown in figure 1, this equipment is very
Easily occur suppressing dead phenomenon in motion process.In addition, the inductor for origin mark is due to mechanical tolerance, position during installation
Not fully fix, it is impossible to reach four motors while return to respective sensor location, unlikely four motors are in sensing
During device position, be precisely whole equipment origin position.
The content of the invention
It is an object of the invention to for technical problem existing for prior art, there is provided a kind of four motor resultant motions control
Method, it is simple, reliable, is also easy to realize.
In order to solve posed problems above, the technical solution adopted by the present invention is：
A kind of four motor resultant motion control methods, the control method specific steps include as follows：
Step S1：It is synchronized with the movement, is specifically included using the combination of broadcasting instructions controlled motor：
Step S11：Select four suitable motor types；
Step S12：ID addresses are distributed to selected motor, and the ginseng of each motor is respectively written into according to the ID addresses
Number；
Step S13：Being instructed using bus broadcast, send and start order, then four motors start simultaneously, and by step S12
The parameter of write-in performs；
Step S2：According to the distance between motor inductor and origin position relation, the origin for carrying out whole equipment marks,
Obtain origin position；
Step S3：The state fed back according to the origin position and current inductor, motor is carried out to prevent that suppressing dead relax one's efforts trembles
Dynamic operation；
Step S4：Initialization is reset after the position of inductor is carried out go back to each motor, then controls whole equipment Aligning control
Motion.
In the step S12, in translation, two coaxial motors being capable of same speed reverse movement same distance simultaneously；Revolving
When turning, four motors simultaneously synchronized in the same direction can move same distance, synthesis rotation.
In the step S2, specifically include：
Step S21：Under motor free state, manual fine-tuning equipment, dowel hole is aligned with, determines the origin position of equipment
Put；
Step S22：Using alignment pin fixed origin position, now it is powered to equipment, and pull out alignment pin；
Step S23：The counting of No. 1 motor is reset, and control device is translated, and finds No. 1 motor inductor, triggering
Stop；
Step S24：The count value of current No. 1 motor encoder feedback is recorded, this count value is negated, you can
To the inductor of the motor and the relative distance of origin position；
Step S25：Control device reversely translates, and returns to origin position；
Step S26：Repeat step S23 to S25 action, the inductor and origin position of No. 2~No. 4 motors are demarcated respectively
Relative distance, that is, the inductor of four motors and the relative distance of origin position are obtained, so as to complete origin position mark.
In the step S3, specifically include：
Step S31：The state of each inductor is read, determines motion of the current device relative to whole equipment origin position
Trend；
Step S32：According to the movement tendency relative to origin, then control device counter motion, then will suppress dead
State released, having suppressed dead state can also relax one's efforts；
Step S33：According to default distance, interval, control device carries out intermittent movement.
Step S34：Judge whether the state of four sensors changes, if changing, stop；If do not become
Change, then return to step S33.
In the step S4, specifically include：
Step S41：Inductor initialization is sought, i.e. control device translates, and carries out No. 1 motor current with corresponding inductor
State opposite direction is moved；
Step S42：The state of inductor is read, and judges whether the state of inductor changes, if having changed, under performing
One step；If not changing, return to step S41；
Step S43：Back fine motion translation device, until inductor corresponding to No. 1 motor triggers again；
Step S44：The state of inductor is again read off, and judges whether the state of inductor changes, if having changed, is recognized
Corresponding inductor is just triggered for the motor, and motor count is reset, then performs next step；If not changing, return
Step S43；
Step S45：Repeat step S41~S44, No. 2~No. 4 motors are controlled also all to find corresponding inductor successively, and
Reset counting operation；
Step S46：By current four motor count compared with four motor counts of origin position, count out equipment and return to origin
The rotation amount and translational movement of position；
Step S47：According to the rotation amount and translational movement, control device first rotates to be translated afterwards, i.e., can return to origin position
Put.
