CN108418477A - Synchronisation control means, electronic equipment and the device with store function of motor - Google Patents
Synchronisation control means, electronic equipment and the device with store function of motor Download PDFInfo
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- CN108418477A CN108418477A CN201810139453.0A CN201810139453A CN108418477A CN 108418477 A CN108418477 A CN 108418477A CN 201810139453 A CN201810139453 A CN 201810139453A CN 108418477 A CN108418477 A CN 108418477A
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- motor
- displacement
- control means
- displacement information
- pulse
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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
- H02P5/46—Arrangements 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
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- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
This application discloses a kind of synchronisation control means of motor, electronic equipment and with the device of store function, the synchronisation control means includes the following steps：Obtain the displacement information of first motor；Judge whether institute's displacement information is more than predetermined threshold value；If institute's displacement information is more than the predetermined threshold value, output signal is sent to the second motor, the output signal is responded with pre-set velocity movement preset displacement to control second motor.The application is adjusted in real time according to the displacement information and the speed of service of the second motor of real-time feedback information pair of first motor displacement information, and real-time synchronization is run between enabling to motor, avoids step-out risk when motor synchronizes.
Description
Technical field
This application involves motor fields, more particularly to a kind of synchronisation control means of motor, electronic equipment and have
The device of store function.
Background technology
The synchronous method of current servo motor and stepper motor mainly has：Servo motor is added with stepper motor using identical
The short-cut counting method, sync plus white.I.e. servo motor uses speed sync mode, servo not to have in the process with stepper motor with stepper motor
There is the phase mutual feedback of operating status.But had differences on the control principle of servo motor and stepper motor, servo uses closed loop
The risk of step-out is not present in control；Stepper motor does not have closed loop, and there are step-out risks.Servo motor uses phase with stepper motor
When with curve, it is possible that the problem of servo motor can run still stepper motor midway step-out.In addition using identical
When acceleration curve, due to the difference of scatteredization, it is difficult to do to make speed of the both sides in the Each point in time in accelerator
To coincide.
That is, in the prior art, since stepper motor and servo motor are accelerating, at the uniform velocity, during running slowly,
Respective state can not be fed back, can not accomplish to run simultaneously between motor.
Invention content
The application is mainly solving the technical problems that providing a kind of synchronisation control means of motor, electronic equipment and having
The device of store function, real-time synchronization is run between enabling to motor.
In order to solve the above technical problems, first technical solution that the application uses is：A kind of synchronous control of motor is provided
Method processed, the synchronisation control means include the following steps：Obtain the displacement information of first motor；Judging institute's displacement information is
No is more than predetermined threshold value；If institute's displacement information is more than the predetermined threshold value, output signal is sent to the second motor, with control
Second motor responds the output signal and moves preset displacement with pre-set velocity.
In order to solve the above technical problems, second technical solution that the application uses is：A kind of electronic equipment is provided, it is described
Electronic equipment includes memory and processor and telecommunication circuit, the processor respectively with the memory and described communicate electricity
Road couples, and for the telecommunication circuit for being communicated with other equipment, the memory is used to store the calculating that the processor executes
Machine program and the processor generated intermediate data when executing the computer program；Described in the processor executes
When computer program, the synchronisation control means of above-mentioned motor is realized.
In order to solve the above technical problems, the third technical solution that the application uses is：It provides a kind of with store function
Device, the device with store function has program stored therein data, and described program data can be performed above-mentioned to realize
Motor synchronisation control means.
The advantageous effect of the application is：It is different from the prior art, the application is according to the real-time anti-of first motor displacement information
The displacement information and the speed of service of the second motor of feedforward information pair are adjusted in real time, and real-time synchronization is transported between enabling to motor
Row avoids step-out risk when motor synchronizes.
