CN107528502B - 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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- CN107528502B CN107528502B CN201610453292.3A CN201610453292A CN107528502B CN 107528502 B CN107528502 B CN 107528502B CN 201610453292 A CN201610453292 A CN 201610453292A CN 107528502 B CN107528502 B CN 107528502B
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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
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Abstract
The present invention relates to industrial movement control technology fields, disclose a kind of four motor resultant motion control methods, which is moved synchronously using broadcasting instructions control motor combination；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；Movement tendency of the equipment with respect to origin position is obtained, then control the intermittent counter motion of equipment using the variation of inductor state when current location and origin position according to the origin position, equipment is carried out preventing suppressing dither operation of extremely relaxing one's efforts；Initialization is reset after carrying out go back to the position of inductor to each motor, further according to sensor location and the control equipment Aligning control movement of the relationship of origin position.The present invention can fast and easily determine that inductor and origin position relationship, Fast Labeling origin can also effectively solve equipment and suppress the unfavoured state for extremely suppressing strength, can the movement of smooth completion Aligning control, entire control method is simple, reliable, is also easy to realize.
Description
Technical field
The present invention relates to industrial movement control technology fields, more specifically, in particular to a kind of four motor resultant motions
Control method.
Background technique
Some equipment need to carry out XY θ (translation rotation) movement, but are limited by installation space, and load is also larger, is
The contradiction for solving motor power output and space limitation, often uses four motor resultant motions, as shown in Figure 1, this equipment is very
It is easy to occur suppressing dead phenomenon during the motion.In addition, the inductor for origin label is due to mechanical tolerance, position when installation
It not fully fixes, it is impossible to reach four motors while return to respective sensor location, unlikely four motors are in induction
When device position, be precisely whole equipment origin position.
Summary of the invention
It is an object of the invention to be directed to technical problem of the existing technology, a kind of four motor resultant motions control is provided
Method, it is simple, reliable, it is also easy to realize.
In order to solve posed problems above, the technical solution adopted by the present invention are as follows:
A kind of four motor resultant motion control methods, the control method specific steps include the following:
Step S1: it is moved synchronously, is specifically included using broadcasting instructions control motor combination:
Step S11: four suitable motor types of selection；
Step S12: the address ID is distributed to selected motor, and is respectively written into the ginseng of each motor according to the address ID
Number；
Step S13: being instructed using bus broadcast, sends start command, then four motors start simultaneously, and by step S12
The parameter of write-in executes；
Step S2: according to the distance between motor inductor and origin position relationship, carrying out the origin label of whole equipment,
Obtain origin position；
Step S3: according to the origin position and when the state of front sensor feedback, motor is carried out preventing suppressing extremely relaxing one's efforts trembling
Dynamic operation；
Step S4: initialization is reset after carrying out go back to the position of inductor to each motor, then controls whole equipment Aligning control
Movement；
In the step S2, specifically include:
Step S21: under motor free state, manual fine-tuning equipment is aligned with dowel hole, determines the origin position of equipment
It sets；
Step S22: using positioning pin fixed origin position, is powered at this time to equipment, and pull out positioning pin；
Step S23: the counting of No. 1 motor being reset, and controls equipment and is translated, finds No. 1 motor inductor, is triggered
Stop；
Step S24: the count value of current No. 1 motor encoder feedback is recorded, this count value is negated, can be obtained
To the inductor of the motor and the relative distance of origin position；
Step S25: control equipment reversely translates, and returns to origin position；
Step S26: repeating the movement of step S23 to S25, demarcates the inductor and origin position of No. 2~No. 4 motors respectively
Relative distance to get to the relative distance of the inductor of four motors and origin position, so as to complete origin position label.
In the step S12, in translation, two coaxial motors being capable of same speed reverse movement same distance simultaneously；It is revolving
When turning, four motors synchronized in the same direction simultaneously can move same distance, synthesis rotation.
