CN108390599A - A kind of insulator climbing robot multijaw driving motor synchronous control system and method - Google Patents

A kind of insulator climbing robot multijaw driving motor synchronous control system and method Download PDF

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Publication number
CN108390599A
CN108390599A CN201810247314.XA CN201810247314A CN108390599A CN 108390599 A CN108390599 A CN 108390599A CN 201810247314 A CN201810247314 A CN 201810247314A CN 108390599 A CN108390599 A CN 108390599A
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CN
China
Prior art keywords
control
speed
motor
multijaw
driving motor
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Pending
Application number
CN201810247314.XA
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Chinese (zh)
Inventor
余旭东
夏奕凤
余智敏
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Sichuan Sunlight Intelligent Electrical Equipment Co Ltd
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Sichuan Sunlight Intelligent Electrical Equipment Co Ltd
Priority date (The priority date 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 date listed.)
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Priority to CN201810247314.XA priority Critical patent/CN108390599A/en
Publication of CN108390599A publication Critical patent/CN108390599A/en
Pending legal-status Critical Current

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Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
    • H02P8/40Special adaptations for controlling two or more stepping motors
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/48Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing mechanical values representing the speeds

Abstract

The present invention provides a kind of insulator climbing robot multijaw driving motor synchronous control system and method, it is made of microcontroller, stepper motor driver, stepper motor and encoder.Wherein, stepper motor driver, stepper motor and encoder respectively have three groups.Microcontroller realizes the synchronous velocity control of three groups of motors, the final climbing insulator that insulation child robot is stablized by controlling program.The data transfer measured to microcontroller, control instruction is sent to stepper motor driver, to control the speed of stepper motor so that insulator climbing robot multijaw driving motor synchronous control according to the data of encoder feedback by encoder.This method control effect is excellent, and cost is relatively low.