Description of the drawings
Fig. 1 is the structural schematic diagram of one embodiment of synchronous control system of the application motor；
Fig. 2 is the flow diagram of one embodiment of synchronisation control means of the application motor；
Fig. 3 is the structural schematic diagram of one embodiment of the application electronic equipment；
Fig. 4 is the structural schematic diagram for one embodiment of device that the application has store function.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment belongs to the range of the application protection.
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of one embodiment of synchronous control system of the application motor.
As shown in Figure 1, the synchronous control system of the application motor includes electronic equipment 10, first motor 11 and the second electricity
Machine 12.Electronic equipment 10 is connect with first motor 11 and the second motor 12 respectively, and connection type can be to be wirelessly connected or have
Line connects, and the application is not construed as limiting this.
In present embodiment, first motor 11 is servo motor, and the second motor 12 is stepper motor.In other embodiment
In, first motor 11 is servo motor, and the second motor 12 is stepper motor or first motor 11 is stepper motor, the second motor 12
For stepper motor, the application is not construed as limiting this.
In present embodiment, displacement information is sent to electronic equipment 10 by first motor 11；Electronic equipment 10 judges displacement
Whether information is more than predetermined threshold value；If displacement information is more than predetermined threshold value, electronic equipment 10 sends to the second motor 12 and exports
Signal moves preset displacement to control the second motor 12 response output signal with pre-set velocity.
In a specific embodiment, displacement information and movement velocity are sent to electronic equipment by first motor 11
10.Electronic equipment 10 judges whether displacement information is more than predetermined threshold value；If displacement information is more than predetermined threshold value, electronic equipment
10 form output signal according to the displacement information and movement velocity of first motor 11；Electronic equipment 10 sends defeated to the second motor 12
Go out signal, it is identical as first motor 11 with the speed of service movement of first motor 11 to control the second motor 12 response output signal
Displacement.
Referring to Fig. 2, Fig. 2 is the flow diagram of one embodiment of synchronisation control means of the application motor.
As shown in Fig. 2, the synchronisation control means of the motor of present embodiment includes the following steps：
Step 201：Obtain the displacement information of first motor.
In present embodiment, first motor is servo motor, and in other embodiments, first motor may be stepping
Motor or other high-precision motors, the application are not construed as limiting this.
In present embodiment, electronic equipment obtains the pulse number of the pulse input signal of first motor, according to pulse
Number obtains the corresponding displacement information of pulse.It is moved after first motor return pulse signal, and a pulse is returned to electronic equipment,
The displacement information of first motor can be obtained according to the pulse number of return.Further, believed according to displacement information and displacement
Cease the speed of service that corresponding temporal information obtains first motor.It should be noted that in present embodiment, the position of first motor
The angular displacement for the rotor that information is first motor is moved, the speed of service of motor is the angular speed of first motor rotor.
In a specific embodiment, electronic equipment obtains the arteries and veins of electronic equipment Coder controller by timer
Rush count value.Preferably, timer is high speed timer.Since the rotor of first motor is when low speed is run, in the unit interval
The pulse number of generation is less, is enough to capture the pulse needed for control the second motor movement trigger value using high speed timer
Number, sends out control signal.When first motor is in low-speed running, the second motor can be good synchronous with first motor.
In another particular embodiment of the invention, first motor includes encoder, the coding of electronic equipment and first motor
Device is connected by IO (input/output) interface.Electronic equipment obtains the arteries and veins of first motor by the encoder of first motor
Input signal is rushed, and pulse number is counted according to pulse input signal.Electronic equipment can be obtained by way of counting and capturing
The counted number of pulses of current encoder.The relatively upper embodiment main advantage of this embodiment embodies the second motor can be accurate
First motor is followed, such as requires every 10 first motor pulse-triggereds, one the second motor pulses, it can using the embodiment
Accurately to press 10:1 ratio triggering, using a kind of upper mode be possible during appearance 11:The case where 1 triggering, especially
It is during first motor high-speed cruising.
