CN108121201B - Internal position servo control method - Google Patents

Internal position servo control method Download PDF

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Publication number
CN108121201B
CN108121201B CN201711363332.6A CN201711363332A CN108121201B CN 108121201 B CN108121201 B CN 108121201B CN 201711363332 A CN201711363332 A CN 201711363332A CN 108121201 B CN108121201 B CN 108121201B
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motor
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cmd
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acc
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CN108121201A (en
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刘相术
王璐
王岱荣
武将
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Hollysys Electric Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.

Abstract

The invention provides an internal position servo control method.A position instruction generator is arranged in a servo driver and used for receiving externally input motor operation parameters, wherein the operation parameters comprise the highest rotating speed V of motor operationmaxAcceleration time taccTime of deceleration tdecA running distance S; the position command generator generates a position command in units of servo motor encoder pulses, and inputs the position command to a position loop PID controller of the servo driver to control the operation of the corresponding motor. The invention has the following advantages: the cost of the system is reduced; is not easy to be interfered; the instruction time delay is small, and the response is fast; the automatic origin point returning function and the flexible electronic gear function can be realized; a multi-section position curve can be built in; asymmetric acceleration and deceleration can be realized, namely the acceleration of the motor during acceleration is different from the acceleration of the motor during deceleration.

Description

Internal position servo control method
Technical Field
The present invention relates to a motion control method, and more particularly, to an internal position servo control method.
Background
When the position of the existing servo system is controlled, an upper computer control system such as a PLC is needed, a controller or a board card sends position control pulses to a servo driver, namely the upper controller outputs pulse strings with certain quantity and frequency to control the positioning motion of a servo motor; the frequency of the pulse trains determines the speed at which the motor operates and the number of pulse trains determines the distance over which the motor operates (and also the number of revolutions of the motor).
Disclosure of Invention
The invention provides an internal position servo control method, wherein an internal position refers to that a position algorithm is integrated in a servo driver, a motor point-to-point position control function is realized in the servo driver, an upper computer control system such as a PLC (programmable logic controller) is not needed, a controller or a board card sends position control pulses to the servo driver, namely, a servo unit can automatically generate a positioning command of a servo motor according to preset coordinate parameters of a plurality of position points, the point-to-point positioning function of the motor is realized, a motor operation curve can be automatically planned through the built-in algorithm of the driver, and the rotation of the motor is controlled.
The technical scheme is as follows:
a servo control method for internal position features that a position command generator is arranged in servo driver for receiving the external input parameters of motorNumber includes the maximum rotating speed V of the motormaxAcceleration time taccTime of deceleration tdecA running distance S; the position command generator generates a position command in units of servo motor encoder pulses, and inputs the position command to a position loop PID controller of the servo driver to control the operation of the corresponding motor.
The position instruction generator inputs the position instruction into the position loop PID controller and receives the position feedback of the motor; the position loop PID controller inputs a speed instruction into the speed loop PID controller and receives the speed feedback of the motor; the speed loop PID controller inputs a current instruction into the current loop PID controller and receives current feedback of the motor; the current loop PID controller inputs the PWM output to an inverter, which is connected to the motor.
And the position instruction generator sends out a position instruction according to the operation parameters, and can adopt a regression zero point control operation after operation so as to control the position regression zero point of the servo driver.
The position command generator operates the highest rotating speed V according to the input motormaxAcceleration time taccTime of deceleration tdecAnd running the distance S to generate a position command with a servo motor encoder pulse as a unit, wherein the process is as follows:
step (1), calculating the total motor running pulse number p according to the running distance SsumThe motor running at maximum speed VmaxThe number of pulses p in each control periodVmax：
Figure BDA0001512325570000021
Figure BDA0001512325570000022
Step (2), according to the acceleration time taccAnd a deceleration time tdecThe number of pulses p 'expected to be required during acceleration is calculated'accNumber of pulses p 'required during deceleration'decAddition in each control cycleIncrement of velocity pulse Δ paccAnd deceleration pulse increment Δ pdec：
Figure BDA0001512325570000023
Figure BDA0001512325570000024
Figure BDA0001512325570000025
Figure BDA0001512325570000026
Wherein the servo motor rotates kMRThe value of the displacement (mm) or angle of rotation (°) of the movement of the mechanical part during a revolution is kMM(ii) a Number of lines k of motor encoderMThe number of pulses fed back by the encoder when the motor rotates one circle; and a control period T, namely a servo driver position loop operation period.