In the step S46, rotation amount and translational movement are calculated, is specially：
Step S461：According to the synchronous same distance motion synchronized in the same direction of four motors synthesize the principle of rotation, then calculate
Current state relative to origin position rotation amount；
If：During origin position, four motor counts are respectively：X1, X2, Y1, Y2；
Current location, four motor counts are respectively：X1 ', X2 ', Y1 ', Y2 '；
Then jig frame rotation amount is：[(X1’+X2’+Y1’+Y2’)-(X1+X2+Y1+Y2)]÷4；
Institute's value sign represents direction of rotation, and absolute value represents amount of movement；
Step S462：After being rotated in step S461, four motor status are set to X1 ", X2 ", Y1 ", Y2 ", then calculate
Go out current state is shifted how many relative to origin position；
X-direction translational movement：[(X1”-X1)-(X2”-X2)]÷2；
Y-direction translational movement：[(Y1”-Y1)-(Y2”-X2)]÷2.
Compared with prior art, the beneficial effects of the present invention are：
The present invention can effectively solve the problem that the synchronous requirement needed when four motors synthesis translation, rotation, and by first terminal after
The reverse thinking of point type is played, can fast and easily determine inductor and origin position relation, Fast Labeling origin, also using anti-
The method extremely shaken is suppressed, equipment can be effectively solved and suppress the unfavoured state for extremely, suppressing strength, and by Aligning control computational methods, can be with
Smooth completion Aligning control action, whole control method is simple, reliable, is also easy to realize.
Brief description of the drawings
Fig. 1 is the schematic diagram of four motor resultant motions.
Fig. 2 is the flow chart of four motor resultant motion control methods of the invention.
Fig. 3 is the flow chart that step 2 of the present invention marks origin control method.
Fig. 4 is the anti-flow chart for suppressing strength vibration control method of step 3 of the present invention.
Fig. 5 is the flow chart that step 4 of the present invention initializes Aligning control control method.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give presently preferred embodiments of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more thorough
Comprehensively.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
As shown in fig.2, a kind of four motors resultant motion control method provided by the invention, the motion control method are specific
Including as follows：
Step S1：It is synchronized with the movement, is specifically included using the combination of broadcasting instructions controlled motor：
Step S11：Select four suitable motor types, the motor need to meet synchronization, precision, torque and it is spacing will
Ask.
Wherein, synchronously refer to motor must supporting bus broadcasting instructions fill in data, and there is special electric motor starting to stop referring to
Order；The repeatable accuracy, kinematic accuracy, feedback accuracy that precision refers to motor must be up to standard, and uniformity is preferable；Torque refers to selected motor
Torque must be more than application when resistance, overload capacity of its maximum resistance no more than motor；Spacing finger motor has energy
Realize soft spacing instruction.
In addition, can also use integration-in-one stepping or servomotor, it can support simple language to program, so can be more preferable
The function of realizing various customizations.
Step S12：ID addresses are distributed to selected motor, and the fortune of each motor is respectively written into according to the ID addresses
Dynamic direction, speed, distance parameter.The motor is designated as No. 1, No. 2, No. 3 and No. 4 respectively.
In order to ensure that the resultant motion of each motor is smooth, in translation, two motors of coaxial (X-axis or Y-axis) can be same
When same speed reverse movement same distance；When rotated, four motors simultaneously synchronized in the same direction can move same distance, synthesis rotation.
Step S13：Being instructed using bus broadcast, send and start order, then four motors start simultaneously, and by step S12
The parameter of write-in performs.
In above-mentioned, each motor receives order and starts to perform, though the time of each motor execute instruction can not be accomplished
It is definitely identical, but error can be ignored.Instructed and realized synchronously by bus broadcast, moreover it is possible to wiring is reduced, it is limited in space
Place, its practicality can be improved.