In the step S3, specifically include:
Step S31: reading the state of each inductor, determines movement of the current device relative to whole equipment origin position
Trend；
Step S32: according to the movement tendency relative to origin, then controlling equipment counter motion, then will suppress dead
State released, having suppressed dead state can also relax one's efforts；
Step S33: it according to preset distance, interval, controls equipment and carries out intermittent movement.
Step S34: judging whether the state of four sensors changes, if changing, stops；If not becoming
Change, then return step S33.
In the step S4, specifically include:
Step S41: inductor initialization, the i.e. translation of control equipment are sought, carries out No. 1 motor current with corresponding inductor
The movement of state opposite direction；
Step S42: reading the state of inductor, and judges whether the state of inductor changes, if having changed, under executing
One step；If having not been changed, return step S41；
Step S43: back fine motion translation device, until the corresponding inductor of No. 1 motor triggers again；
Step S44: reading again the state of inductor, and judges whether the state of inductor changes, if having changed, recognizes
Corresponding inductor is just triggered for the motor, and motor count is reset, is then performed the next step；If having not been changed, return
Step S43；
Step S45: repeating step S41~S44, successively controls No. 2~No. 4 motors and also all finds corresponding inductor, and
Reset counting operation；
Step S46: it by current four motor count compared with four motor counts of origin position, counts out equipment and returns to origin
The rotation amount and translational movement of position；
Step S47: according to the rotation amount and translational movement, control equipment first rotates to be translated afterwards, can return to origin position
It sets.
In the step S46, rotation amount and translational movement are calculated, specifically:
Step S461: the principle that synchronized same distance movement in the same direction carries out synthesis rotation is synchronized according to four motors, then is calculated
Rotation amount of the current state relative to origin position；
If: when origin position, four motor counts are respectively as follows: X1, X2, Y1, Y2；
Current location, four motor counts are respectively as follows: X1 ', X2 ', Y1 ', Y2 '；
Then jig frame rotation amount are as follows: [(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 rotating in step S461, four motor status are set as X1 ", X2 ", Y1 ", Y2 ", then calculate
Current state is shifted how many relative to origin position out；
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 need when four motors synthesis translation, rotation synchronous requires, and by first terminal after
The reverse thinking for playing point type can fast and easily determine inductor and origin position relationship, 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 calculation method, it can be with
Smooth completion Aligning control movement, entire control method is simple, reliable, is also easy to realize.
Detailed description of the invention
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.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more thorough
Comprehensively.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention 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
Include the following:
Step S1: it is moved synchronously, is specifically included using broadcasting instructions control motor combination:
Step S11: four suitable motor types of selection, the motor need to meet wanting for synchronization, precision, torque and limit
It asks.
Wherein, synchronize refer to motor must supporting bus broadcasting instructions fill in data, and there is the stopping of special electric motor starting to refer to
It enables；Precision refers to that the repeatable accuracy, kinematic accuracy, feedback accuracy of motor must be up to standard, and consistency is preferable；Torque refers to selected motor
Torque have to be greater than application when resistance, overload capacity of the maximum resistance no more than motor；Limit refers to that motor has energy
Realize the instruction of soft limit.
In addition, integration-in-one stepping or servo motor can also be used, simple language can be supported to program, it in this way can be more preferable
The various customizations of realization function.
Step S12: the address ID is distributed to selected motor, and is respectively written into the fortune of each motor according to the address ID
Dynamic direction, speed, distance parameter.The motor is denoted as No. 1, No. 2, No. 3 and No. 4 respectively.
Resultant motion in order to guarantee each motor is smooth, and 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 synchronized in the same direction simultaneously can move same distance, synthesis rotation.
Step S13: being instructed using bus broadcast, sends start command, then four motors start simultaneously, and by step S12
The parameter of write-in executes.