Step 202：Judge whether displacement information is more than predetermined threshold value.
In present embodiment, the second motor is stepper motor can not run if pulse frequency is higher.Predetermined threshold value
For the startup displacement of stepper motor, i.e., the second motor just starts to open after the trigger condition of displacement the second motor of arrival of first motor
It is dynamic.For example, judging first motor when the displacement run after receiving 10 pulses is still less than predetermined threshold value, the second motor is still
It does not move；When judging first motor when the displacement run after receiving 11 pulses is more than predetermined threshold value, the second motor is with default
The speed of service moves preset displacement.In other embodiments, predetermined threshold value adjusts as the case may be, and the application does not do this
It limits.
Step 203：If displacement information is more than predetermined threshold value, output signal is sent to the second motor, with the second electricity of control
Machine responds output signal and moves preset displacement with pre-set velocity.
In a specific embodiment, if displacement information is more than predetermined threshold value, electronic equipment is according to acquisition
The speed of service and displacement information of first motor form an output signal.Output signal is sent to the second electricity by electronic equipment
Machine, the second motor responds output signal, and moves displacement identical with first motor with the speed of service of first motor.For example,
The rotor of first motor has turned 1 ° in 0.1 second, and the encoder of first motor sends out pulse signal, and electronic equipment receives first
The pulse signal statistics pulse number of motor sent out is 11, and electronic equipment gets first motor according to pulse number
Displacement is 1 °, has been more than predetermined threshold value, then electronic equipment is by (per second turn of the displacement information (1 °) and the speed of service of first motor
10 °) the second motor is sent in the form of output signal, the second motor responds output signal with per second turn 10 ° of the speed of service
Turn over 1 °.
In another particular embodiment of the invention, if displacement information is more than predetermined threshold value, electronic equipment is by output signal
It is sent to the second motor, the second motor responds output signal, and moves preset displacement with pre-set velocity.Wherein, pre-set velocity and
Preset displacement determines that the application is not construed as limiting this as the case may be.For example, the rotor of first motor turns in 0.1 second
1 °, the encoder of first motor sends out pulse signal, and electronic equipment receives the pulse signal sent out and statistics of first motor
Pulse number is 11, and electronic equipment is 1 ° according to the displacement that pulse number gets first motor, has been more than predetermined threshold value,
Then electronic equipment will send output signal to first motor, and the second motor response output signal is rotated with 5 ° of angular speed per second
2°.That is, if the displacement of first motor is more than predetermined threshold value, the second motor movement is controlled, it is ensured that motor is same
Step operation.
Since first motor and the second motor almost move identical displacement in synchronization with identical speed so that
First motor and the second motor can be run simultaneously.
It is different from the prior art, the application is according to the position of the second motor of real-time feedback information pair of first motor displacement information
It moves information and the speed of service is adjusted in real time, real-time synchronization is run between enabling to motor, is avoided when motor synchronizes
Step-out risk.
Referring to Fig. 3, Fig. 3 is the structural schematic diagram of one embodiment of the application electronic equipment.
As shown in figure 3, in present embodiment, electronic equipment 30 includes memory 31 and processor 32 and telecommunication circuit
33, processor 32 is coupled with memory 31 and telecommunication circuit 33 respectively, and telecommunication circuit 33 with other equipment for communicating, memory
31 computer program and the processor 32 generated centre when executing computer program for storing the execution of processor 32
Data；When processor 32 executes computer program, the synchronisation control means such as following motors is realized.
The synchronisation control means of the motor of present embodiment includes the following steps：
In present embodiment, first motor is servo motor, and the second motor is stepper motor.In other embodiments,
First motor is servo motor, and the second motor is stepper motor or first motor is stepper motor, and the second motor is stepper motor,
The application is not construed as limiting this.