Step S2：According to the distance between motor inductor and origin position relation, the origin for carrying out whole equipment marks,
Origin position is obtained, as shown in fig.3, specifically including：
Step S21：Under motor free state, manual fine-tuning equipment, dowel hole is aligned with, determines the origin position of equipment
Put.In the present embodiment, equipment is jig frame.
When motor no power, motor can be enforced.This after energization by software than being finely tuned to origin position
It is convenient a lot.
Step S22：It is now fixture to equipment using alignment pin fixed origin position after the good origin position of manually determined
Frame is powered.After energization, motor enables, then equipment will not move freely again, then pull out alignment pin.
Step S23：No. 1 motor count is reset, and control device is translated, and finds No. 1 motor inductor, triggering is
Stop.
Step S24：The count value of current No. 1 motor encoder feedback is recorded, this count value is negated, you can
To the inductor of the motor and the relative distance of origin position.
Step S25：Control device reversely translates, and returns to origin position.
Step S26：Repeat step S23 to S25 action, No. 2~No. 4 motor inductors and origin position are demarcated respectively
Relative distance, that is, the inductor of four motors and the relative distance of origin position are obtained, so as to complete origin position mark.Afterwards
Face can accurately search out origin position by this data, carry out Aligning control operation.
In general marks the way of origin position, is all to be marked from inductor, instruction control after reaching precalculated position.
But inaccurate precalculated position is for a long time also looked in the rotation translation of software control sometimes, it is also easy to suppress halfway extremely, it is very troublesome.The present invention provides
A kind of reverse thinking, under the cold free state of motor, predetermined origin position is first moved the device into manually, then be powered
It is fixed, inductor is then searched in turn, and spacing is marked, origin position is obtained, it is simpler, also more reliable.
In above-mentioned, coaxial two motor is linkage during translation, the HOME of single motor can not be used to instruct, direct Aligning control.
Therefore can be by way of controlling translation fine motion, induced signal inquiry.Such as：Often operation 5um is searched once, is sensed and is just stopped
Only and count.Each fine motion amount can be reduced, so as to reach the purpose that the sacrifice time exchanges precision for.
Step S3：If current stop position, certain motor has had moved to the permitted maximum range, then if carried out again same
To translation or rotation, will be suffocated.It is also possible to maloperation, causes equipment tentatively to suppress extremely, this to suppress strength state easy
Overload, cause electric motor protecting or damage.Dead situation is tentatively suppressed in order to tackle, the present invention is according to the origin position
With the state of current inductor feedback, dead dither operation of relaxing one's efforts is suppressed using anti-to motor, as shown in fig.4, specifically including as follows：
Step S31：The state of each inductor is read, determines current device i.e. jig frame relative to whole equipment origin position
The movement tendency put.
Such as：Four inductor states for reading origin position are 0000, and what is currently read is 1111, (makes motor push away
It is 1 to enter to make inductor triggering, and it is 0), then to illustrate current location relative to origin that retraction, which makes sensing chip depart from induction zone to read state,
The telemechanical trend of position is that each motor promotes, and causes the state after rotate counterclockwise, then can be by turning clockwise, energy
It is close to origin position.For another example, what is currently read is 0101, illustrates that jig frame has the translation in X-Y- directions.
Step S32：According to the movement tendency relative to origin, then control device counter motion, then will suppress dead
State released, having suppressed dead state can also relax one's efforts.
Step S33：According to default distance, interval, control device carries out intermittent movement.
Step S34：Judge whether the state of four sensors changes, if changing, stop；If do not become
Change, then return to step S33.
It is coarse adjustment in above-mentioned, motion amplitude more greatly, such as can move 200um every time, generally require motion for several times,
It can reach and change inductor state.Because the action of relatively large distance, plus certain time interval, just look like during loosening
The same action of shake, it is also effective to violating the pin suppressed on fixture.
During of course for preventing that inductor from damaging, program Infinite Cyclic, most counter motion numbers is also limit here,
Step pitch is equal or slightly larger than with limited number of times product allows range of movement.
