CN108123655A - Dicode coil motor control system - Google Patents
Dicode coil motor control system Download PDFInfo
- Publication number
- CN108123655A CN108123655A CN201611061485.0A CN201611061485A CN108123655A CN 108123655 A CN108123655 A CN 108123655A CN 201611061485 A CN201611061485 A CN 201611061485A CN 108123655 A CN108123655 A CN 108123655A
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- CN
- China
- Prior art keywords
- dicode
- control system
- motor control
- code
- disc
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
Abstract
The invention discloses a kind of dicode coil motor control systems.The dicode coil motor control system includes:First code-disc, is arranged on motor, for the velocity feedback of calculating speed ring；Second code-disc, is arranged on exterior operator, the position feedback as motor control position ring；The electric machine control system uses three close-loop control, is position ring, speed ring and electric current loop respectively from outside to inside.Dicode coil motor control system provided by the invention realizes the full closed loop control of motor using dicode disk, in executing agency, there are during the problems such as drive gap or elastic deformation, can eliminate of short duration " driving " phenomenon of motor and the great reforming phenomena for improving motor and crossing drive gap.
Description
Technical field
The present invention relates to control technology field, more particularly to a kind of dicode coil motor control system.
Background technology
As automatic technology is fast-developing, robot is more and more appeared in the visual field of people.Robot is main
For industrial production line, for completing some tasks that are simple, cumbersome, repeating instead of the mankind.The actuating mechanism one of robot
As be all to be driven by modes such as cylinder, hydraulic pressure, motors.Wherein motor is driven because its dynamic is strong, the advantages such as security height,
More and more apply in the driving mechanism of robot.
General driving robot all using servo electrical machinery system, refers to that motor, sensor and controller form a closed loop,
It can complete to the position control of motor or speed control.The usually sensor of acquisition motor rotation position or speed all selects volume
Code device.A kind of position closed loop refers to the afterbody that encoder is mounted on motor, is integrally formed with motor, coding disk accurately detects motor
The position of rotor, this closed-loop fashion can accurately control motor, but in practical applications motor and executing agency due to
The problems such as drive gap or elastic deformation, only controls motor rotor position that can not be accurately controlled the position of exterior operator
It puts.Another position closed loop is also referred to as closed-loop, refers to coding disk or other positions sensor is mounted on executing agency end, thus
The position of executing agency end can be accurately detected, by closed-loop control, can accurately control the position of executing agency.But
It is unsmooth that the method for this control may cause motor to control.Traditional approach solid size disk, when crossing gap, the output of position ring
Reach the upper limit, velocity feedback 0, so speed closed loop can cause current-order to increase sharply to the upper limit, cause " driving ".
The content of the invention
The purpose of the present invention is intended at least solve one of above-mentioned technological deficiency.
For this purpose, it is an object of the invention to propose a kind of dicode coil motor control system.The dicode coil motor control system
System includes:First code-disc, is arranged on motor, for the velocity feedback of calculating speed ring；Second code-disc is arranged on external execution
In mechanism, the position feedback as motor control position ring；The electric machine control system uses three close-loop control, distinguishes from outside to inside
It is position ring, speed ring and electric current loop.
In some embodiments, first code-disc is arranged on motor afterbody.
In some embodiments, second code-disc is position sensor.
In some embodiments, first code-disc and the second code-disc are increment type traying.
In some embodiments, instruction input of the output of the position ring as speed ring, the output conduct of speed ring
The instruction input of electric current loop.
In some embodiments, the input of the position ring is anti-for the position of position command and second code-disc output
Feedback.
In some embodiments, the velocity feedback that the input of the speed ring exports for speed command and the first code-disc.
In some embodiments, the input of the electric current loop is torque instruction and current feedback.
Dicode coil motor control system provided by the invention realizes the full closed loop control of motor using dicode disk, uses peace
Position sensor on exterior operator is fed back as position, while uses the code-disc of motor afterbody anti-as speed
Feedback.In executing agency there are during the problems such as drive gap or elastic deformation, of short duration " driving " phenomenon of motor and pole can be eliminated
Big improvement motor crosses the reforming phenomena of drive gap.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
It obtains substantially or is recognized by the practice of the present invention.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the dicode coil motor control system schematic diagram according to one embodiment of the invention；
Fig. 2 is to drive single pendulum schematic diagram by being driven according to the dicode coil motor control system of one embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the component and setting of specific examples are described.Certainly, they are merely examples, and
It is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is the relation between itself not indicating discussed various embodiments and/or setting for purposes of simplicity and clarity again.This
Outside, the present invention provides various specific techniques and material example, but those of ordinary skill in the art may realize that
The applicable property of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it
" on " structure can be formed as the embodiment contacted directly including the first and second features, other feature shape can also be included
Into the embodiment between the first and second features, such first and second feature may not be to contact directly.