Further, in the step (2), if: p'acc+p′dec＞psumThe number of pulses p actually required during accelerationaccThe number of pulses p expected to be required during decelerationdecAnd the number of pulses p actually required in the uniform velocity processcon：
Figure BDA0001512325570000031
Figure BDA0001512325570000032
pcon＝0
Then in the acceleration phase, within each control cycle, the position control instruction pcmdComprises the following steps:
pcmd+＝Δpacc
if p iscmd≥pVmaxThen p iscmd＝pVmax；
In the deceleration phase, each control cycle, position control command pcmdComprises the following steps:
pcmd-＝Δpdec
if p iscmdP is less than or equal to 0cmd＝0。
Further, in the step (2), if: p'acc+p′dec≤psumThe number of pulses p actually required during accelerationaccThe number of pulses p expected to be required during decelerationdecAnd the number of pulses p actually required in the uniform velocity processcon：
pacc＝p′acc
pdec＝p′dec
pcon＝psum-pacc-pdec
Then in the acceleration phase, within each control cycle, the position control instruction pcmdComprises the following steps:
pcmd+＝Δpacc
if p iscmd≥pVmaxThen p iscmd＝pVmax
At the constant speed operation stage
pcmd＝pVmax
In the deceleration phase, each control cycle, position control command pcmdComprises the following steps:
pcmd-＝Δpdec
if p iscmdP is less than or equal to 0cmd＝0。
The mechanical servo system needs to enable the machine to return to a zero point after being electrified again every time, and the position instruction generator controls the position of the servo driver to return to the zero point; position instruction generator and employing regression zero generator and Reghome；
Reghome: the register set in the zero-returning mode is a 5-digit decimal number and is specifically defined as follows:
Figure BDA0001512325570000041
when the system is powered on again, the servo driver can be used for controlling the Reg according to the resulthomeTo determine whether to execute the zeroing procedure; if the user sets the regression zero point, the generator of the regression zero point will be based on the V set by the userhome1And Vhome2And controlling the motor to return to a zero point, wherein,
Vhome1: first zero return speed, high speed zero return speed, unit rpm;
Vhome2: and the second zero returning speed is the speed of the Z signal in unit rpm which is found at a low speed after the zero position signal is received.
For ReghomeEach of the bits of (a) to (b),
a) 00: finding zero point and aligning zero point reversely after flushing zero point
01-32: path length of internal setting after finding zero point
33: finding a zero point and immediately stopping after the zero point is flushed, and not reversely aligning the zero point;
b) zeroing and finding Z pulse setting:
when the c item is set to 0, 1, 2, 3:
0: returning to find no Z pulse;
1: returning to find the Z pulse;
c) zero signal and zero direction selection:
0: the special mechanical zero switch signal, CW (clockwise) reversal direction returns to the mechanical zero;
1: a special mechanical zero switch signal, wherein the CCW (anticlockwise) positive rotation direction returns to a mechanical zero;
2: reversing a limit switch signal CWL, and returning the motor to a mechanical zero point according to a CW (clockwise) reversing direction;
3: the motor returns to a mechanical zero point according to the CCW (anticlockwise) forward rotation direction by a forward rotation limit switch signal CCWL;
4: the CW (clockwise) inversion directly searches for the Z pulse as a regression origin;
5: the CCW (anticlockwise) rotates forward to directly search the Z pulse as a regression origin;
6: CW (clockwise) reversal with the torque arrival signal as the origin of return;
7: CCW (anticlockwise) rotates forwards, and a torque arrival signal serves as a return origin;
d) zero-point regression motion starting mode:
0: the return to the original point is not needed;
1: servo on, immediately executing returning mechanical zero point motion;
2: and servo on, which is triggered by the effective zero returning signal to execute the zero returning motion of the mechanical device.