Step S4：After preventing suppressing dead operation, initialization is reset after the position of inductor is carried out go back to each motor, then control
Whole equipment Aligning control motion processed, as shown in fig.5, specifically including：
Step S41：Inductor initialization is sought, i.e. control device (such as jig frame) translates, and No. 1 motor is carried out and corresponding sense
The current state opposite direction of device is answered to move.
Step S42：The state of inductor is read, and judges whether the state of inductor changes, if having changed, under performing
One step；If not changing, return to step S41.
Step S43：Back fine motion translation device, until inductor corresponding to No. 1 motor triggers again.The fine motion amplitude
Determine the position control accuracy of equipment.Such as：Jig frame fine motion is set to 5um.
Step S44：The state of inductor is again read off, and judges whether the state of inductor changes, if having changed, is recognized
Corresponding inductor is just triggered for the motor, and motor count is reset, then performs next step；If not changing, return
Step S43.
Said process, it is similar with many motor back to zero HOME instruction actions.
Step S45：Repeat step S41~S44, No. 2~No. 4 motors are controlled also all to find corresponding inductor successively, and
Reset counting operation.
Step S46：Aligning control position calculates, i.e. four motors all find sensor location, counts after resetting, then ought
Preceding four motor count counts out equipment rotation, translation how many i.e. rotation amounts and translation compared with four motor counts of origin position
Amount may return to origin position, be specially：
Step S461：According to movement characteristic, i.e., synthesis rotation is carried out according to the synchronous same distance motion synchronized in the same direction of four motors
Principle, then can calculate current state have rotated how many relative to origin position.
Assuming that：During origin position, four motor counts are respectively：X1, X2, Y1, Y2；
Current location, four motor counts are respectively：X1 ', X2 ', Y1 ', Y2 '；
Then jig frame rotation amount is：[(X1’+X2’+Y1’+Y2’)-(X1+X2+Y1+Y2)]÷4；
Institute's value sign represents direction of rotation, and absolute value represents amount of movement.
Step S462：According to the rotation amount for calculating gained, first reversely rotated so that state and origin position after rotation
State only translates change, then to calculate translational movement, according to the counter motion of gained translational movement to reach origin position.
Assuming that：After being rotated in step S461, four motor status are respectively：X1 ", X2 ", Y1 ", Y2 ", origin position
It is still the X1 in file record, X2, Y1, Y2.
Further according to translation feature：Same group of (X groups or Y groups) two motors need the synchronized same distance motion of synchronous backward, further according to
Coaxial two motors while same speed reverse movement same distance synthesize the principle of translation, then can calculate current state phase
It is shifted how many for origin position.
X-direction translational movement：[(X1”-X1)-(X2”-X2)]÷2；
Y-direction translational movement：[(Y1”-Y1)-(Y2”-X2)]÷2；
Step S47：According to the rotation amount and translational movement, control device first rotates to be translated afterwards, can be smoothly to return to
Origin position.
The equipment that the present invention is applied to all such four motors resultant motions, the jig frame of above-mentioned raising is one of them
Example.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (6)
- A kind of 1. four motor resultant motion control methods, it is characterised in that：The control method specific steps include as follows：Step S1：It is synchronized with the movement, is specifically included using the combination of broadcasting instructions controlled motor：Step S11：Select four suitable motor types；Step S12：ID addresses are distributed to selected motor, and the parameter of each motor is respectively written into according to the ID addresses；Step S13：Being instructed using bus broadcast, send and start order, then four motors start simultaneously, and by being write in step S12 Parameter perform；Step S2：According to the distance between motor inductor and origin position relation, the origin mark of whole equipment is carried out, is obtained Origin position；Step S3：The state fed back according to the origin position and current inductor, motor is carried out preventing suppressing the dead shake behaviour that relaxs one's efforts Make；Step S4：Initialization is reset after the position of inductor is carried out go back to each motor, then controls whole equipment Aligning control to move.