Description

A kind of insulator climbing robot multijaw driving motor synchronous control system and method
Technical field
The present invention relates to electric drive control technical field, especially a kind of insulation child robot is same with multijaw driving motor Walk control system and method.
Background technology
It is insulation that is very universal, being used in high voltage transmission line in the transmission that today's society carries out electric energy using high voltage power transmission Son is since long-time is in the environment to expose to the sun and rain, so the cleaning of high-tension insulator and working condition inspection are just very necessary. The robot stabilized climbing of high-tension insulator is exactly the basis in the work of high-voltage isulation child robot.Three are solved in control technology The speed sync of a stepper motor is exactly crucial.
Invention content
It is an object of the invention to be directed to high-tension insulator robot motor's synchronous velocity control problem, high pressure can be allowed exhausted Three motors of edge child robot provide a kind of insulation child robot multijaw driving motor with the equidirectional rotation of identical speed Synchronous control system and method.
The purpose of the present invention is achieved through the following technical solutions:A kind of insulator climbing robot multijaw driving motor Synchronous control system, for realizing the synchronous control of insulation child robot multijaw driving motor, the system comprises monolithics Machine, three stepper motor drivers, three stepper motors, three encoders, the microcontroller are electrically connected at different three Stepper motor driver, three different stepper motor drivers are connected from three different stepper motors respectively, motor Driver is used to control the speed of stepper motor, and three stepper motors are connected respectively at three encoders again, and three encoders are again It is connected with microcontroller.
Further, the encoder can measure the rotating speed of stepper motor, and the feedback signal of encoder is simulation Measure signal.PWM output modules and analog quantity/digital quantity conversion module are provided on the microcontroller.
Further, it is provided with PID controller on the microcontroller, PWM is exported for control single chip computer, to control step The velocity variations of stepper motor.
A kind of insulator climbing robot multijaw driving motor synchronisation control means is used for realizing insulation child robot The synchronous control of multijaw driving motor, the specific steps are:S1, setting insulator climbing robot are synchronized with multijaw driving motor The initial velocity of control system is Vo;S2, microcontroller are according to initial velocity VoDigital quantity is identical by PWM output modules generation three PWM, output is to three stepper motor drivers, to the speed of three stepper motors of control;The fortune of S3, three stepper motors Rotary speed is divided into not by three encoders, by the rate conversion of three stepper motors at three analog signals;S4, three moulds The analog signals of acquisition are converted to number by analog quantity signal under by the analog quantity of microcontroller/digital quantity conversion module conversion Word amount;S5, three digital quantity signals by three PID controllers, obtain different controlled quentity controlled variables respectively, to control the three of output The duty ratio of a PWM obtains three PWM, and output is to three stepper motor drivers, to the speed of three stepper motors of control Change, ensures that the speed of three stepper motors keeps synchronizing.
Further, it is assumed that maximum motor velocity of rotation and minimum motor rotation speed are differential super in motor rotation process When 1.5, PID controller can correct the motor of the maximum motor of rotating speed and rotating speed minimum when calculating duty ratio corrected parameter Kp、KiAnd KdNumerical value.
Further, the control formula of PID is as follows in PID controller in step S5:
U=Kp·(V0-Vk)+Ki·(2V0-Vk-Vk-1)+Kd·(Vk-1-Vk);
Wherein, Kp、KiAnd KdRespectively proportionality coefficient, integral coefficient and differential coefficient;V0It is initial setting speed;VkWith Vk-1It is -1 kth time, kth actual speed measured, the value of k is:K=1,2,3,4......;U is at pid control algorithm Duty ratio corrected parameter after reason.
Further, PWM duty cycle modification formula is as follows:
Wherein, PPWMFor the duty ratio of reality output.
The present invention has the following advantages:
(1) microcontroller finally makes insulation by the synchronous velocity control of control program three groups of motors of realization in the present invention The climbing insulator that child robot can be stablized.Encoder by the data transfer measured to microcontroller, according to encoder feedback Data send control instruction to stepper motor driver, to control the speed of stepper motor.
(2) in industrial application, PID control technology maturation, wide application, while control effect is excellent, is for this System control accuracy meets the requirements.
(3) in order to effectively control control cost, while there is good control effect, so using PID control.PID is controlled Programming processed is simple, and the microcontroller control performance needed is general, can effectively control hardware cost etc..
(4) it under conditions of meeting control requirement, is reasonably assigned with control hardware and controls the complexity of program.