Compared with all the existing control modes, the invention has the following advantages:
firstly, an upper computer control system such as a PLC, a controller or a board card is not needed, so that the cost of the system can be greatly reduced;
secondly, because the position control command generation algorithm is realized in the servo driver, the servo driver is not easily interfered;
thirdly, a position control instruction generation algorithm is realized in the servo driver, so that the instruction time delay is small and the response is fast;
fourthly, the function of automatically returning to the original point can be realized;
fifthly, the function of the flexible electronic gear can be realized;
sixthly, a plurality of sections of position curves can be arranged in the device;
and seventhly, asymmetric acceleration and deceleration can be realized, namely the acceleration of the motor during acceleration is different from the acceleration of the motor during deceleration.
Drawings
FIG. 1 is an internal position control architecture diagram;
FIG. 2 is a graph of a typical motor operating position;
FIG. 3 is a graph of actual operating speed of the motor;
FIG. 4 is a graph of actual motor operating speed;
fig. 5 is a diagram of an internal regression zero control architecture.
Detailed Description
On the occasions with strict cost requirements, complex application environment noise interference and the like, the invention does not need an upper computer control system such as a PLC, a controller or a board card, and can greatly reduce the cost of the system; the wiring is simple because no upper computer controller is arranged; since the position control command generation algorithm is implemented inside the servo driver, the position commands are not disturbed.
The invention operates the highest rotational speed V according to the electrical machinery that users inputmaxAcceleration time taccTime of deceleration tdecAnd the servo driver generates a position command required by the position loop through a position command generator. The position instruction generator receives the input of the user and the maximum rotating speed V of the motormaxAcceleration time taccTime of deceleration tdecAnd the user CAN input related parameters through a built-in keyboard of the servo driver or CAN input the parameters through RS232, RS485 or CAN communication when the distance S is operated. The position command generator receives parameters input by a user and generates a position command in units of servo motor encoder pulses through an internal algorithm. The position command is input into a position ring of the servo driver to control the motor to operate.
In the case of servo position control, as shown in fig. 2, a complete operational curve needs to include the following elements: maximum rotating speed V of motor operationmaxAcceleration time taccTime of deceleration tdecRunning distance S (the number of turns of the motor can also be adopted), the invention only needs to input Vmax，tacc，tdecAnd S, automatically generating a position control command in the servo driver.
Wherein:
ta c: c accelerated run time, unit s
tcon: constant running time in units of s
tdec: run time in deceleration, unit s
Vmax: maximum speed of motor operation, unit rpm (revolution/minute)
Figure BDA0001512325570000071
Run length, in units (mm) or angle of rotation (°), depending on kMRAnd kMMThe definition of (1).
For application convenience, the following parameters are defined:
1. coefficient of mechanical transmission kMRAnd kMM
The meaning of both is servo motor rotation kMRBy the displacement (mm) or angular degree of rotation (°) k of the mechanical part during a revolutionMM. Parameter kMRAnd kMMAnd a conversion relation between a motor circumference resolution unit and a user mechanical coordinate unit is defined, namely all position coordinate parameters of the servo unit can be set according to the mechanical coordinate unit of a user mechanical final control target.
2. Number of lines k of motor encoderMThat is, the number of pulses fed back by the encoder when the motor rotates one turn.
3. And a control period T, namely a servo driver position loop operation period.
"position command Generator" in FIG. 1, i.e. the maximum rotational speed V of the servo drive operated by the motor in response to user inputmaxAcceleration time taccTime of deceleration tdecAnd a running distance S, wherein a position command with a servo motor encoder pulse as a unit is generated.