In the description of the present invention, it is necessary to explanation, unless otherwise prescribed and limit, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be the connection inside mechanical connection or electrical connection or two elements, it can
To be to be connected directly, can also be indirectly connected by intermediary, it for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
With reference to following description and attached drawing, it will be clear that these and other aspects of the embodiment of the present invention.In these descriptions
In attached drawing, some particular implementations in the embodiment of the present invention are specifically disclosed, to represent to implement the implementation of the present invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention
Embodiment includes falling into all changes, modification and the equivalent in the range of the spirit and intension of attached claims.
The dicode coil motor control system that the embodiment of the present invention proposes is described in detail referring to Fig. 1 and Fig. 2.
As shown in Figure 1, one embodiment of the invention includes dicode coil motor control system 100.The dicode coil motor
Control system 100 includes：First code-disc is arranged on motor 7, for the velocity feedback of calculating speed ring；Second code-disc is set
On exterior operator 8, the position feedback as motor control position ring；The electric machine control system 100 uses tricyclic control
System, is position ring, speed ring and electric current loop respectively from outside to inside.
In some embodiments, first code-disc is arranged on 7 afterbody of motor.
In some embodiments, second code-disc is position sensor.
In some embodiments, first code-disc and the second code-disc are increment type traying.
In some embodiments, instruction input of the output of the position ring as speed ring, the output conduct of speed ring
The instruction input of electric current loop.
In some embodiments, the input of the position ring is anti-for the position of position command 1 and second code-disc output
Feedback 4.
In some embodiments, the velocity feedback 5 that the input of the speed ring exports for 2 and first code-disc of speed command.
In some embodiments, the input of the electric current loop is torque instruction 3 and current feedback 6.
It is specifically described below with dicode coil motor control system by being driven driving single pendulum.As shown in Fig. 2, motor
7 by gear 10 and belt 9 combination driving single pendulum 12 rotates, it is assumed that belt 9 compare it is loose, transmission there are larger gaps.Work as single pendulum
12 be in leftward position when, the trend of itself of single pendulum 12 is to rotate counterclockwise, and the belt 9 of lower section should stretch.And work as single pendulum
12 be in right positions when, itself trend of single pendulum 12 is to rotate clockwise, and the belt 9 of top should stretch.When 12 mistake of single pendulum
During zero-bit, it will be temporarily ceased because of drive gap.During non-zero-bit excessively, the first code-disc 13 is with the position sensor 11 on single pendulum 12
Synchronously change.When single pendulum 12 crosses zero-bit, the pause of single pendulum 12 rotates, and position sensor 11 is temporarily unchanged, and position command is also
It is in lasting variation, eventually results in the export-restriction that speed command reaches position ring.In the meantime, the speed of the first code-disc 13
Degree becomes the velocity feedback for being turned to speed ring, and the accurate speed for reflecting motor 7, the speed of motor 7 can be most before gap is crossed
Up to arrive the output limit value of position ring.After zero crossing, position feedback recovers normal, at this time due to load changing, motor control
System has a degree of concussion.Since position command changes always during crossing zero-bit, so crossing motor 7 after zero-bit
Speed is also above planning speed, and until position, it is balanced with planning speed to pursue to position tracking difference for feedback.Traditional approach solid size
Disk, when crossing gap, the output of position ring reaches the upper limit, velocity feedback 0, thus speed closed loop can cause current-order increase sharply to
The upper limit causes " driving ".In the present invention, because the use of dicode disk, velocity feedback influences from gap, and speed ring closed loop is just
Often.The upper limit (for example being restricted to 2 times of planning velocity amplitude) can be exported by restriction site ring to avoid " driving "
The invention has the advantages that：Dicode coil motor control system provided by the invention is realized using dicode disk
The full closed loop control of motor is fed back using the position sensor in executing agency mounted externally as position, while uses electricity
The code-disc of drive end unit is as velocity feedback.In executing agency there are during the problems such as drive gap or elastic deformation, electricity can be eliminated
Of short duration " driving " phenomenon of machine and the great reforming phenomena for improving motor and crossing drive gap.