In present embodiment, processor 32 obtains the pulse of the pulse input signal of first motor by telecommunication circuit 33
Number, processor 32 obtain the corresponding displacement information of pulse according to pulse number.It moves, and returns after first motor return pulse signal
32 1 pulses of processor are returned, processor 32 can obtain the displacement information of first motor according to the pulse number of return.Into one
Step, processor 32 obtains the speed of service of first motor according to displacement information and the corresponding temporal information of displacement information.It needs
It is noted that in present embodiment, the displacement information of first motor is the angular displacement of the rotor of first motor, the operation of motor
Speed is the angular speed of first motor rotor.
In a specific embodiment, processor 32 obtains the pulse number of pulse input signal by timer.
Preferably, timer is high speed timer.Since the rotor of first motor is when low speed is run, the pulse of generation in the unit interval
Number is less, is enough to capture the umber of pulse needed for control the second motor movement trigger value using high speed timer, sends out control
Signal.When first motor is in low-speed running, the second motor can be good synchronous with first motor.
In another particular embodiment of the invention, first motor includes encoder, the volume of electronic equipment 30 and first motor
Code device is connected by IO (input/output) interface.Processor 32 obtains first motor by the encoder of first motor
Pulse input signal, and pulse number is counted according to pulse input signal.Processor 32 can be obtained by way of counting and capturing
Take the counted number of pulses of current encoder.The relatively upper embodiment main advantage of this embodiment embodies the second motor being capable of essence
First motor really is followed, such as requires every 10 first motor pulse-triggereds, one the second motor pulses, using the embodiment
10 can accurately be pressed:1 ratio triggering, using a kind of upper mode be possible during appearance 11:It is the case where 1 triggering, special
It is not during first motor high-speed cruising.
In present embodiment, the second motor is stepper motor can not run if pulse frequency is higher.Predetermined threshold value
For the startup displacement of stepper motor, i.e., the second motor just starts to open after the trigger condition of displacement the second motor of arrival of first motor
It is dynamic.For example, processor 32 judges first motor when the displacement run after receiving 10 pulses is still less than predetermined threshold value, second
Motor does not still move；When judging first motor when the displacement run after receiving 11 pulses is more than predetermined threshold value, second is electric
Machine moves preset displacement with the default speed of service.In other embodiments, predetermined threshold value adjusts as the case may be, the application
This is not limited.
In a specific embodiment, if processor 32 judges that displacement information is more than predetermined threshold value, processor
32 form an output signal according to the speed of service and displacement information of the first motor of acquisition.Processor 32 passes through telecommunication circuit
Output signal is sent to the second motor by 33, and the second motor responds output signal, and with the movement of the speed of service of first motor with
The identical displacement of first motor.For example, the rotor of first motor has turned 1 ° in 0.1 second, the encoder of first motor sends out arteries and veins
Rush signal, the pulse signal statistics pulse number sent out that electronic equipment receives first motor is 11, electronic equipment according to
The displacement that pulse number gets first motor is 1 °, has been more than predetermined threshold value, then electronic equipment is by the displacement of first motor
Information (1 °) and the speed of service (per second turn 10 °) are sent to the second motor, the response output of the second motor in the form of output signal
Signal turns over 1 ° with per second turn 10 ° of the speed of service.Since first motor and the second motor are almost in synchronization with identical
Speed moves identical displacement so that first motor and the second motor can be run simultaneously.
In another particular embodiment of the invention, if processor 32 judges that displacement information is more than predetermined threshold value, processor
Output signal is sent to the second motor by 32 by telecommunication circuit 33, and the second motor responds output signal, and is moved with pre-set velocity
Dynamic preset displacement.Wherein, pre-set velocity and preset displacement determine that the application is not construed as limiting this as the case may be.For example, the
The rotor of one motor has turned 1 ° in 0.1 second, and the encoder of first motor sends out pulse signal, and electronic equipment receives the first electricity
The pulse signal of machine sent out and count pulse number be 11, electronic equipment gets first motor according to pulse number
Displacement is 1 °, has been more than predetermined threshold value, then electronic equipment will send output signal, the second motor response output letter to first motor
Number with 5 ° of angular speed per second rotate 2 °.That is, if the displacement of first motor is more than predetermined threshold value, the second electricity of control
Machine moves, it is ensured that motor is run simultaneously.