The position instruction generator inputs the position instruction into the position loop PID controller and receives the position feedback of the motor; the position loop PID controller inputs a speed instruction into the speed loop PID controller and receives the speed feedback of the motor; the speed loop PID controller inputs a current instruction into the current loop PID controller and receives current feedback of the motor; the current loop PID controller inputs the PWM output to an inverter, which is connected to the motor.
The process is as follows:
1. calculating the total motor running pulse number p according to the running distance SsumThe motor running at maximum speed VmaxThe number of pulses p in each control periodVmax：
Figure BDA0001512325570000081
Figure BDA0001512325570000082
2. According to acceleration time taccAnd a deceleration time tdecThe number of pulses p 'expected to be required during acceleration is calculated'accNumber of pulses p 'required during deceleration'decAcceleration pulse increment Δ p in each control periodaccAnd deceleration pulse increment Δ pdec：
Figure BDA0001512325570000083
Figure BDA0001512325570000084
Figure BDA0001512325570000085
Figure BDA0001512325570000086
(1) If: p'acc+p′dec＞psumThe number of pulses p actually required during accelerationaccThe number of pulses p expected to be required during decelerationdecAnd the number of pulses p actually required in the uniform velocity processcon：
Figure BDA0001512325570000087
Figure BDA0001512325570000088
pcon＝0
The actual operation speed curve of the motor is shown in fig. 3, and the motor does not have a uniform operation process. Then in the acceleration phase, within each control cycle, the position control instruction pcmdComprises the following steps:
pcmd+＝Δpa c
if p iscmd≥pVmaxThen p iscmd＝pVmax
In the deceleration phase, each control cycle, position control command pcmdComprises the following steps:
pcmd-＝Δpdec
if p iscmdP is less than or equal to 0cmd＝0
(2) If: p'acc+p′dec≤psumThe number of pulses p actually required during accelerationaccThe number of pulses p expected to be required during decelerationdecAnd the number of pulses p actually required in the uniform velocity processcon：
pacc＝p′acc
pdec＝p′dec
pcon＝psum-pacc-pdec
The actual operation speed curve of the motor is shown in fig. 4, and the motor does not have a uniform operation process.
Then in the acceleration phase, within each control cycle, the position control instruction pcmdComprises the following steps:
pcmd+＝Δpa c
if p iscmd≥pVmaxThen p iscmd＝pVmax
At the constant speed operation stage
pcmd＝pVm a
In the deceleration phase, each control cycle, position control command pcmdComprises the following steps:
pcmd-＝Δpdec
if p iscmdWhen the ratio is less than or equal to 0, thenpcmd＝0
3. Implementation of internal auto-regressive zero algorithm
The mechanical servo system needs to enable the machine to return to the zero point after being electrified again every time, and the off-parameter is stored in an internal memory of the servo driver.
As shown in fig. 5, according to Vhome1And Vhome2The return instruction controller inputs the position instruction into the position loop PID controller and receives the position feedback of the motor; the position loop PID controller inputs a speed instruction into the speed loop PID controller and receives the speed feedback of the motor; the speed loop PID controller inputs a current instruction into the current loop PID controller and receives current feedback of the motor; the current loop PID controller inputs the PWM output to an inverter, which is connected to the motor.
The following parameters are defined:
Vhome1: first zero return speed, high speed zero return speed, unit rpm;
Vhome2: the second zero returning speed is the speed of the Z signal which is found at a low speed after the zero position signal is received, and the unit rpm is the speed;
Reghome: the register set in the zero-returning mode is a 5-digit decimal number and is specifically defined as follows:
Figure BDA0001512325570000101
a) 00: finding zero point and aligning zero point reversely after flushing zero point
01-32: path length of internal setting after finding zero point
33: find zero point and stop immediately after the zero point is flushed, and zero point is not aligned reversely
b) Zeroing and finding Z pulse setting:
when the c item is set to 0, 1, 2, 3:
0: returning to find no Z pulse;
1: return to find the Z pulse.