Among the above, each motor receives order and starts to execute, though it cannot accomplish the time that each motor executes instruction
It is absolutely identical, but error can be ignored.It is instructed by bus broadcast and realizes synchronization, moreover it is possible to wiring is reduced, it is limited in space
Place, the practicality can be improved.
Step S2: according to the distance between motor inductor and origin position relationship, carrying out the origin label of whole equipment,
Origin position is obtained, as shown in fig.3, specifically including:
Step S21: under motor free state, manual fine-tuning equipment is aligned with dowel hole, determines the origin position of equipment
It sets.In the present embodiment, equipment is jig frame.
When motor no power, motor can be enforced.This after being powered by software than being finely tuned to origin position
It is convenient very much.
Step S22: after the good origin position of manually identifying, using positioning pin fixed origin position, at this time to equipment, that is, fixture
Frame is powered.After energization, motor is enabled, then equipment will not move freely again, then pull out positioning pin.
Step S23: No. 1 motor count is reset, and controls equipment and is translated, 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, can be obtained
To the inductor of the motor and the relative distance of origin position.
Step S25: control equipment reversely translates, and returns to origin position.
Step S26: repeating the movement of step S23 to S25, demarcates No. 2~No. 4 motor inductors and origin position respectively
Relative distance is to get to the relative distance of the inductor of four motors and origin position, so as to complete origin position label.Afterwards
Face can accurately search out origin position by this data, carry out Aligning control operation.
The way of general label origin position is all from inductor, and instruction control marks after reaching predetermined position.
But inaccurate predetermined position is for a long time also looked in the translation of software control rotation sometimes, is also easy to suppress halfway extremely, very troublesome.The present invention provides
A kind of reverse thinking first moves the device into scheduled origin position, then be powered under the cold free state of motor manually
It is fixed, inductor is then searched in turn, and mark spacing, obtain origin position, it is simpler, also more reliable.
Among the above, coaxial two motor is linkage when translation, is not available the HOME instruction of single motor, direct Aligning control.
It therefore can be by way of control translation fine motion, inductive signal inquiry.Such as: every operation 5um is searched once, is sensed and is just stopped
Only and count.It can reduce each fine motion amount, to achieve the purpose that sacrificing the time exchanges precision for.
Step S3: if current stop position, certain motor has had moved to the permitted maximum range, if that carrying out again same
To translation or rotation, will be suffocated.It is also possible to maloperation, causes equipment tentatively to suppress extremely, this strength state of suppressing is easy
It overloads, leads to electric motor protecting or damage.Dead situation is tentatively suppressed in order to cope with, the present invention is according to the origin position
With the state when front sensor feedback, dither operation of extremely relaxing one's efforts is suppressed using anti-to motor, as shown in fig.4, specifically including as follows:
Step S31: reading the state of each inductor, determines current device i.e. jig frame relative to whole equipment origin position
The movement tendency set.
Such as: four inductor states for reading origin position are 0000, and what is currently read is 1111, (motor is enabled to push away
Into making inductor triggering be 1, retraction makes sensing chip disengaging induction zone read state 0), then illustrate current location relative to origin
The telemechanical trend of position is that each motor promotes, and causes postrotational state counterclockwise, then can be by rotating 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 the direction X-Y-.
Step S32: according to the movement tendency relative to origin, then controlling equipment counter motion, then will suppress dead
State released, having suppressed dead state can also relax one's efforts.
Step S33: it according to preset distance, interval, controls equipment and carries out intermittent movement.
Step S34: judging whether the state of four sensors changes, if changing, stops；If not becoming
Change, then return step S33.
It is among the above coarse adjustment, motion amplitude more greatly, such as can move 200um every time, generally require movement for several times,
It can reach and change inductor state.Because of the movement of relatively large distance, in addition certain time interval, just looks like during loosening
The same movement of shake, it is also effective to the needle suppressed is violated on fixture.
When of course for preventing inductor from damaging, program Infinite Cyclic also limits most counter motion numbers here,
Step pitch and limited number of times product, which are equal or slightly larger than, allows motion range.