Any process described otherwise above or method description are construed as in flow charts or herein, represent bag
Include the module of the code of the executable instruction of one or more the step of being used to implement specific logical function or process, segment or
Part, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussion
Sequentially, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be sent out by this
Bright embodiment person of ordinary skill in the field is understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
Row system, device or equipment instruction fetch and the system executed instruction) it uses or combines these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
It puts.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Connecting portion (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or if necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.If for example, with hardware come realize in another embodiment, can be under well known in the art
Any one of row technology or their combination are realized：With for the logic gates to data-signal realization logic function
Discrete logic, have suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, one or a combination set of the step of including embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be employed in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and is independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in combine in an appropriate manner.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is by appended claims and its equivalent limits.
Claims (8)
1. a kind of dicode coil motor control system, which is characterized in that including:
First code-disc, is arranged on motor, for the velocity feedback of calculating speed ring；
Second code-disc, is arranged on exterior operator, the position feedback as motor control position ring；
The electric machine control system uses three close-loop control, is position ring, speed ring and electric current loop respectively from outside to inside.
2. dicode coil motor control system as described in claim 1, which is characterized in that
First code-disc is arranged on motor afterbody.
3. dicode coil motor control system as described in claim 1, which is characterized in that
Second code-disc is position sensor.
4. dicode coil motor control system as described in claim 1, which is characterized in that
First code-disc and the second code-disc are increment type traying.
5. dicode coil motor control system as described in claim 1, which is characterized in that
Instruction input of the output of the position ring as speed ring, the instruction input exported as electric current loop of speed ring.
6. dicode coil motor control system as described in claim 1, which is characterized in that the input of the position ring refers to for position
Order and the position feedback of second code-disc output.
7. dicode coil motor control system as described in claim 1, which is characterized in that the input of the speed ring refers to for speed
Order and the velocity feedback of the first code-disc output.
8. dicode coil motor control system as described in claim 1, which is characterized in that the input of the electric current loop refers to for torque
Order and current feedback.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061485.0A CN108123655A (en) | 2016-11-26 | 2016-11-26 | Dicode coil motor control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061485.0A CN108123655A (en) | 2016-11-26 | 2016-11-26 | Dicode coil motor control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108123655A true CN108123655A (en) | 2018-06-05 |
Family
ID=62224519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611061485.0A Pending CN108123655A (en) | 2016-11-26 | 2016-11-26 | Dicode coil motor control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108123655A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109632304A (en) * | 2018-12-25 | 2019-04-16 | 哈尔滨工业大学 | Four-point contact ball running in machine and control method |
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| JP2006121806A (en) * | 2004-10-20 | 2006-05-11 | Yaskawa Electric Corp | Friction compensation method of motor control device, and the motor control device |
| CN101741312A (en) * | 2010-01-29 | 2010-06-16 | 吴琼海 | Method for controlling servo motor driving system |
| CN103488189A (en) * | 2013-09-24 | 2014-01-01 | 国家电网公司 | Control method of servo motor |
| CN203660941U (en) * | 2013-12-23 | 2014-06-18 | 厦门理工学院 | Full closed-loop control device resistant to transmission shaft gap interferences |
| CN104122531A (en) * | 2014-07-18 | 2014-10-29 | 零八一电子集团有限公司 | Self-adaptive radar antenna position oscillation treating method |
| CN104779875A (en) * | 2015-05-04 | 2015-07-15 | 奇瑞汽车股份有限公司 | Closed-loop control system for direct current servo motor |
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2016
- 2016-11-26 CN CN201611061485.0A patent/CN108123655A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006121806A (en) * | 2004-10-20 | 2006-05-11 | Yaskawa Electric Corp | Friction compensation method of motor control device, and the motor control device |
| CN101741312A (en) * | 2010-01-29 | 2010-06-16 | 吴琼海 | Method for controlling servo motor driving system |
| CN103488189A (en) * | 2013-09-24 | 2014-01-01 | 国家电网公司 | Control method of servo motor |
| CN203660941U (en) * | 2013-12-23 | 2014-06-18 | 厦门理工学院 | Full closed-loop control device resistant to transmission shaft gap interferences |
| CN104122531A (en) * | 2014-07-18 | 2014-10-29 | 零八一电子集团有限公司 | Self-adaptive radar antenna position oscillation treating method |
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| CN109632304A (en) * | 2018-12-25 | 2019-04-16 | 哈尔滨工业大学 | Four-point contact ball running in machine and control method |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180605 |
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