It is different from the prior art, the application is according to the position of the second motor of real-time feedback information pair of first motor displacement information
It moves information and the speed of service is adjusted in real time, real-time synchronization is run between enabling to motor, is avoided when motor synchronizes
Step-out risk.
Referring to Fig. 4, Fig. 4 is the structural schematic diagram for one embodiment of device that the application has store function.With depositing
It stores up and is stored at least one program or instruction 41 in the device 40 of function, program or instruction 41 are for realizing any of the above-described controlling party
Method.In one embodiment, the device with store function includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with
Store the medium of program code.
It is different from the prior art, the application is according to the position of the second motor of real-time feedback information pair of first motor displacement information
It moves information and the speed of service is adjusted in real time, real-time synchronization is run between enabling to motor, is avoided when motor synchronizes
Step-out risk.
In several embodiments provided herein, it should be understood that disclosed method and apparatus can pass through it
Its mode is realized.For example, device embodiments described above are only schematical, for example, stroke of module or unit
Point, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be the INDIRECT COUPLING by some interfaces, device or unit
Or communication connection, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, and be shown as unit
Component may or may not be physical unit, you can be located at a place, or may be distributed over multiple networks
On unit.Some or all of unit therein can be selected according to the actual needs to realize the mesh of present embodiment scheme
's.
In addition, each functional unit in each embodiment of the application can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product
To be stored in a computer read/write memory medium.Based on this understanding, the technical solution of the application substantially or
Say that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) or processor (processor) execute each implementation of the application
The all or part of step of methods.
It these are only presently filed embodiment, be not intended to limit the scope of the claims of the application, it is every to utilize the application
Equivalent structure or equivalent flow shift made by specification and accompanying drawing content is applied directly or indirectly in other relevant technologies
Field includes similarly in the scope of patent protection of the application.
Claims (10)
1. a kind of synchronisation control means of motor, which is characterized in that the synchronisation control means includes the following steps：
Obtain the displacement information of first motor；
Judge whether institute's displacement information is more than predetermined threshold value；
If institute's displacement information is more than the predetermined threshold value, output signal is sent to the second motor, to control second electricity
Machine responds the output signal and moves preset displacement with pre-set velocity.
2. synchronisation control means according to claim 1, which is characterized in that
Include after the step of displacement information for obtaining first motor：Obtain the speed of service of the first motor；
If institute's displacement information is more than the predetermined threshold value, output signal is sent to the second motor, to control described the
Two motors are responded the output signal and are specifically included with the step of pre-set velocity movement preset displacement：
If institute's displacement information is more than the predetermined threshold value, output signal is sent to second motor, to control described the
Two motors respond the output signal and move displacement identical with the first motor with the speed of service.
3. synchronisation control means according to claim 1 or 2, which is characterized in that the displacement letter for obtaining first motor
The step of breath includes：
Obtain the pulse number of the pulse input signal of the first motor；
The corresponding displacement information of the pulse is obtained according to the pulse number.
4. synchronisation control means according to claim 3, which is characterized in that the pulse for obtaining the first motor is defeated
The step of pulse number for entering signal, specifically includes：
The pulse input signal of the first motor is obtained by the encoder of the first motor, and according to the pulse input
Pulse number described in signal statistics.
5. synchronisation control means according to claim 3, which is characterized in that the pulse for obtaining the first motor is defeated
The step of pulse number for entering signal, specifically includes：
The pulse number of the pulse input signal is obtained by timer.
6. synchronisation control means according to claim 2, which is characterized in that the speed of service for obtaining first motor
Step specifically includes：
The operation of the first motor is obtained according to institute's displacement information and the corresponding temporal information of institute's displacement information
Speed.