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 movement processed, as shown in fig.5, specifically including:
Step S41: seeking inductor initialization, i.e. control equipment (such as jig frame) translation carries out No. 1 motor and corresponding sense
The current state opposite direction of device is answered to move.
Step S42: reading the state of inductor, and judges whether the state of inductor changes, if having changed, under executing
One step；If having not been changed, return step S41.
Step S43: back fine motion translation device, until the corresponding inductor of No. 1 motor triggers again.The fine motion amplitude
Determine the position control accuracy of equipment.Such as: jig frame fine motion is set as 5um.
Step S44: reading again the state of inductor, and judges whether the state of inductor changes, if having changed, recognizes
Corresponding inductor is just triggered for the motor, and motor count is reset, is then performed the next step；If having not been changed, return
Step S43.
It is similar to return to zero HOME instruction action with many motors for the above process.
Step S45: repeating step S41~S44, successively controls No. 2~No. 4 motors and also all finds corresponding inductor, and
Reset counting operation.
Step S46: Aligning control position calculates, i.e. four motors all find sensor location, counts after resetting, then will work as
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, specifically:
Step S461: according to movement characteristic, i.e., synchronized same distance movement in the same direction is synchronized according to four motors and carry out synthesis rotation
Principle, then can calculate current state relative to origin position and have rotated how many.
Assuming that: when origin position, four motor counts are respectively as follows: X1, X2, Y1, Y2；
Current location, four motor counts are respectively as follows: X1 ', X2 ', Y1 ', Y2 '；
Then jig frame rotation amount are as follows: [(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 resulting rotation amount is calculated, first being reversely rotated, so that state and origin position after rotation
State only translates variation, then calculates translational movement, according to the counter motion of gained translational movement to reach origin position.
Assuming that: after rotating in step S461, four motor status are respectively as follows: 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 group or Y group) two motors need the synchronized same distance movement of synchronous backward, further according to
Coaxial two motors while same speed reverse movement same distance carry out the principle of synthesis translation, then can calculate current state phase
How many is shifted 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 equipment first rotates to be translated afterwards, can smoothly be returned to
Origin position.
The equipment that the present invention is suitable for all such four motors resultant motions, the jig frame of above-mentioned raising is one of them
Example.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (5)
1. a kind of four motor resultant motion control methods, it is characterised in that: the control method specific steps include the following:
Step S1: it is moved synchronously, is specifically included using broadcasting instructions control motor combination:
Step S11: four suitable motor types of selection；
Step S12: the address ID is distributed to selected motor, and is respectively written into the parameter of each motor according to the address ID；
Step S13: being instructed using bus broadcast, sends start command, then four motors start simultaneously, and by being written in step S12
Parameter execute；
Step S2: according to the distance between motor inductor and origin position relationship, the origin label of whole equipment is carried out, is obtained
Origin position；
Step S3: according to the origin position and when the state of front sensor feedback, motor is carried out to prevent suppressing the shake behaviour that extremely relaxs one's efforts
Make；
Step S4: resetting initialization after carrying out go back to the position of inductor to each motor, then controls the movement of whole equipment Aligning control；
In the step S2, specifically include:
Step S21: under motor free state, manual fine-tuning equipment is aligned with dowel hole, determines the origin position of equipment；
Step S22: using positioning pin fixed origin position, is powered at this time to equipment, and pull out positioning pin；
Step S23: in origin position, the counting of No. 1 motor being reset, and controls equipment fine motion translation, finds No. 1 motor induction
Device, triggering stop；
Step S24: the count value of current No. 1 motor encoder feedback is recorded, this count value is negated, this can be obtained
The inductor of motor and the relative distance of origin position；
Step S25: control equipment reversely translates, and returns to origin position；
Step S26: repeating the movement of step S23 to S25, demarcates the phase of the inductor and origin position of No. 2~No. 4 motors respectively
It adjusts the distance to get to the relative distance of the inductor of four motors and origin position, so as to complete origin position label.