Description of the drawings
Fig. 1 is three motor speed synchronous control electric motor mounting structure schematic diagrames of the invention;
Fig. 2 is the control block diagram of three motor speed synchronous controls of the invention;
Fig. 3 is the control flow chart of three motor speed synchronous controls of the invention;
Fig. 4 is the control principle drawing of three motor speed synchronous controls of the invention;
In figure, 1- encoders, 2- motors, 3- retarders.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to following institute It states.
As shown in Figure 1, a kind of insulator climbing robot multijaw driving motor synchronous control system, for realizing insulation The synchronous control of child robot multijaw driving motor, the system comprises microcontroller, three stepper motor drivers, three Stepper motor, three encoders, the microcontroller are electrically connected at three different stepper motor drivers, three differences Stepper motor driver respectively from three different stepper motors be connected, motor driver with control stepper motor speed Degree, three stepper motors, which are divided into, not to be connected with three encoders, and three encoders are connected with microcontroller again.
Preferably, the encoder can measure the rotating speed of stepper motor, and the feedback signal of encoder is analog quantity Signal.PWM output modules and analog quantity/digital quantity conversion module are provided on the microcontroller.
Preferably, it is provided with PID controller on the microcontroller, PWM is exported for control single chip computer, to control stepping The velocity variations of motor.
A kind of insulator climbing robot multijaw driving motor synchronisation control means is used for realizing insulation child robot The synchronous control of multijaw driving motor, the specific steps are:S1, setting insulator climbing robot are synchronized with multijaw driving motor The initial velocity of control system is Vo;S2, microcontroller are according to initial velocity VoDigital quantity is identical by PWM output modules generation three PWM, output is to three stepper motor drivers, to the speed of three stepper motors of control;The fortune of S3, three stepper motors Rotary speed is divided into not by three encoders, by the rate conversion of three stepper motors at three analog signals;S4, three moulds The analog signals of acquisition are converted to number by analog quantity signal under by the analog quantity of microcontroller/digital quantity conversion module conversion Word amount;S5, three digital quantity signals by three PID controllers, obtain different controlled quentity controlled variables respectively, to control the three of output The duty ratio of a PWM obtains three PWM, and output is to three stepper motor drivers, to the speed of three stepper motors of control Change, ensures that the speed of three stepper motors keeps synchronizing.
Preferably, the control formula of PID is as follows in PID controller in step S5:
U=Kp·(V0-Vk)+Ki·(2V0-Vk-Vk-1)+Kd·(Vk-1-Vk);
Wherein, Kp、KiAnd KdRespectively proportionality coefficient, integral coefficient and differential coefficient;V0It is initial setting speed;VkWith Vk-1It is -1 kth time, kth actual speed measured, the value of k is:K=1,2,3,4......;U is at pid control algorithm Duty ratio corrected parameter after reason.
Preferably, it is assumed that the maximum motor velocity of rotation and minimum motor rotation speed is differential is more than in motor rotation process When 1.5, PID controller can correct the maximum motor of rotating speed and the motor of rotating speed minimum when calculating duty ratio corrected parameter Kp、KiAnd KdNumerical value.
Preferably, PWM duty cycle modification formula is as follows:
Wherein, PPWMFor the duty ratio of reality output.
PID controller is poor by the work to setting speed and measuring speed in this way, carries out the comparison of the two.Setting speed etc. When measuring speed, PID controller output is 0, and the PWM wave duty ratio of microcontroller output is constant, and stepper motor speed is constant.When When setting speed is more than measuring speed, at this moment microcontroller needs the speed for comparing three motors, when maximum motor speed and most Small motor speed compared to it is differential be more than 1.5 when, indicate three motors between velocity contrast it is big, needing substantially to adjust could reach To consistent, in order to ensure adjustment process more steady and smooth, the PID controller of maximum speed motor and minimum speed motor at this time Meeting automatically adjusting parameter so that the numerical value of the calculated duty ratio corrected parameter of PID controller is more reasonable, and it is defeated to change microcontroller The PWM wave duty ratio gone out so that stepper motor speed more steadily tends to setting speed.When setting speed is less than measuring speed, The case where when larger with finding speed, is similar, and PID controller output valve is more reasonable, and stepper motor speed stabilization is quickly intended to Setting speed.PID controller of short duration comparison, output in this way, controls the speed of three motors, and reach one Dynamic equilibrium, to achieve the effect that driving motor synchronous control.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art For, under the premise of different disengaging the invention are conceived, various modifications and improvements can be made, these belong to this hair Bright protection domain.