c) Zero signal and zero direction selection:
0: the special mechanical zero switch signal, CW (clockwise) reversal direction returns to the mechanical zero;
1: a special mechanical zero switch signal, wherein the CCW (anticlockwise) positive rotation direction returns to a mechanical zero;
2: reversing a limit switch signal CWL, and returning the motor to a mechanical zero point according to a CW (clockwise) reversing direction;
3: the motor returns to a mechanical zero point according to the CCW (anticlockwise) forward rotation direction by a forward rotation limit switch signal CCWL;
4: the CW (clockwise) inversion directly searches for the Z pulse as a regression origin;
5: the CCW (counter clockwise) forward directly looks for the Z pulse as the origin of the return.
6: CW (clockwise) reversal with the torque arrival signal as the origin of return;
7: CCW (counterclockwise) rotates forward, and the torque arrival signal serves as the origin of return.
d) Zero-point regression motion starting mode:
0: the return to the original point is not needed;
1: servo on, immediately executing returning mechanical zero point motion;
2: and servo on, which is triggered by the effective zero returning signal to execute the zero returning motion of the mechanical device.
When the system is powered on again, the servo driver can control Reg according to the user pairhomeD is set to determine whether to perform a zeroing procedure. If the user sets the regression zero point, the generator of the regression zero point will be based on the V set by the userhome1And Vhome2And controlling the motor to return to the zero point.
The invention has the following advantages: an upper computer control system such as a PLC, a controller or a board card is not needed, so that the cost of the system can be greatly reduced; the position control command generation algorithm is realized in the servo driver, so that the servo driver is not easily interfered; the position control command generation algorithm is realized in the servo driver, the command time delay is small, and the response is fast; the function of automatically returning to the original point can be realized; the function of the flexible electronic gear can be realized; a multi-section position curve can be built in; asymmetric acceleration and deceleration can be realized, namely the acceleration of the motor during acceleration is different from the acceleration of the motor during deceleration.

Claims (5)

1. An internal position servo control method, characterized in that: a position instruction generator is arranged in the servo driver and used for receiving externally input motor operation parameters, wherein the operation parameters comprise the highest rotating speed V of the motor operationmaxAcceleration time taccTime of deceleration tdecA running distance S; the position command generator generates a position command taking servo motor encoder pulses as a unit, inputs the position command into a position loop PID controller of a servo driver and controls the corresponding motor to operate, and the position command generator adopts a return zero point control operation after operation so as to control the position return zero point of the servo driver;
wherein the position command generator operates at the highest rotating speed V according to the input motormaxAcceleration time taccTime of deceleration tdecAnd running the distance S to generate a position command with a servo motor encoder pulse as a unit, wherein the process is as follows:
step (1), calculating the total motor running pulse number p according to the running distance SsumThe motor running at maximum speed VmaxThe number of pulses p in each control periodVmax：
Figure FDA0003008584360000011
Figure FDA0003008584360000012
Step (2), according to the acceleration time taccAnd a deceleration time tdecThe number of pulses p 'expected to be required during acceleration is calculated'accNumber of pulses p 'required during deceleration'decAcceleration pulse increment Δ p in each control periodaccAnd deceleration pulse increment Δ pdec：
Figure FDA0003008584360000013
Figure FDA0003008584360000014
Figure FDA0003008584360000015
Figure FDA0003008584360000016
Wherein the servo motor rotates kMRIn turns, the angle value of the displacement or rotation of the movement of the mechanical part is kMM(ii) a Number of lines k of motor encoderMThe number of pulses fed back by the encoder when the motor rotates one circle; a control period T, namely a servo driver position loop operation period;
in the step (2), if: p'acc+p′dec＞psumThe number of pulses p actually required during accelerationaccThe number of pulses p expected to be required during decelerationdecAnd the number of pulses p actually required in the uniform velocity processcon：