- 2. four motors resultant motion control method according to claim 1, it is characterised in that：In the step S12, flat During shifting, two coaxial motors being capable of same speed reverse movement same distance simultaneously；When rotated, four motors can be simultaneously synchronized in the same direction Move same distance, synthesis rotation.
- 3. four motors resultant motion control method according to claim 1, it is characterised in that：In the step S2, specifically Including：Step S21：Under motor free state, manual fine-tuning equipment, dowel hole is aligned with, determines the origin position of equipment；Step S22：Using alignment pin fixed origin position, now it is powered to equipment, and pull out alignment pin；Step S23：In origin position, the counting of No. 1 motor is reset, and control device fine motion translates, and finds No. 1 motor sensing Device, triggering stop；Step S24：The count value of current No. 1 motor encoder feedback is recorded, this count value is negated, you can be somebody's turn to do The inductor of motor and the relative distance of origin position；Step S25：Control device reversely translates, and returns to origin position；Step S26：Repeat step S23 to S25 action, the phase of the inductor and origin position of No. 2~No. 4 motors is demarcated respectively Adjust the distance, that is, obtain the inductor of four motors and the relative distance of origin position, so as to complete origin position mark.
- 4. four motors resultant motion control method according to claim 1, it is characterised in that：In the step S3, specifically Including：Step S31：The state of each inductor is read, determines that current device becomes relative to the motion of whole equipment origin position Gesture；Step S32：According to the movement tendency relative to origin, then control device counter motion, then dead shape will be suppressed State is released, and having suppressed dead state can also relax one's efforts；Step S33：According to default distance, interval, control device carries out intermittent movement.Step S34：Judge whether the state of four sensors changes, if changing, stop；If not changing, Return to step S33.
- 5. four motors resultant motion control method according to claim 1, it is characterised in that：In the step S4, specifically Including：Step S41：Inductor initialization is sought, i.e. control device translates, and No. 1 motor is carried out the current state with corresponding inductor Opposite direction is moved；Step S42：The state of inductor is read, and judges whether the state of inductor changes, if having changed, is performed next Step；If not changing, return to step S41；Step S43：Back fine motion translation device, until inductor corresponding to No. 1 motor triggers again；Step S44：The state of inductor is again read off, and judges whether the state of inductor changes, if having changed, then it is assumed that should Motor just triggers corresponding inductor, and motor count is reset, and then performs next step；If not changing, return to step S43；Step S45：Repeat step S41~S44, control No. 2~No. 4 motors also all to find corresponding inductor successively, and reset Counting operation；Step S46：By current four motor count compared with four motor counts of origin position, count out equipment and return to origin position Rotation amount and translational movement；Step S47：According to the rotation amount and translational movement, control device first rotates to be translated afterwards, i.e., can return to origin position.
- 6. four motors resultant motion control method according to claim 5, it is characterised in that：In the step S46, calculate Rotation amount and translational movement, it is specially：Step S461：According to the synchronous same distance motion synchronized in the same direction of four motors synthesize the principle of rotation, then calculate current State relative to origin position rotation amount；If：During origin position, four motor counts are respectively：X1, X2, Y1, Y2；Current location, four motor counts are respectively：X1 ', X2 ', Y1 ', Y2 '；Then jig frame rotation amount is：[(X1’+X2’+Y1’+Y2’)-(X1+X2+Y1+Y2)]÷4；Institute's value sign represents direction of rotation, and absolute value represents amount of movement；Step S462：After being rotated in step S461, four motor status are set to X1 ", X2 ", Y1 ", Y2 ", then calculate and work as Preceding state is shifted how many relative to origin position；X-direction translational movement：[(X1”-X1)-(X2”-X2)]÷2；Y-direction translational movement：[(Y1”-Y1)-(Y2”-X2)]÷2.
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| CN109713946A (en) * | 2019-01-22 | 2019-05-03 | 东北大学 | A kind of modularization tactilely-perceptible control device and method |
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