Claims (8)

1. a kind of insulator climbing robot multijaw driving motor synchronous control system is used more for realizing insulation child robot The synchronous control of pawl driving motor, it is characterised in that:The system comprises microcontroller, three stepper motor drivers, three Stepper motor, three encoders, the microcontroller are electrically connected at three different stepper motor drivers, three differences Stepper motor driver be connected respectively from three different stepper motors, motor driver is used to control the speed of stepper motor Degree, three stepper motors, which are divided into, not to be connected with three encoders, and three encoders are connected with microcontroller again.
2. a kind of insulator climbing robot multijaw driving motor synchronous control system according to claim 1, special Sign is:The encoder can measure the rotating speed of stepper motor, and the feedback signal of encoder is analog signals.
3. a kind of insulator climbing robot multijaw driving motor synchronous control system according to claim 1, special Sign is:PWM output modules and analog quantity/digital quantity conversion module are provided on the microcontroller.
4. a kind of insulator climbing robot multijaw driving motor synchronous control system according to claim 1, special Sign is:It is provided with PID controller on the microcontroller, PWM is exported for control single chip computer, to control the speed of stepper motor Degree variation.
5. a kind of insulator climbing robot multijaw driving motor synchronisation control means is used more for realizing insulation child robot The synchronous control of pawl driving motor, it is characterised in that:Its specific steps are:
S1, the initial velocity of insulator climbing robot multijaw driving motor synchronous control system is set as Vo
S2, microcontroller are according to initial velocity VoDigital quantity generates three identical PWM by PWM output modules, and output is walked to three Stepper motor driver, to the speed of three stepper motors of control;
S3, three stepper motors running speed be divided into not through three coder transitions, the speed of three stepper motors is turned Change three analog signals into;
S4, three analog signals are under by the analog quantity of microcontroller/digital quantity conversion module conversion, by the analog quantity of acquisition Signal is converted to digital quantity;
S5, three digital quantity signals by three PID controllers, obtain different controlled quentity controlled variables respectively, to control the three of output The duty ratio of a PWM obtains three PWM, and output is to three stepper motor drivers, to the speed of three stepper motors of control Change, ensures that the speed of three stepper motors keeps synchronizing.
6. a kind of insulator climbing robot multijaw driving motor synchronisation control means according to claim 5, special Sign is:The control formula of PID is as follows in PID controller in step S5:
U=Kp·(V0-Vk)+Ki·(2V0-Vk-Vk-1)+Kd·(Vk-1-Vk);
Wherein, Kp、KiAnd KdRespectively proportionality coefficient, integral coefficient and differential coefficient;V0It is initial setting speed;VkAnd Vk-1 It is -1 kth time, kth actual speed measured, the value of k is:K=1,2,3,4......;U is that pid control algorithm handles it Duty ratio corrected parameter afterwards.
7. a kind of insulator climbing robot multijaw driving motor synchronisation control means according to claim 5, special Sign is:Assuming that in motor rotation process maximum motor velocity of rotation and minimum motor rotation speed it is differential more than 1.5 when, PID controller can correct the K of the maximum motor of rotating speed and the motor of rotating speed minimum when calculating duty ratio corrected parameterp、KiWith KdNumerical value.
8. a kind of insulator climbing robot multijaw driving motor synchronisation control means according to claim 6, special Sign is:It is as follows that PWM duty cycle changes formula:
Wherein, PPWMFor the duty ratio of reality output.
CN201810247314.XA 2018-03-23 2018-03-23 A kind of insulator climbing robot multijaw driving motor synchronous control system and method Pending CN108390599A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810247314.XA CN108390599A (en) 2018-03-23 2018-03-23 A kind of insulator climbing robot multijaw driving motor synchronous control system and method

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Application Number Priority Date Filing Date Title
CN201810247314.XA CN108390599A (en) 2018-03-23 2018-03-23 A kind of insulator climbing robot multijaw driving motor synchronous control system and method

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110173841A (en) * 2019-05-28 2019-08-27 广东美的制冷设备有限公司 Control method, system and the air conditioner of stepper motor

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1992504A (en) * 2005-12-30 2007-07-04 上海乐金广电电子有限公司 Motor synchronizing speed control apparatus
CN102621430A (en) * 2012-03-31 2012-08-01 山东电力研究院 Intelligent detection robot system for horizontal insulator strings
JP2013090466A (en) * 2011-10-19 2013-05-13 Calsonic Kansei Corp Stepping motor control device
CN203025548U (en) * 2013-01-12 2013-06-26 山东鲁能智能技术有限公司 Intelligent insulator string detection robot control system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1992504A (en) * 2005-12-30 2007-07-04 上海乐金广电电子有限公司 Motor synchronizing speed control apparatus
JP2013090466A (en) * 2011-10-19 2013-05-13 Calsonic Kansei Corp Stepping motor control device
CN102621430A (en) * 2012-03-31 2012-08-01 山东电力研究院 Intelligent detection robot system for horizontal insulator strings
CN203025548U (en) * 2013-01-12 2013-06-26 山东鲁能智能技术有限公司 Intelligent insulator string detection robot control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110173841A (en) * 2019-05-28 2019-08-27 广东美的制冷设备有限公司 Control method, system and the air conditioner of stepper motor
CN110173841B (en) * 2019-05-28 2020-09-11 广东美的制冷设备有限公司 Control method and system of stepping motor and air conditioner

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