Figure FDA0003008584360000021
Figure FDA0003008584360000022
pcon＝0
Then in the acceleration phase, within each control cycle, the position control instruction pcmdComprises the following steps:
pcmd+＝Δpacc
if p iscmd≥pVmaxThen p iscmd＝pVmax；
In the deceleration phase, each control cycle, position control command pcmdComprises the following steps:
pcmd-＝Δpdec
if p iscmdP is less than or equal to 0cmd＝0；
If: p'acc+p′dec≤psumThe number of pulses p actually required during accelerationaccThe number of pulses p expected to be required during decelerationdecAnd the number of pulses p actually required in the uniform velocity processcon：
pacc＝p′acc
pdec＝p′dec
pcon＝psum-pacc-pdec
Then in the acceleration phase, within each control cycle, the position control instruction pcmdComprises the following steps:
pcmd+＝Δpacc
if p iscmd≥pVmaxThen p iscmd＝pVmax
At the constant speed operation stage
pcmd＝pVmax
In the deceleration phase, each control cycle, position control command pcmdComprises the following steps:
pcmd-＝Δpdec
if p iscmdP is less than or equal to 0cmd＝0。
2. The internal position servo control method according to claim 1, wherein: the position instruction generator inputs the position instruction into the position loop PID controller and receives the position feedback of the motor; the position loop PID controller inputs a speed instruction into the speed loop PID controller and receives the speed feedback of the motor; the speed loop PID controller inputs a current instruction into the current loop PID controller and receives current feedback of the motor; the current loop PID controller inputs the PWM output to an inverter, which is connected to the motor.
3. The internal position servo control method according to claim 2, wherein: the position instruction generator sends out a position instruction according to the operation parameters.
4. The internal position servo control method according to claim 3, wherein: the mechanical servo system needs to enable the machine to return to a zero point after being electrified again every time, and the position instruction generator controls the position of the servo driver to return to the zero point; position instruction generator and employing regression zero generator and Reghome；
Reghome: the register set in the zero-returning mode is a 5-digit decimal number and is specifically defined as follows:
Figure FDA0003008584360000031
when the system is powered on again, the servo driver can be used for controlling the Reg according to the resulthomeTo determine whether to execute the zeroing procedure; if the user sets the regression zero point, the generator of the regression zero point will be based on the V set by the userhome1And Vhome2And controlling the motor to return to a zero point, wherein,
Vhome1: first zero return speed, high speed zero return speed, unit rpm;
Vhome2: and the second zero returning speed is the speed of the Z signal in unit rpm which is found at a low speed after the zero position signal is received.
5. The internal position servo control method according to claim 4, wherein: for ReghomeEach of the bits of (a) to (b),
a) 00: finding zero point and aligning zero point reversely after flushing zero point
01-32: path length of internal setting after finding zero point
33: finding a zero point and immediately stopping after the zero point is flushed, and not reversely aligning the zero point;
b) zeroing and finding Z pulse setting:
when the c item is set to 0, 1, 2, 3:
0: returning to find no Z pulse;
1: returning to find the Z pulse;
c) zero signal and zero direction selection:
0: the special mechanical zero switch signal, CW reversal direction returns to mechanical zero;
1: a special mechanical zero switch signal, wherein the CCW positive rotation direction returns to a mechanical zero;
2: reversing a limit switch signal CWL, and returning the motor to a mechanical zero point according to the CW reversing direction;
3: a positive rotation limit switch signal CCWL, the motor returns to a mechanical zero point according to the positive rotation direction of CCW;
4: the CW inversion directly searches Z pulse as a regression origin;
5: the CCW positively rotates to directly search the Z pulse as a regression origin;
6: CW inversion, the torque arrival signal is used as the origin of regression;
7: the CCW rotates positively, and a torque arrival signal is used as a return origin;
d) zero-point regression motion starting mode:
0: the return to the original point is not needed;
1: servo on, immediately executing returning mechanical zero point motion;
2: and servo on, which is triggered by the effective zero returning signal to execute the zero returning motion of the mechanical device.
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