2. four motors resultant motion control method according to claim 1, it is characterised in that: in the step S12, flat
When shifting, two coaxial motors being capable of same speed reverse movement same distance simultaneously；When rotated, four motors can be synchronized in the same direction simultaneously
Move same distance, synthesis rotation.
3. four motors resultant motion control method according to claim 1, it is characterised in that: in the step S3, specifically
Include:
Step S31: reading the state of each inductor, determines that current device becomes relative to the movement of whole equipment origin position
Gesture；
Step S32: according to the movement tendency relative to origin, then controlling equipment counter motion, then will suppress dead shape
State is released, and having suppressed dead state can also relax one's efforts；
Step S33: it according to preset distance, interval, controls equipment and carries out intermittent movement；
Step S34: judging whether the state of four sensors changes, if changing, stops；If not changing,
Return step S33.
4. four motors resultant motion control method according to claim 1, it is characterised in that: in the step S4, specifically
Include:
Step S41: inductor initialization, the i.e. translation of control equipment are sought, carries out No. 1 motor and the current state of corresponding inductor
Opposite direction movement；
Step S42: reading the state of inductor, and judges whether the state of inductor changes, if having changed, executes next
Step；If having not been changed, return step S41；
Step S43: back fine motion translation device, until the corresponding inductor of No. 1 motor triggers again；
Step S44: reading again the state of inductor, 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 the next step；If having not been changed, return step
S43；
Step S45: repeating step S41~S44, successively controls No. 2~No. 4 motors and also all finds corresponding inductor, and resets
Counting operation；
Step S46: it by current four motor count compared with four motor counts of origin position, calculates equipment and returns to origin position
Rotation amount and translational movement；
Step S47: according to the rotation amount and translational movement, control equipment first rotates to be translated afterwards, can return to origin position.
5. four motors resultant motion control method according to claim 4, it is characterised in that: in the step S46, calculate
Rotation amount and translational movement, specifically:
Step S461: the principle that synchronized same distance movement in the same direction carries out synthesis rotation is synchronized according to four motors, then is calculated current
Rotation amount of the state relative to origin position；
If: when origin position, four motor counts are respectively as follows: X1, X2, Y1, Y2；
Current location, four motor counts are respectively as follows: X1 ', X2 ', Y1 ', Y2 '；
Then jig frame rotation amount are as follows: [(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 rotating in step S461, four motor status are set as 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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| CN101263438A (en) * | 2005-09-12 | 2008-09-10 | 株式会社安川电机 | Alignment device, method for resetting origin of alignment device, and turn table, translation table, machine and machine control system equipped with alignment device |
| CN101860290A (en) * | 2009-04-13 | 2010-10-13 | 深圳市科姆龙电气技术有限公司 | Multifunctional alternating current servo driver |
| CN103281018A (en) * | 2013-05-27 | 2013-09-04 | 中国科学院光电技术研究所 | Control system for driving reflecting mirror |
| CN105450103A (en) * | 2015-12-10 | 2016-03-30 | 中国航空工业集团公司西安航空计算技术研究所 | Synchronous control system for multi-axis brushless direct current motors |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101263438A (en) * | 2005-09-12 | 2008-09-10 | 株式会社安川电机 | Alignment device, method for resetting origin of alignment device, and turn table, translation table, machine and machine control system equipped with alignment device |
| CN101860290A (en) * | 2009-04-13 | 2010-10-13 | 深圳市科姆龙电气技术有限公司 | Multifunctional alternating current servo driver |
| CN103281018A (en) * | 2013-05-27 | 2013-09-04 | 中国科学院光电技术研究所 | Control system for driving reflecting mirror |
| CN105450103A (en) * | 2015-12-10 | 2016-03-30 | 中国航空工业集团公司西安航空计算技术研究所 | Synchronous control system for multi-axis brushless direct current motors |
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