7. synchronisation control means according to claim 1 or 2, which is characterized in that the first motor is servo motor, institute
It is stepper motor to state the second motor.
8. synchronisation control means according to claim 7, which is characterized in that the predetermined threshold value is the stepper motor
Minimum starts displacement.
9. a kind of electronic equipment, which is characterized in that the electronic equipment includes memory and processor and telecommunication circuit, described
Processor is coupled with the memory and the telecommunication circuit respectively, and the telecommunication circuit is described for being communicated with other equipment
Memory is used to store the computer program that the processor executes and the processor when executing the computer program
Generated intermediate data；When the processor executes the computer program, realize same as described in claim 1-8 is any
Walk control method.
10. a kind of device with store function, which is characterized in that the device with store function has program stored therein number
According to described program data can be performed to realize the synchronisation control means as described in claim 1-8 is any.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810139453.0A CN108418477B (en) | 2018-02-09 | 2018-02-09 | Synchronous control method of motor, electronic equipment and device with storage function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810139453.0A CN108418477B (en) | 2018-02-09 | 2018-02-09 | Synchronous control method of motor, electronic equipment and device with storage function |
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| CN108418477A true CN108418477A (en) | 2018-08-17 |
| CN108418477B CN108418477B (en) | 2020-06-26 |
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| US20080116836A1 (en) * | 2006-11-17 | 2008-05-22 | Pitney Bowes Incorporated | Method and system for multiple servo motor control using a single control loop |
| CN101949469A (en) * | 2010-09-27 | 2011-01-19 | 中国葛洲坝集团机械船舶有限公司 | Electrical synchronized method and device of hoist with two hoisting points |
| CN103580554A (en) * | 2013-10-12 | 2014-02-12 | 欣旺达电子股份有限公司 | Method for controlling servo motor by secondary controller, secondary controller and system |
| CN203466758U (en) * | 2013-07-11 | 2014-03-05 | 温州亿生科技有限公司 | Double-motor position feedback control system of sewing machine |
| CN106549608A (en) * | 2015-09-17 | 2017-03-29 | 山洋电气株式会社 | Controller for motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5047702A (en) * | 1989-04-27 | 1991-09-10 | Kabushiki Kaisha Okuma Tekkosho | Synchronous control method and apparatus therefor |
| CN2501250Y (en) * | 2000-12-28 | 2002-07-17 | 上海交通大学 | Roof bow-type structure changeable anti-interrupting synchronous controller |
| US20080116836A1 (en) * | 2006-11-17 | 2008-05-22 | Pitney Bowes Incorporated | Method and system for multiple servo motor control using a single control loop |
| CN101949469A (en) * | 2010-09-27 | 2011-01-19 | 中国葛洲坝集团机械船舶有限公司 | Electrical synchronized method and device of hoist with two hoisting points |
| CN203466758U (en) * | 2013-07-11 | 2014-03-05 | 温州亿生科技有限公司 | Double-motor position feedback control system of sewing machine |
| CN103580554A (en) * | 2013-10-12 | 2014-02-12 | 欣旺达电子股份有限公司 | Method for controlling servo motor by secondary controller, secondary controller and system |
| CN106549608A (en) * | 2015-09-17 | 2017-03-29 | 山洋电气株式会社 | Controller for motor |
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| CN108418477B (en) | 2020-06-26 |
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Effective date of registration: 20190422 Address after: 350109 Biomedical and Electrical Industrial Park, Nanyu Town, Minhou County, Fuzhou City, Fujian Province Applicant after: Fujian Hairuida Technology Co., Ltd. Address before: 350003 No. 89 Software Avenue, Gulou District, Fuzhou City, Fujian Province, 26 Software Park C District Applicant before: FUJIAN RAYNEN TECHNOLOGY CO., LTD. |
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